+ python -m lidar_slam --result /working/result.json --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.16 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf 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 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters Centerline goodness : 0.269759 with order 1 Centerline is valid? [0, False] SLAMing on 0.077628 meters Centerline goodness : 0.231615 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 0.99998605 -0.00157107 0.00504203 0.03379202] [ 0.00159018 0.99999156 -0.00378824 0.0017611 ] [-0.00503603 0.0037962 0.99998011 -0.00953436] [ 0. 0. 0. 1. ]] SLAMing on 0.137628 meters Centerline goodness : 0.163809 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.01 [[ 9.99996173e-01 6.00394052e-04 2.70066867e-03 5.82787963e-02] [-5.85016391e-04 9.99983634e-01 -5.69121054e-03 3.87206730e-03] [-2.70404144e-03 5.68960882e-03 9.99980158e-01 -1.21677826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.197628 meters Centerline goodness : 0.160743 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.02 [[ 9.99953408e-01 -6.85738312e-03 6.79392216e-03 7.73337215e-02] [ 6.87817408e-03 9.99971719e-01 -3.04160435e-03 5.38757296e-05] [-6.77287257e-03 3.08819242e-03 9.99972295e-01 -1.80586249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25762799999999997 meters Centerline goodness : 0.142647 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.02 [[ 9.99895686e-01 -1.21537731e-02 7.80400574e-03 7.89983221e-02] [ 1.22123611e-02 9.99897268e-01 -7.50417268e-03 -1.91819885e-04] [-7.71200000e-03 7.59869523e-03 9.99941391e-01 -2.01638392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31762799999999997 meters Centerline goodness : 0.124409 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:-0.02 [[ 0.99975097 -0.0155778 0.01597875 0.11289765] [ 0.01568525 0.99985505 -0.00662146 -0.00215308] [-0.01587328 0.00687044 0.99985041 -0.02460662] [ 0. 0. 0. 1. ]] SLAMing on 0.37762799999999996 meters Centerline goodness : 0.160485 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.03 [[ 0.99979903 -0.01199065 0.01606631 0.13736024] [ 0.01210147 0.99990353 -0.0068183 -0.00320029] [-0.01598301 0.00701136 0.99984768 -0.0257212 ] [ 0. 0. 0. 1. ]] SLAMing on 0.43762799999999996 meters Centerline goodness : 0.123161 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:-0.03 [[ 0.99981585 -0.00753766 0.01764785 0.18227038] [ 0.00773242 0.99990967 -0.0109934 -0.00410509] [-0.01756339 0.01112783 0.99978383 -0.03091669] [ 0. 0. 0. 1. ]] SLAMing on 0.49762799999999996 meters Centerline goodness : 0.135185 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.03 [[ 0.99986422 -0.01028921 0.01287152 0.21450453] [ 0.01041167 0.99990083 -0.00948319 -0.00753588] [-0.01277267 0.00961592 0.99987219 -0.02881974] [ 0. 0. 0. 1. ]] SLAMing on 0.557628 meters Centerline goodness : 0.858267 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:-0.03 [[ 0.99967758 -0.0202966 0.01525716 0.2626361 ] [ 0.02037489 0.99977994 -0.00499375 -0.01058552] [-0.01515245 0.005303 0.99987113 -0.03114187] [ 0. 0. 0. 1. ]] SLAMing on 0.617628 meters Centerline goodness : 0.851953 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:-0.03 [[ 0.9996643 -0.02360096 0.01068986 0.29569963] [ 0.02363953 0.99971443 -0.00349701 -0.01431807] [-0.01060427 0.00374854 0.99993675 -0.02779431] [ 0. 0. 0. 1. ]] SLAMing on 0.6776279999999999 meters Centerline goodness : 0.842097 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.03 [[ 0.99960243 -0.02536515 0.01231197 0.34495652] [ 0.02543042 0.99966321 -0.00517345 -0.01491273] [-0.01217659 0.00548449 0.99991082 -0.0277042 ] [ 0. 0. 0. 1. ]] SLAMing on 0.737628 meters Centerline goodness : 0.836821 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.02 [[ 0.99969657 -0.02279668 0.00933158 0.37392798] [ 0.0228117 0.99973864 -0.00150645 -0.01326243] [-0.0092948 0.00171886 0.99995533 -0.02370322] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters Centerline goodness : 0.831623 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:-0.03 [[ 0.99977311 -0.0180766 0.01126744 0.42105513] [ 0.01809939 0.99983434 -0.00192393 -0.00330903] [-0.0112308 0.00212742 0.99993467 -0.02507441] [ 0. 0. 0. 1. ]] SLAMing on 0.857628 meters Centerline goodness : 0.830621 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:-0.02 [[ 0.99986361 -0.01464875 0.00762703 0.44299945] [ 0.01466991 0.99988868 -0.0027253 -0.00144757] [-0.00758626 0.00283682 0.9999672 -0.02155238] [ 0. 0. 0. 1. ]] SLAMing on 0.9176279999999999 meters Centerline goodness : 0.825729 with order 3 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.02 [[ 0.99990883 -0.00882298 0.01022212 0.48395812] [ 0.00888756 0.99994073 -0.00628928 0.0060859 ] [-0.01016602 0.00637956 0.99992797 -0.02365619] [ 0. 0. 0. 1. ]] SLAMing on 0.9776279999999999 meters Centerline goodness : 0.830224 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.03 [[ 0.99992137 -0.00379544 0.01195159 0.53470432] [ 0.00387301 0.99997154 -0.00647401 0.01811588] [-0.01192667 0.00651979 0.99990762 -0.02651416] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters Centerline goodness : 0.827523 with order 3 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.03 [[ 0.99988053 -0.00323563 0.01511485 0.58476423] [ 0.00334253 0.99996954 -0.00705292 0.02702849] [-0.01509157 0.0071026 0.99986089 -0.02814753] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters Centerline goodness : 0.833957 with order 3 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:-0.03 [[ 0.99986542 -0.00972264 0.01321427 0.59738473] [ 0.00980963 0.99993053 -0.00653487 0.0330695 ] [-0.01314982 0.00666362 0.99989133 -0.02576568] [ 0. 0. 0. 1. ]] SLAMing on 1.1576279999999999 meters Centerline goodness : 0.836299 with order 3 Centerline is valid? [False, False] Translation: X:0.65, Y:0.03, Z:-0.03 [[ 9.99703554e-01 -1.84449123e-02 1.58930872e-02 6.46179451e-01] [ 1.84395159e-02 9.99829860e-01 4.86029818e-04 3.33679822e-02] [-1.58993479e-02 -1.92824902e-04 9.99873579e-01 -2.59547008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.217628 meters Centerline goodness : 0.839495 with order 3 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.02 [[ 0.99954129 -0.02720593 0.01330589 0.6628356 ] [ 0.02718165 0.99962851 0.00200239 0.03695146] [-0.01335543 -0.00163979 0.99990947 -0.02319352] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters Centerline goodness : 0.848552 with order 3 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.03 [[ 0.99911968 -0.03778734 0.01822048 0.69933117] [ 0.03761467 0.99924497 0.00972812 0.03779823] [-0.01857432 -0.00903419 0.99978667 -0.02548951] [ 0. 0. 0. 1. ]] SLAMing on 1.3376279999999998 meters Centerline goodness : 0.833870 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.04, Z:-0.03 [[ 0.99888655 -0.04232637 0.02083615 0.73345617] [ 0.04181736 0.99883004 0.02428713 0.04164609] [-0.02183976 -0.02338877 0.99948786 -0.02666935] [ 0. 0. 0. 1. ]] SLAMing on 1.3976279999999999 meters Centerline goodness : 0.844329 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.03 [[ 0.99898148 -0.03894051 0.02279538 0.75678154] [ 0.03845554 0.99903241 0.02134037 0.04978929] [-0.02360433 -0.02044203 0.99951236 -0.03125952] [ 0. 0. 0. 1. ]] SLAMing on 1.457628 meters Centerline goodness : 0.859516 with order 3 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.04 [[ 0.99896564 -0.03587836 0.02793541 0.79563062] [ 0.03508241 0.99897854 0.02847972 0.05537637] [-0.02892868 -0.02747022 0.99920394 -0.03537172] [ 0. 0. 0. 1. ]] SLAMing on 1.517628 meters Centerline goodness : 0.878743 with order 3 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.04 [[ 0.99896306 -0.03394077 0.03034514 0.81655086] [ 0.0332678 0.99919511 0.02241389 0.0627747 ] [-0.03108146 -0.02138113 0.99928814 -0.04052721] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters Centerline goodness : 0.888901 with order 3 Centerline is valid? [False, False] Translation: X:0.84, Y:0.07, Z:-0.05 [[ 0.99897555 -0.03146696 0.03252213 0.83918193] [ 0.03090484 0.99936657 0.017645 0.06902398] [-0.03305676 -0.01662184 0.99931525 -0.04552274] [ 0. 0. 0. 1. ]] SLAMing on 1.6376279999999999 meters Centerline goodness : 0.901892 with order 3 Centerline is valid? [False, False] Translation: X:0.85, Y:0.07, Z:-0.05 [[ 0.99894987 -0.02727168 0.03681586 0.85352068] [ 0.02688943 0.99957966 0.01083833 0.07329116] [-0.03709596 -0.00983699 0.99926329 -0.05102916] [ 0. 0. 0. 1. ]] SLAMing on 1.697628 meters Centerline goodness : 0.915515 with order 3 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.06 [[ 0.99910388 -0.02220596 0.03603246 0.87725312] [ 0.02187734 0.99971563 0.00948887 0.07522769] [-0.03623292 -0.00869207 0.99930557 -0.05536691] [ 0. 0. 0. 1. ]] SLAMing on 1.757628 meters Centerline goodness : 0.917170 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:-0.06 [[ 0.99943305 -0.01764304 0.02867581 0.89303166] [ 0.01750762 0.99983439 0.00496656 0.07606979] [-0.02875868 -0.0044617 0.99957643 -0.05718758] [ 0. 0. 0. 1. ]] SLAMing on 1.8176279999999998 meters Centerline goodness : 0.927173 with order 2 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.06 [[ 0.99969901 -0.01266531 0.0210112 0.91144231] [ 0.01260374 0.99991589 0.00306014 0.07161917] [-0.02104819 -0.0027944 0.99977456 -0.05795019] [ 0. 0. 0. 1. ]] SLAMing on 1.8776279999999999 meters Centerline goodness : 0.935085 with order 2 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.06 [[ 0.99984252 -0.01062445 0.01421471 0.92873541] [ 0.01059622 0.99994174 0.00205956 0.06383171] [-0.01423576 -0.00190861 0.99989684 -0.05758607] [ 0. 0. 0. 1. ]] SLAMing on 1.937628 meters Centerline goodness : 0.939941 with order 2 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:-0.06 [[ 0.9998351 -0.01210515 0.01353619 0.93316838] [ 0.01207475 0.99992439 0.00232546 0.05857438] [-0.01356332 -0.00216163 0.99990568 -0.059436 ] [ 0. 0. 0. 1. ]] SLAMing on 1.997628 meters Centerline goodness : 0.947047 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.06 [[ 0.99978311 -0.01709933 0.01188885 0.94102199] [ 0.01706548 0.99985004 0.00294281 0.04919453] [-0.01193739 -0.00273929 0.99992499 -0.05842056] [ 0. 0. 0. 1. ]] SLAMing on 2.0576280000000002 meters Centerline goodness : 0.951058 with order 1 Centerline is valid? [False, True] Translation: X:0.94, Y:0.04, Z:-0.06 [[ 0.99975704 -0.01876145 0.01157023 0.94477007] [ 0.01872454 0.99981927 0.00329001 0.04404738] [-0.01162987 -0.00307256 0.99992765 -0.05952879] [ 0. 0. 0. 1. ]] SLAMing on 2.1176280000000003 meters Centerline goodness : 0.958464 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:0.03, Z:-0.07 [[ 9.99610251e-01 -2.54584816e-02 1.14547728e-02 1.00450625e+00] [ 2.54642999e-02 9.99675666e-01 -3.62353499e-04 3.31278723e-02] [-1.14418326e-02 6.53900041e-04 9.99934326e-01 -6.84435912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters Centerline goodness : 0.964047 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:0.02, Z:-0.06 [[ 9.99327588e-01 -3.48304438e-02 1.14547743e-02 1.06451144e+00] [ 3.48368747e-02 9.99392946e-01 -3.62305079e-04 1.98008742e-02] [-1.14352014e-02 7.61109997e-04 9.99934326e-01 -6.46039233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.237628 meters Centerline goodness : 0.968178 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:0.01, Z:-0.06 [[ 9.99054034e-01 -4.19502684e-02 1.14547758e-02 1.12270629e+00] [ 4.19571643e-02 9.99119345e-01 -3.62257223e-04 1.01967230e-02] [-1.14294913e-02 8.42524450e-04 9.99934326e-01 -6.21010668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.297628 meters Centerline goodness : 0.972875 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.00, Z:-0.07 [[ 9.98829313e-01 -4.69977675e-02 1.14548060e-02 1.18135061e+00] [ 4.70049824e-02 9.98894590e-01 -3.61301423e-04 -4.21077878e-03] [-1.14251633e-02 8.99311404e-04 9.99934326e-01 -6.61660847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.357628 meters Centerline goodness : 0.975758 with order 1 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.01, Z:-0.06 [[ 9.98996200e-01 -4.33056523e-02 1.14548113e-02 1.23975431e+00] [ 4.33126240e-02 9.99061503e-01 -3.61131559e-04 -6.89363743e-03] [-1.14284220e-02 8.56906991e-04 9.99934326e-01 -6.25806706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.417628 meters Centerline goodness : 0.978615 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.02, Z:-0.06 [[ 9.99352830e-01 -3.40985039e-02 1.14548406e-02 1.29701222e+00] [ 3.41048629e-02 9.99418195e-01 -3.60198720e-04 -1.67899928e-02] [-1.14358939e-02 7.50631380e-04 9.99934326e-01 -6.31708199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.477628 meters Centerline goodness : 0.980846 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.02, Z:-0.06 [[ 9.99630627e-01 -2.46453761e-02 1.14548695e-02 1.35607515e+00] [ 2.46511061e-02 9.99696051e-01 -3.59277776e-04 -1.98182936e-02] [-1.14425333e-02 6.41520272e-04 9.99934326e-01 -6.02243592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters Centerline goodness : 0.983973 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.02, Z:-0.06 [[ 9.99770803e-01 -1.80866348e-02 1.14549475e-02 1.41561118e+00] [ 1.80919068e-02 9.99836264e-01 -3.56773857e-04 -2.16932070e-02] [-1.14466191e-02 5.63933929e-04 9.99934326e-01 -5.69114527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters Centerline goodness : 0.985677 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.03, Z:-0.06 [[ 9.99729192e-01 -2.02564964e-02 1.14549586e-02 1.47443154e+00] [ 2.02619064e-02 9.99794643e-01 -3.56418736e-04 -2.57970302e-02] [-1.14453864e-02 5.88421514e-04 9.99934326e-01 -6.01358614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.657628 meters Centerline goodness : 0.988489 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.03, Z:-0.06 [[ 9.99624244e-01 -2.49028637e-02 1.14550347e-02 1.53323890e+00] [ 2.49085497e-02 9.99689671e-01 -3.53953512e-04 -3.14478739e-02] [-1.14426655e-02 6.39148814e-04 9.99934326e-01 -5.80338433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.717628 meters Centerline goodness : 0.990633 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.04, Z:-0.06 [[ 9.99077998e-01 -4.13755273e-02 1.14551097e-02 1.59158641e+00] [ 4.13822631e-02 9.99143325e-01 -3.51511687e-04 -4.12958654e-02] [-1.14307524e-02 8.25225955e-04 9.99934326e-01 -5.69036965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.777628 meters Centerline goodness : 0.991554 with order 1 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.05, Z:-0.06 [[ 9.98957209e-01 -4.41958706e-02 1.14551309e-02 1.65007254e+00] [ 4.42027828e-02 9.99022518e-01 -3.50816979e-04 -4.59762785e-02] [-1.14284291e-02 8.56799815e-04 9.99934326e-01 -6.09912423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.837628 meters Centerline goodness : 0.993447 with order 1 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.05, Z:-0.04 [[ 9.97952039e-01 -6.29325614e-02 1.14551430e-02 1.71107148e+00] [ 6.29406934e-02 9.98017207e-01 -3.50421687e-04 -4.60878928e-02] [-1.14103769e-02 1.07069868e-03 9.99934326e-01 -3.52533117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.897628 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.05, Z:-0.03 [[ 9.97613545e-01 -6.80881368e-02 1.14551438e-02 1.76939865e+00] [ 6.80966051e-02 9.97678671e-01 -3.50396904e-04 -4.89004140e-02] [-1.14046948e-02 1.12961710e-03 9.99934326e-01 -3.38928811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.957628 meters Centerline goodness : 0.995496 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.05, Z:-0.03 [[ 9.97431900e-01 -7.06992432e-02 1.14552272e-02 1.82760174e+00] [ 7.07078507e-02 9.97497007e-01 -3.47650259e-04 -4.75435437e-02] [-1.14019762e-02 1.15673195e-03 9.99934326e-01 -3.49127671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.017628 meters Centerline goodness : 0.995748 with order 1 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.04, Z:-0.04 [[ 9.97454960e-01 -7.03731418e-02 1.14553087e-02 1.88569760e+00] [ 7.03816973e-02 9.97520074e-01 -3.44941631e-04 -4.45734350e-02] [-1.14026258e-02 1.15030781e-03 9.99934326e-01 -3.90300426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.04, Z:-0.04 [[ 9.97561832e-01 -6.88415934e-02 1.14553888e-02 1.94433596e+00] [ 6.88500184e-02 9.97626963e-01 -3.42260780e-04 -4.17313052e-02] [-1.14046430e-02 1.13013002e-03 9.99934326e-01 -4.24600007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.04, Z:-0.04 [[ 9.97742377e-01 -6.61734157e-02 1.14554676e-02 2.00236709e+00] [ 6.61816363e-02 9.97807534e-01 -3.39603122e-04 -3.64884575e-02] [-1.14078792e-02 1.09697802e-03 9.99934326e-01 -4.39489166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.197628 meters Centerline goodness : 0.997354 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.03, Z:-0.04 [[ 9.98207770e-01 -5.87368528e-02 1.14555450e-02 2.06030111e+00] [ 5.87445576e-02 9.98272990e-01 -3.36972210e-04 -2.90273190e-02] [-1.14159685e-02 1.00931920e-03 9.99934326e-01 -4.29409473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.257628 meters Centerline goodness : 0.997702 with order 1 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.03, Z:-0.04 [[ 9.98677868e-01 -5.01127321e-02 1.14555688e-02 2.11840298e+00] [ 5.01198641e-02 9.98743153e-01 -3.36161991e-04 -2.55226395e-02] [-1.14243249e-02 9.09869090e-04 9.99934326e-01 -4.31994609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.317628 meters Centerline goodness : 0.997929 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.02, Z:-0.04 [[ 9.99136040e-01 -3.99492389e-02 1.14556437e-02 2.17698506e+00] [ 3.99556769e-02 9.99201397e-01 -3.33589037e-04 -2.21673426e-02] [-1.14331686e-02 7.91018828e-04 9.99934326e-01 -4.37376117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.377628 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.02, Z:-0.04 [[ 9.99580777e-01 -2.65901626e-02 1.14557175e-02 2.23456921e+00] [ 2.65956972e-02 9.99646217e-01 -3.31033740e-04 -1.70222984e-02] [-1.14428625e-02 6.35567757e-04 9.99934326e-01 -4.48715659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.437628 meters Centerline goodness : 0.998106 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.02, Z:-0.04 [[ 9.99704799e-01 -2.14261383e-02 1.14557684e-02 2.29258068e+00] [ 2.14313146e-02 9.99770269e-01 -3.29264494e-04 -1.73846775e-02] [-1.14460818e-02 5.74679470e-04 9.99934326e-01 -4.39869519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.497628 meters Centerline goodness : 0.998391 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.02, Z:-0.05 [[ 9.99733615e-01 -2.00365307e-02 1.14558577e-02 2.35049852e+00] [ 2.00415801e-02 9.99799094e-01 -3.26127159e-04 -2.03198944e-02] [-1.14470217e-02 5.55633772e-04 9.99934326e-01 -4.51454947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000002 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.02, Z:-0.05 [[ 9.99668843e-01 -2.30426706e-02 1.14559476e-02 2.40823294e+00] [ 2.30478804e-02 9.99734310e-01 -3.22938655e-04 -2.41363093e-02] [-1.14454625e-02 5.86867022e-04 9.99934326e-01 -4.87792046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.617628 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.03, Z:-0.05 [[ 9.99590343e-01 -2.62279626e-02 1.14560353e-02 2.46645801e+00] [ 2.62333451e-02 9.99655795e-01 -3.19796066e-04 -2.92652197e-02] [-1.14437045e-02 6.20195187e-04 9.99934326e-01 -5.04791776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677628 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.04, Z:-0.05 [[ 9.99477384e-01 -3.02277360e-02 1.14561210e-02 2.52465732e+00] [ 3.02333450e-02 9.99542818e-01 -3.16695886e-04 -3.51069569e-02] [-1.14413105e-02 6.62887234e-04 9.99934326e-01 -5.17306074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737628 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.04, Z:-0.05 [[ 9.99103620e-01 -4.07518330e-02 1.14562050e-02 2.58250891e+00] [ 4.07580958e-02 9.99168994e-01 -3.13628121e-04 -4.43178797e-02] [-1.14339039e-02 7.80280091e-04 9.99934326e-01 -5.28511033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.797628 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.05, Z:-0.05 [[ 9.98389299e-01 -5.55658318e-02 1.14562358e-02 2.64059262e+00] [ 5.55730506e-02 9.98454575e-01 -3.12498233e-04 -5.42731490e-02] [-1.14211668e-02 9.48652864e-04 9.99934326e-01 -5.35021700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.857628 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.06, Z:-0.05 [[ 9.97713705e-01 -6.66041775e-02 1.14562560e-02 2.69822195e+00] [ 6.66121093e-02 9.97778898e-01 -3.11756253e-04 -6.26864486e-02] [-1.14100462e-02 1.07416886e-03 9.99934326e-01 -5.28715097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.917628 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.07, Z:-0.05 [[ 9.96978144e-01 -7.68331500e-02 1.14563344e-02 2.75639652e+00] [ 7.68417170e-02 9.97043256e-01 -3.08848972e-04 -7.01857302e-02] [-1.13987311e-02 1.18824008e-03 9.99934326e-01 -5.22826983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.977628 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.08, Z:-0.05 [[ 9.96247384e-01 -8.57898588e-02 1.14564108e-02 2.81450227e+00] [ 8.57989780e-02 9.96312422e-01 -3.05986129e-04 -7.71247790e-02] [-1.13879139e-02 1.28778622e-03 9.99934326e-01 -5.20366900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.08, Z:-0.05 [[ 9.96133679e-01 -8.71001925e-02 1.14564343e-02 2.87228836e+00] [ 8.71093873e-02 9.96198706e-01 -3.05106774e-04 -8.29013321e-02] [-1.13863101e-02 1.30189010e-03 9.99934326e-01 -4.92374985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.08, Z:-0.05 [[ 9.96420364e-01 -8.37568404e-02 1.14564685e-02 2.93042588e+00] [ 8.37658022e-02 9.96485423e-01 -3.03813933e-04 -8.48416032e-02] [-1.13907574e-02 1.26238667e-03 9.99934326e-01 -5.10433036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.09, Z:-0.05 [[ 9.96870591e-01 -7.82161957e-02 1.14565409e-02 2.98896742e+00] [ 7.82247645e-02 9.96935703e-01 -3.01059510e-04 -8.55188694e-02] [-1.13978870e-02 1.19630259e-03 9.99934326e-01 -5.24487727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.09, Z:-0.05 [[ 9.97722687e-01 -6.64694407e-02 1.14566120e-02 3.04702060e+00] [ 6.64772109e-02 9.97787899e-01 -2.98330135e-04 -8.65326603e-02] [-1.14114390e-02 1.05925436e-03 9.99934326e-01 -5.42176568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.09, Z:-0.06 [[ 9.98195725e-01 -5.89409924e-02 1.14566338e-02 3.10551034e+00] [ 5.89482608e-02 9.98260995e-01 -2.97489516e-04 -8.72498932e-02] [-1.14191764e-02 9.72301402e-04 9.99934326e-01 -5.70591836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:-0.06 [[ 9.98777663e-01 -4.80824676e-02 1.14566939e-02 3.16285894e+00] [ 4.80889992e-02 9.98843011e-01 -2.95159378e-04 -8.83487764e-02] [-1.14292466e-02 8.45739536e-04 9.99934326e-01 -5.90374611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:-0.06 [[ 9.99044683e-01 -4.21718377e-02 1.14567400e-02 3.22062866e+00] [ 4.21779620e-02 9.99110071e-01 -2.93357677e-04 -8.98553944e-02] [-1.14341729e-02 7.76299372e-04 9.99934326e-01 -5.67317554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:-0.06 [[ 9.99248512e-01 -3.70290718e-02 1.14568170e-02 3.27859392e+00] [ 3.70348248e-02 9.99313933e-01 -2.90316962e-04 -9.37706541e-02] [-1.14382067e-02 7.14400004e-04 9.99934326e-01 -5.68905518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.10, Z:-0.06 [[ 9.99241297e-01 -3.72232553e-02 1.14568930e-02 3.33711043e+00] [ 3.72289863e-02 9.99306720e-01 -2.87289144e-04 -9.65931481e-02] [-1.14382563e-02 7.13599689e-04 9.99934326e-01 -5.58921528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.10, Z:-0.06 [[ 9.99148611e-01 -3.96332152e-02 1.14569584e-02 3.39506700e+00] [ 3.96390740e-02 9.99214023e-01 -2.84656562e-04 -1.00840806e-01] [-1.14366716e-02 7.38557430e-04 9.99934326e-01 -5.50162504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.11, Z:-0.06 [[ 9.99025938e-01 -4.26135380e-02 1.14569813e-02 3.45315378e+00] [ 4.26195813e-02 9.99091333e-01 -2.83730462e-04 -1.06536088e-01] [-1.14344800e-02 7.71745838e-04 9.99934326e-01 -5.73297953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.11, Z:-0.06 [[ 9.98955958e-01 -4.42236512e-02 1.14570036e-02 3.51156677e+00] [ 4.42297895e-02 9.99021344e-01 -2.82826012e-04 -1.09465804e-01] [-1.14332836e-02 7.89271589e-04 9.99934326e-01 -6.09752348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.12, Z:-0.06 [[ 9.98917774e-01 -4.50778999e-02 1.14570652e-02 3.56905305e+00] [ 4.50840655e-02 9.98983157e-01 -2.80310124e-04 -1.16433258e-01] [-1.14327794e-02 7.96537842e-04 9.99934326e-01 -5.93297291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.12, Z:-0.06 [[ 9.98851131e-01 -4.65312027e-02 1.14571434e-02 3.62754503e+00] [ 4.65374265e-02 9.98916509e-01 -2.77077542e-04 -1.21857714e-01] [-1.14318369e-02 8.09945184e-04 9.99934326e-01 -6.14514506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.13, Z:-0.07 [[ 9.98615397e-01 -5.13421948e-02 1.14572128e-02 3.68514233e+00] [ 5.13487004e-02 9.98680748e-01 -2.74176313e-04 -1.31269791e-01] [-1.14280210e-02 8.62109675e-04 9.99934326e-01 -6.55186134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.14, Z:-0.06 [[ 9.98420440e-01 -5.50032403e-02 1.14572371e-02 3.74395748e+00] [ 5.50099738e-02 9.98485768e-01 -2.73157568e-04 -1.38526638e-01] [-1.14248636e-02 9.02988411e-04 9.99934326e-01 -6.32274211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.15, Z:-0.06 [[ 9.98093947e-01 -6.06399421e-02 1.14573040e-02 3.80220288e+00] [ 6.06470120e-02 9.98159239e-01 -2.70321634e-04 -1.45352551e-01] [-1.14198216e-02 9.64657640e-04 9.99934326e-01 -6.10900258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.15, Z:-0.06 [[ 9.97820756e-01 -6.49805227e-02 1.14573283e-02 3.86084119e+00] [ 6.49878648e-02 9.97886018e-01 -2.69288849e-04 -1.50324866e-01] [-1.14156092e-02 1.01328930e-03 9.99934326e-01 -5.73346876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.15, Z:-0.06 [[ 9.97992337e-01 -6.22898309e-02 1.14573954e-02 3.92019249e+00] [ 6.22969641e-02 9.98057622e-01 -2.66402207e-04 -1.52236242e-01] [-1.14185467e-02 9.79628310e-04 9.99934326e-01 -5.69049347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.15, Z:-0.06 [[ 9.98462962e-01 -5.42258204e-02 1.14574615e-02 3.97810445e+00] [ 5.42323932e-02 9.98528306e-01 -2.63528708e-04 -1.52768784e-01] [-1.14263095e-02 8.84489211e-04 9.99934326e-01 -5.99362452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.15, Z:-0.06 [[ 9.98983326e-01 -4.36009328e-02 1.14574846e-02 4.03631253e+00] [ 4.36067985e-02 9.99048737e-01 -2.62519538e-04 -1.50111308e-01] [-1.14351394e-02 7.61876864e-04 9.99934326e-01 -6.09894338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.15, Z:-0.06 [[ 9.99119944e-01 -4.03492511e-02 1.14575584e-02 4.09507390e+00] [ 4.03548667e-02 9.99185377e-01 -2.59258874e-04 -1.51107433e-01] [-1.14377639e-02 7.21398953e-04 9.99934326e-01 -6.01719291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.15, Z:-0.06 [[ 9.99134931e-01 -3.99764010e-02 1.14576226e-02 4.15327639e+00] [ 3.99819594e-02 9.99200369e-01 -2.56390561e-04 -1.54712140e-01] [-1.14382111e-02 7.14266966e-04 9.99934326e-01 -5.89596303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417628 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.16, Z:-0.06 [[ 9.99112540e-01 -4.05321386e-02 1.14576942e-02 4.21228052e+00] [ 4.05376963e-02 9.99177978e-01 -2.53148287e-04 -1.57714048e-01] [-1.14380151e-02 7.17392157e-04 9.99934326e-01 -6.36255878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.16, Z:-0.06 [[ 9.99152787e-01 -3.95275633e-02 1.14577570e-02 4.26927692e+00] [ 3.95330225e-02 9.99218233e-01 -2.50274714e-04 -1.60364928e-01] [-1.14389069e-02 7.03022442e-04 9.99934326e-01 -6.35790371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.17, Z:-0.06 [[ 9.99199758e-01 -3.83218139e-02 1.14578049e-02 4.32697489e+00] [ 3.83271687e-02 9.99265213e-01 -2.48059303e-04 -1.65592143e-01] [-1.14398798e-02 6.87006019e-04 9.99934326e-01 -6.34744676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.17, Z:-0.06 [[ 9.99322622e-01 -3.49716301e-02 1.14578754e-02 4.38469878e+00] [ 3.49767278e-02 9.99388097e-01 -2.44760673e-04 -1.68076276e-01] [-1.14423046e-02 6.45353866e-04 9.99934326e-01 -6.26418574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.17, Z:-0.06 [[ 9.99505618e-01 -2.92785820e-02 1.14578970e-02 4.44230644e+00] [ 2.92832951e-02 9.99571123e-01 -2.43746852e-04 -1.68894453e-01] [-1.14458464e-02 5.79151325e-04 9.99934326e-01 -6.38553775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.17, Z:-0.07 [[ 9.99629831e-01 -2.46762197e-02 1.14579649e-02 4.50072551e+00] [ 2.46805940e-02 9.99695359e-01 -2.40511641e-04 -1.69934530e-01] [-1.14485394e-02 5.23211991e-04 9.99934326e-01 -6.50475988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.17, Z:-0.07 [[ 9.99715926e-01 -2.08992817e-02 1.14580319e-02 4.55926905e+00] [ 2.09033714e-02 9.99781473e-01 -2.37274448e-04 -1.72608331e-01] [-1.14505692e-02 4.76718541e-04 9.99934326e-01 -6.70688401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.17, Z:-0.07 [[ 9.99788939e-01 -1.70525389e-02 1.14580898e-02 4.61854657e+00] [ 1.70563440e-02 9.99854502e-01 -2.34447852e-04 -1.71890160e-01] [-1.14524247e-02 4.29831490e-04 9.99934326e-01 -6.65789158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.17, Z:-0.07 [[ 9.99760492e-01 -1.86458978e-02 1.14581461e-02 4.67551079e+00] [ 1.86497755e-02 9.99826051e-01 -2.31659401e-04 -1.74212963e-01] [-1.14518335e-02 4.45295770e-04 9.99934326e-01 -6.74359348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.18, Z:-0.07 [[ 9.99702975e-01 -2.15098112e-02 1.14581737e-02 4.73308714e+00] [ 2.15138610e-02 9.99768524e-01 -2.30287609e-04 -1.76486160e-01] [-1.14505680e-02 4.76728765e-04 9.99934326e-01 -6.89929490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.18, Z:-0.07 [[ 9.99686663e-01 -2.22550027e-02 1.14582350e-02 4.79139447e+00] [ 2.22590659e-02 9.99752210e-01 -2.27194118e-04 -1.76452076e-01] [-1.14503396e-02 4.82172539e-04 9.99934326e-01 -6.94264996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.18, Z:-0.07 [[ 9.99742230e-01 -1.96005331e-02 1.14582985e-02 4.84856911e+00] [ 1.96043852e-02 9.99807790e-01 -2.23945676e-04 -1.76856132e-01] [-1.14517067e-02 4.48520847e-04 9.99934326e-01 -6.98587815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.18, Z:-0.07 [[ 9.99748110e-01 -1.92982892e-02 1.14583256e-02 4.90697786e+00] [ 1.93021055e-02 9.99813672e-01 -2.22549452e-04 -1.78117912e-01] [-1.14518958e-02 4.43663204e-04 9.99934326e-01 -7.09014387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.18, Z:-0.07 [[ 9.99737916e-01 -1.98193063e-02 1.14583871e-02 4.96551180e+00] [ 1.98231200e-02 9.99803479e-01 -2.19340870e-04 -1.78345308e-01] [-1.14517881e-02 4.46424365e-04 9.99934326e-01 -7.32832871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.18, Z:-0.07 [[ 9.99769167e-01 -1.81746345e-02 1.14584491e-02 5.02297080e+00] [ 1.81783027e-02 9.99834738e-01 -2.16053147e-04 -1.79521086e-01] [-1.14526287e-02 4.24298431e-04 9.99934326e-01 -7.10077752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.18, Z:-0.07 [[ 9.99784935e-01 -1.72854601e-02 1.14584680e-02 5.08139932e+00] [ 1.72890585e-02 9.99850510e-01 -2.15045247e-04 -1.82240943e-01] [-1.14530379e-02 4.13105121e-04 9.99934326e-01 -7.37551020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.18, Z:-0.07 [[ 9.99835551e-01 -1.40560495e-02 1.14585282e-02 5.13923298e+00] [ 1.40593987e-02 9.99901139e-01 -2.11786741e-04 -1.82245275e-01] [-1.14544185e-02 3.72851929e-04 9.99934326e-01 -7.32474606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.18, Z:-0.08 [[ 9.99890083e-01 -9.40863120e-03 1.14585875e-02 5.19835973e+00] [ 9.41163819e-03 9.99955688e-01 -2.08525783e-04 -1.80855124e-01] [-1.14561178e-02 3.16346943e-04 9.99934326e-01 -7.78401252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.19, Z:-0.08 [[ 9.99897096e-01 -8.63118636e-03 1.14586383e-02 5.25854962e+00] [ 8.63410994e-03 9.99962704e-01 -2.05695874e-04 -1.85016659e-01] [-1.14564356e-02 3.04609850e-04 9.99934326e-01 -7.91087453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.19, Z:-0.08 [[ 9.99871509e-01 -1.12100432e-02 1.14586348e-02 5.32021752e+00] [ 1.12131382e-02 9.99937110e-01 -2.05894844e-04 -1.87430756e-01] [-1.14556060e-02 3.34355644e-04 9.99934326e-01 -8.13092273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.19, Z:-0.08 [[ 9.99863836e-01 -1.18747462e-02 1.14586276e-02 5.38115273e+00] [ 1.18778894e-02 9.99929434e-01 -2.06290260e-04 -1.89709096e-01] [-1.14553694e-02 3.42366483e-04 9.99934326e-01 -7.77731321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.19, Z:-0.07 [[ 9.99831949e-01 -1.43098927e-02 1.14586276e-02 5.44117982e+00] [ 1.43131957e-02 9.99897540e-01 -2.06290260e-04 -1.92760402e-01] [-1.14545016e-02 3.70265173e-04 9.99934326e-01 -7.41258000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.19, Z:-0.08 [[ 9.99847681e-01 -1.31649248e-02 1.14586277e-02 5.49942988e+00] [ 1.31681526e-02 9.99913275e-01 -2.06287502e-04 -1.93989838e-01] [-1.14549182e-02 3.57145038e-04 9.99934326e-01 -7.50614459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.19, Z:-0.08 [[ 9.99893896e-01 -8.99426926e-03 1.14586384e-02 5.55924117e+00] [ 8.99721662e-03 9.99959503e-01 -2.05692613e-04 -1.94044626e-01] [-1.14563243e-02 3.08766640e-04 9.99934326e-01 -7.71339251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.19, Z:-0.08 [[ 9.99931667e-01 -2.31536832e-03 1.14586455e-02 5.62067810e+00] [ 2.31787285e-03 9.99997293e-01 -2.05295528e-04 -1.94435243e-01] [-1.14581391e-02 2.31841183e-04 9.99934326e-01 -8.06118447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.20, Z:-0.08 [[ 9.99933741e-01 1.10190114e-03 1.14586385e-02 5.68301521e+00] [-1.09961641e-03 9.99999374e-01 -2.05687292e-04 -1.95730988e-01] [-1.14588579e-02 1.93073556e-04 9.99934326e-01 -8.19307468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.20, Z:-0.08 [[ 9.99924691e-01 4.39450169e-03 1.14586244e-02 5.74515003e+00] [-4.39242412e-03 9.99990332e-01 -2.06470260e-04 -1.96557402e-01] [-1.14594209e-02 1.56123573e-04 9.99934326e-01 -8.23713922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.20, Z:-0.08 [[ 9.99925076e-01 4.30602323e-03 1.14586104e-02 5.80792718e+00] [-4.30393102e-03 9.99990717e-01 -2.07241537e-04 -1.99001727e-01] [-1.14593964e-02 1.57908941e-04 9.99934326e-01 -8.17009239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.20, Z:-0.08 [[ 9.99924580e-01 4.42001214e-03 1.14585510e-02 5.86962729e+00] [-4.41789034e-03 9.99990219e-01 -2.10476654e-04 -1.99994744e-01] [-1.14593692e-02 1.59838158e-04 9.99934326e-01 -8.04494136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.20, Z:-0.08 [[ 9.99907483e-01 7.32997638e-03 1.14584954e-02 5.93244008e+00] [-7.32801143e-03 9.99973127e-01 -2.13459944e-04 -2.00167401e-01] [-1.14597521e-02 1.29472210e-04 9.99934327e-01 -7.95296062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2176279999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.20, Z:-0.08 [[ 9.99889344e-01 9.48696784e-03 1.14584726e-02 5.99503826e+00] [-9.48513057e-03 9.99954992e-01 -2.14676846e-04 -2.00294973e-01] [-1.14599935e-02 1.05967982e-04 9.99934327e-01 -7.91759061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.20, Z:-0.08 [[ 9.99893901e-01 8.99398946e-03 1.14584103e-02 6.05744487e+00] [-8.99208228e-03 9.99959547e-01 -2.17953292e-04 -2.01644121e-01] [-1.14599070e-02 1.14895199e-04 9.99934327e-01 -8.15024892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.21, Z:-0.08 [[ 9.99925637e-01 4.17442995e-03 1.14583468e-02 6.12008310e+00] [-4.17216874e-03 9.99991272e-01 -2.21238691e-04 -2.05048339e-01] [-1.14591704e-02 1.73416082e-04 9.99934327e-01 -8.35037437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.21, Z:-0.09 [[ 9.99932207e-01 2.07097727e-03 1.14582830e-02 6.18232776e+00] [-2.06854066e-03 9.99997835e-01 -2.24498116e-04 -2.06076472e-01] [-1.14587231e-02 2.00780972e-04 9.99934327e-01 -8.56509053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.21, Z:-0.09 [[ 9.99933247e-01 -1.48664969e-03 1.14582235e-02 6.24458547e+00] [ 1.48935413e-03 9.99998865e-01 -2.27496543e-04 -2.05885215e-01] [-1.14578722e-02 2.44546709e-04 9.99934327e-01 -9.11888704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.21, Z:-0.09 [[ 9.99932454e-01 -1.94856335e-03 1.14581668e-02 6.30698662e+00] [ 1.95133039e-03 9.99998070e-01 -2.30315933e-04 -2.05500260e-01] [-1.14576959e-02 2.52659046e-04 9.99934327e-01 -8.88862637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.21, Z:-0.09 [[ 9.99897317e-01 -8.60618795e-03 1.14581503e-02 6.36782636e+00] [ 8.60940114e-03 9.99962912e-01 -2.31131878e-04 -2.07278885e-01] [-1.14557362e-02 3.29755957e-04 9.99934327e-01 -8.69362072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.21, Z:-0.09 [[ 9.99836108e-01 -1.40167245e-02 1.14580974e-02 6.42915438e+00] [ 1.40203224e-02 9.99901683e-01 -2.33727333e-04 -2.07754584e-01] [-1.14536948e-02 3.94335246e-04 9.99934327e-01 -8.52684553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.21, Z:-0.08 [[ 9.99717131e-01 -2.08415640e-02 1.14580893e-02 6.48843292e+00] [ 2.08456139e-02 9.99782679e-01 -2.34122692e-04 -2.07924265e-01] [-1.14507197e-02 4.72907371e-04 9.99934327e-01 -8.40127549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7576279999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.21, Z:-0.09 [[ 9.99583155e-01 -2.64995842e-02 1.14581054e-02 6.54683526e+00] [ 2.65039960e-02 9.99648680e-01 -2.33333031e-04 -2.06926681e-01] [-1.14478967e-02 5.36921347e-04 9.99934327e-01 -8.59064656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.21, Z:-0.09 [[ 9.99401786e-01 -3.26309616e-02 1.14581713e-02 6.60541325e+00] [ 3.26357377e-02 9.99467286e-01 -2.30051532e-04 -2.08005295e-01] [-1.14445605e-02 6.03859785e-04 9.99934327e-01 -8.68804905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.21, Z:-0.09 [[ 9.99190501e-01 -3.85623099e-02 1.14582316e-02 6.66322675e+00] [ 3.85674399e-02 9.99255974e-01 -2.27007124e-04 -2.08783162e-01] [-1.14409524e-02 6.68738020e-04 9.99934327e-01 -8.73214147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.21, Z:-0.09 [[ 9.99007617e-01 -4.30405547e-02 1.14582955e-02 6.72162094e+00] [ 4.30459407e-02 9.99073069e-01 -2.23734539e-04 -2.08173323e-01] [-1.14380448e-02 7.16745617e-04 9.99934327e-01 -8.58715675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.21, Z:-0.09 [[ 9.99052540e-01 -4.19848513e-02 1.14583582e-02 6.77970317e+00] [ 4.19901310e-02 9.99118001e-01 -2.20475271e-04 -2.05560495e-01] [-1.14389953e-02 7.01404341e-04 9.99934327e-01 -8.70393133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.20, Z:-0.09 [[ 9.99188691e-01 -3.86091167e-02 1.14584192e-02 6.83773634e+00] [ 3.86141384e-02 9.99254172e-01 -2.17259656e-04 -2.03904599e-01] [-1.14414850e-02 6.59540375e-04 9.99934327e-01 -8.52136669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.20, Z:-0.09 [[ 9.99317062e-01 -3.51299522e-02 1.14584798e-02 6.89584242e+00] [ 3.51347088e-02 9.99382563e-01 -2.14011968e-04 -2.01957745e-01] [-1.14438867e-02 6.16456163e-04 9.99934327e-01 -8.73344845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.20, Z:-0.09 [[ 9.99513978e-01 -2.89915422e-02 1.14585396e-02 6.95386338e+00] [ 2.89958592e-02 9.99579509e-01 -2.10763458e-04 -1.98589032e-01] [-1.14476110e-02 5.42911222e-04 9.99934327e-01 -8.90326935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.20, Z:-0.09 [[ 9.99618195e-01 -2.51428706e-02 1.14585984e-02 7.01220710e+00] [ 2.51468980e-02 9.99683745e-01 -2.07512949e-04 -1.98058432e-01] [-1.14497571e-02 4.95581926e-04 9.99934327e-01 -8.97602388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.20, Z:-0.09 [[ 9.99751081e-01 -1.91435474e-02 1.14586564e-02 7.07074584e+00] [ 1.91471442e-02 9.99816656e-01 -2.04260002e-04 -1.97801482e-01] [-1.14526453e-02 4.23609705e-04 9.99934327e-01 -9.07725644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.20, Z:-0.09 [[ 9.99869510e-01 -1.13868865e-02 1.14587128e-02 7.12915873e+00] [ 1.13899376e-02 9.99935112e-01 -2.01046244e-04 -1.97885250e-01] [-1.14556800e-02 3.31534034e-04 9.99934327e-01 -9.26452779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.20, Z:-0.09 [[ 9.99916327e-01 -6.00304079e-03 1.14587681e-02 7.18991747e+00] [ 6.00570201e-03 9.99981946e-01 -1.97846894e-04 -1.98808532e-01] [-1.14573735e-02 2.66648285e-04 9.99934327e-01 -9.42332186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.20, Z:-0.10 [[ 9.99928012e-01 -3.55907777e-03 1.14587681e-02 7.25072150e+00] [ 3.56157860e-03 9.99993638e-01 -1.97846894e-04 -2.00187132e-01] [-1.14579910e-02 2.38643954e-04 9.99934327e-01 -9.57430067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.20, Z:-0.10 [[ 9.99932986e-01 1.64914232e-03 1.14587577e-02 7.31292056e+00] [-1.64697650e-03 9.99998624e-01 -1.98444546e-04 -2.03542183e-01] [-1.14590692e-02 1.79558943e-04 9.99934327e-01 -9.50251895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.21, Z:-0.10 [[ 9.99922920e-01 4.78028700e-03 1.14587434e-02 7.37516813e+00] [-4.77831731e-03 9.99988564e-01 -1.99265429e-04 -2.07822616e-01] [-1.14595649e-02 1.44496558e-04 9.99934327e-01 -9.53450869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.21, Z:-0.09 [[ 9.99911681e-01 6.73262124e-03 1.14587257e-02 7.43828180e+00] [-6.73076808e-03 9.99977328e-01 -2.00281743e-04 -2.11318999e-01] [-1.14598143e-02 1.23138029e-04 9.99934327e-01 -9.48527027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.22, Z:-0.10 [[ 9.99903135e-01 7.90054025e-03 1.14587042e-02 7.50085496e+00] [-7.89874979e-03 9.99968784e-01 -2.01501969e-04 -2.16402146e-01] [-1.14599385e-02 1.10973013e-04 9.99934327e-01 -9.64350840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.22, Z:-0.10 [[ 9.99908245e-01 7.22506762e-03 1.14586467e-02 7.56346008e+00] [-7.22319595e-03 9.99973891e-01 -2.04718972e-04 -2.20909405e-01] [-1.14598267e-02 1.21932137e-04 9.99934327e-01 -9.83537031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.23, Z:-0.10 [[ 9.99916830e-01 5.91901341e-03 1.14585887e-02 7.62652929e+00] [-5.91701936e-03 9.99982473e-01 -2.07916100e-04 -2.27656541e-01] [-1.14596185e-02 1.40098117e-04 9.99934327e-01 -9.89312800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.23, Z:-0.10 [[ 9.99925296e-01 4.25495755e-03 1.14585301e-02 7.68952424e+00] [-4.25281783e-03 9.99990934e-01 -2.11095494e-04 -2.34948125e-01] [-1.14593245e-02 1.62348683e-04 9.99934327e-01 -9.67323926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.24, Z:-0.10 [[ 9.99902355e-01 7.99900590e-03 1.14584692e-02 7.75176691e+00] [-7.99707465e-03 9.99968000e-01 -2.14352541e-04 -2.36779885e-01] [-1.14598172e-02 1.22697377e-04 9.99934327e-01 -9.61647507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.24, Z:-0.10 [[ 9.99865869e-01 1.17025124e-02 1.14584541e-02 7.81493987e+00] [-1.17008151e-02 9.99931520e-01 -2.15157228e-04 -2.37316651e-01] [-1.14601873e-02 8.10551155e-05 9.99934327e-01 -9.70442061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.24, Z:-0.10 [[ 9.99855618e-01 1.25478063e-02 1.14584310e-02 7.87770113e+00] [-1.25461505e-02 9.99921271e-01 -2.16380742e-04 -2.39322591e-01] [-1.14602440e-02 7.25903015e-05 9.99934327e-01 -9.88005383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.24, Z:-0.10 [[ 9.99877907e-01 1.06243641e-02 1.14583686e-02 7.93980788e+00] [-1.06225447e-02 9.99943555e-01 -2.19635771e-04 -2.40352541e-01] [-1.14600553e-02 9.78919222e-05 9.99934327e-01 -1.01196676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.24, Z:-0.10 [[ 9.99916802e-01 5.92412479e-03 1.14583127e-02 8.00185639e+00] [-5.92196384e-03 9.99982440e-01 -2.22512495e-04 -2.41651683e-01] [-1.14594297e-02 1.54638269e-04 9.99934327e-01 -1.00490252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.24, Z:-0.10 [[ 9.99926340e-01 4.00294045e-03 1.14582530e-02 8.06456482e+00] [-4.00061861e-03 9.99991972e-01 -2.25548764e-04 -2.42084178e-01] [-1.14590639e-02 1.79692050e-04 9.99934327e-01 -1.00336360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.24, Z:-0.10 [[ 9.99932117e-01 2.11477029e-03 1.14581893e-02 8.12725302e+00] [-2.11228798e-03 9.99997743e-01 -2.28738062e-04 -2.42318438e-01] [-1.14586472e-02 2.04519539e-04 9.99934327e-01 -1.00914729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.24, Z:-0.10 [[ 9.99934039e-01 7.93489028e-04 1.14581228e-02 8.18936242e+00] [-7.90882373e-04 9.99999660e-01 -2.32023397e-04 -2.42930003e-01] [-1.14583030e-02 2.22946065e-04 9.99934327e-01 -1.02431898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.24, Z:-0.10 [[ 9.99934274e-01 -4.00417900e-04 1.14580606e-02 8.25260193e+00] [ 4.03137617e-04 9.99999891e-01 -2.35054094e-04 -2.44595799e-01] [-1.14579652e-02 2.39657820e-04 9.99934327e-01 -1.02595550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.25, Z:-0.10 [[ 9.99933790e-01 -1.06309039e-03 1.14579928e-02 8.31505496e+00] [ 1.06589091e-03 9.99999404e-01 -2.38312626e-04 -2.46230064e-01] [-1.14577327e-02 2.50509818e-04 9.99934327e-01 -1.02177160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.25, Z:-0.10 [[ 9.99934347e-01 -1.34623042e-04 1.14579240e-02 8.37697865e+00] [ 1.37400044e-04 9.99999961e-01 -2.41578382e-04 -2.47644580e-01] [-1.14578910e-02 2.43136841e-04 9.99934327e-01 -1.03211825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.25, Z:-0.10 [[ 9.99934356e-01 3.36578222e-05 1.14579026e-02 8.44018967e+00] [-3.08802761e-05 9.99999970e-01 -2.42589974e-04 -2.49953911e-01] [-1.14579104e-02 2.42220226e-04 9.99934327e-01 -1.03559839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.25, Z:-0.10 [[ 9.99933859e-01 -9.97495477e-04 1.14578769e-02 8.50259846e+00] [ 1.00035451e-03 9.99999470e-01 -2.43797021e-04 -2.51642178e-01] [-1.14576276e-02 2.55242834e-04 9.99934327e-01 -1.04250632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.25, Z:-0.11 [[ 9.99925958e-01 -4.09835363e-03 1.14578082e-02 8.56539188e+00] [ 4.10145257e-03 9.99991559e-01 -2.46981205e-04 -2.52762020e-01] [-1.14566993e-02 2.93956576e-04 9.99934327e-01 -1.05870049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.25, Z:-0.11 [[ 9.99926023e-01 -4.08268975e-03 1.14577396e-02 8.62770608e+00] [ 4.08582369e-03 9.99991622e-01 -2.50127039e-04 -2.51537229e-01] [-1.14566224e-02 2.96922839e-04 9.99934327e-01 -1.06649258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.25, Z:-0.11 [[ 9.99906140e-01 -7.51209539e-03 1.14577225e-02 8.68894697e+00] [ 7.51546321e-03 9.99971727e-01 -2.50905959e-04 -2.52956860e-01] [-1.14555137e-02 3.36992502e-04 9.99934327e-01 -1.08678455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.25, Z:-0.11 [[ 9.99860284e-01 -1.21709952e-02 1.14576891e-02 8.74988634e+00] [ 1.21746859e-02 9.99925854e-01 -2.52422929e-04 -2.53237006e-01] [-1.14537673e-02 3.91881428e-04 9.99934327e-01 -1.07292987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.25, Z:-0.11 [[ 9.99805897e-01 -1.60277714e-02 1.14576802e-02 8.80952086e+00] [ 1.60317197e-02 9.99871452e-01 -2.52827335e-04 -2.52520750e-01] [-1.14521550e-02 4.36464577e-04 9.99934327e-01 -1.06720179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.25, Z:-0.11 [[ 9.99785167e-01 -1.72725598e-02 1.14576891e-02 8.86738030e+00] [ 1.72765851e-02 9.99850717e-01 -2.52422786e-04 -2.52588653e-01] [-1.14516187e-02 4.50318298e-04 9.99934327e-01 -1.07644725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.25, Z:-0.11 [[ 9.99786738e-01 -1.71813196e-02 1.14577597e-02 8.92542433e+00] [ 1.71853018e-02 9.99852291e-01 -2.49177717e-04 -2.52676200e-01] [-1.14517860e-02 4.46029634e-04 9.99934327e-01 -1.08795450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.25, Z:-0.11 [[ 9.99836768e-01 -1.39698205e-02 1.14578297e-02 8.98336878e+00] [ 1.39735547e-02 9.99902335e-01 -2.45916163e-04 -2.52262190e-01] [-1.14532752e-02 4.05982631e-04 9.99934327e-01 -1.10810887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.25, Z:-0.11 [[ 9.99881184e-01 -1.03119333e-02 1.14578604e-02 9.04259582e+00] [ 1.03154111e-02 9.99946765e-01 -2.44474992e-04 -2.52476492e-01] [-1.14547294e-02 3.62638485e-04 9.99934327e-01 -1.10964796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.25, Z:-0.11 [[ 9.99919675e-01 -5.41845052e-03 1.14579179e-02 9.10323343e+00] [ 5.42157618e-03 9.99985274e-01 -2.41751106e-04 -2.53794576e-01] [-1.14564392e-02 3.03851662e-04 9.99934327e-01 -1.08411394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.25, Z:-0.11 [[ 9.99932246e-01 -2.05422428e-03 1.14579179e-02 9.16487746e+00] [ 2.05712921e-03 9.99997855e-01 -2.41751106e-04 -2.54255322e-01] [-1.14573967e-02 2.65305144e-04 9.99934327e-01 -1.09485512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.26, Z:-0.11 [[ 9.99934261e-01 -4.35377251e-04 1.14579006e-02 9.22726848e+00] [ 4.38185290e-04 9.99999875e-01 -2.42565246e-04 -2.55692669e-01] [-1.14577936e-02 2.47569984e-04 9.99934327e-01 -1.10515010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.26, Z:-0.11 [[ 9.99915163e-01 6.19550027e-03 1.14578834e-02 9.28907676e+00] [-6.19311810e-03 9.99980793e-01 -2.43376420e-04 -2.57905045e-01] [-1.14591712e-02 1.72395748e-04 9.99934327e-01 -1.11637110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.26, Z:-0.11 [[ 9.99895785e-01 8.78272304e-03 1.14578661e-02 9.35211537e+00] [-8.78050138e-03 9.99961421e-01 -2.44189116e-04 -2.60431148e-01] [-1.14595687e-02 1.43557859e-04 9.99934327e-01 -1.12909033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.26, Z:-0.11 [[ 9.99892405e-01 9.15949482e-03 1.14578388e-02 9.41361175e+00] [-9.15728332e-03 9.99958041e-01 -2.45461134e-04 -2.63264017e-01] [-1.14596064e-02 1.40512047e-04 9.99934327e-01 -1.13797593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.27, Z:-0.12 [[ 9.99894868e-01 8.88658906e-03 1.14577715e-02 9.47559972e+00] [-8.88432407e-03 9.99960503e-01 -2.48566317e-04 -2.66982419e-01] [-1.14595278e-02 1.46745630e-04 9.99934327e-01 -1.19814168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.27, Z:-0.12 [[ 9.99818148e-01 1.52443453e-02 1.14577482e-02 9.53851963e+00] [-1.52424854e-02 9.99883795e-01 -2.49636101e-04 -2.67751459e-01] [-1.14602223e-02 7.49461445e-05 9.99934327e-01 -1.21802138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.27, Z:-0.12 [[ 9.99761261e-01 1.86048696e-02 1.14577189e-02 9.60129928e+00] [-1.86032151e-02 9.99826914e-01 -2.50974306e-04 -2.70537873e-01] [-1.14604050e-02 3.77639801e-05 9.99934327e-01 -1.22561693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.27, Z:-0.12 [[ 9.99764289e-01 1.84415070e-02 1.14576461e-02 9.66256095e+00] [-1.84398041e-02 9.99829940e-01 -2.54254191e-04 -2.72777312e-01] [-1.14603864e-02 4.29175110e-05 9.99934327e-01 -1.19575505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.28, Z:-0.12 [[ 9.99742065e-01 1.96093590e-02 1.14576114e-02 9.72513071e+00] [-1.96077150e-02 9.99807718e-01 -2.55809384e-04 -2.75310514e-01] [-1.14604245e-02 3.10858232e-05 9.99934327e-01 -1.17720202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.28, Z:-0.12 [[ 9.99758324e-01 1.87621439e-02 1.14575388e-02 9.78845623e+00] [-1.87604075e-02 9.99823975e-01 -2.59019047e-04 -2.75173653e-01] [-1.14603817e-02 4.40083518e-05 9.99934327e-01 -1.19844540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.28, Z:-0.12 [[ 9.99744352e-01 1.94924689e-02 1.14574614e-02 9.85018007e+00] [-1.94907418e-02 9.99810003e-01 -2.62398815e-04 -2.77147501e-01] [-1.14603993e-02 3.90173122e-05 9.99934327e-01 -1.18475170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.28, Z:-0.12 [[ 9.99793167e-01 1.68033049e-02 1.14573893e-02 9.91251545e+00] [-1.68013655e-02 9.99858812e-01 -2.65508186e-04 -2.77901394e-01] [-1.14602331e-02 7.29534843e-05 9.99934327e-01 -1.20248314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.28, Z:-0.12 [[ 9.99847826e-01 1.31549962e-02 1.14573431e-02 9.97503252e+00] [-1.31527946e-02 9.99913462e-01 -2.67487535e-04 -2.78766970e-01] [-1.14598704e-02 1.16750750e-04 9.99934327e-01 -1.22024065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.28, Z:-0.12 [[ 9.99928220e-01 3.50511772e-03 1.14572658e-02 1.00383593e+01] [-3.50224534e-03 9.99993830e-01 -2.70757554e-04 -2.81196935e-01] [-1.14581442e-02 2.30611963e-04 9.99934327e-01 -1.21977124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.28, Z:-0.12 [[ 9.99921335e-01 -5.10459502e-03 1.14571890e-02 1.01013391e+01] [ 5.10806902e-03 9.99986916e-01 -2.73972996e-04 -2.81416341e-01] [-1.14556405e-02 3.32475556e-04 9.99934327e-01 -1.21399350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.28, Z:-0.12 [[ 9.99724287e-01 -2.04959686e-02 1.14571091e-02 1.01632003e+01] [ 2.05004894e-02 9.99789804e-01 -2.77272418e-04 -2.80870367e-01] [-1.14490179e-02 5.12072315e-04 9.99934327e-01 -1.21840202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.28, Z:-0.12 [[ 9.99536291e-01 -2.82123886e-02 1.14570347e-02 1.02209483e+01] [ 2.82174498e-02 9.99601769e-01 -2.80315141e-04 -2.81689911e-01] [-1.14445638e-02 6.03473457e-04 9.99934327e-01 -1.22745511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.28, Z:-0.13 [[ 9.99352420e-01 -3.41097583e-02 1.14570643e-02 1.02786447e+01] [ 3.41151919e-02 9.99417868e-01 -2.79097037e-04 -2.81353748e-01] [-1.14408749e-02 6.69776248e-04 9.99934327e-01 -1.25666545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.28, Z:-0.13 [[ 9.99332417e-01 -3.46908274e-02 1.14571430e-02 1.03363432e+01] [ 3.46962618e-02 9.99397865e-01 -2.75831240e-04 -2.77920701e-01] [-1.14406754e-02 6.73167131e-04 9.99934327e-01 -1.28074702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.28, Z:-0.13 [[ 9.99385715e-01 -3.31198670e-02 1.14572197e-02 1.03949072e+01] [ 3.31251616e-02 9.99451174e-01 -2.72606529e-04 -2.76639395e-01] [-1.14419030e-02 6.51961324e-04 9.99934327e-01 -1.29063853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.28, Z:-0.13 [[ 9.99543696e-01 -2.79487043e-02 1.14572944e-02 1.04525399e+01] [ 2.79536238e-02 9.99609185e-01 -2.69430313e-04 -2.77168361e-01] [-1.14452865e-02 5.89580268e-04 9.99934327e-01 -1.28437068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.28, Z:-0.13 [[ 9.99659727e-01 -2.34341330e-02 1.14573690e-02 1.05106746e+01] [ 2.34387200e-02 9.99725240e-01 -2.66219296e-04 -2.75987343e-01] [-1.14479823e-02 5.34674773e-04 9.99934327e-01 -1.29076104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.27, Z:-0.13 [[ 9.99826681e-01 -1.46742995e-02 1.14574440e-02 1.05690443e+01] [ 1.46782748e-02 9.99892234e-01 -2.62948962e-04 -2.73119583e-01] [-1.14523507e-02 4.31078901e-04 9.99934327e-01 -1.30551269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.27, Z:-0.13 [[ 9.99877683e-01 -1.06463393e-02 1.14575171e-02 1.06284481e+01] [ 1.06500136e-02 9.99943253e-01 -2.59724167e-04 -2.73699676e-01] [-1.14541019e-02 3.81715112e-04 9.99934327e-01 -1.31886434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.28, Z:-0.13 [[ 9.99910182e-01 -6.95360845e-03 1.14575801e-02 1.06891772e+01] [ 6.95700845e-03 9.99975767e-01 -2.56917216e-04 -2.75105528e-01] [-1.14555159e-02 3.36604621e-04 9.99934327e-01 -1.32231974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.28, Z:-0.13 [[ 9.99915554e-01 -6.13259876e-03 1.14575801e-02 1.07505041e+01] [ 6.13594491e-03 9.99981142e-01 -2.56917216e-04 -2.75439039e-01] [-1.14557884e-02 3.27198600e-04 9.99934327e-01 -1.32055308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.28, Z:-0.13 [[ 9.99884557e-01 -9.97981836e-03 1.14575667e-02 1.08119687e+01] [ 9.98342369e-03 9.99950131e-01 -2.57514806e-04 -2.78501065e-01] [-1.14544253e-02 3.71870820e-04 9.99934327e-01 -1.31834038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.28, Z:-0.13 [[ 9.99789548e-01 -1.70172252e-02 1.14575092e-02 1.08726716e+01] [ 1.70213209e-02 9.99855093e-01 -2.60048378e-04 -2.82815069e-01] [-1.14514236e-02 4.55015591e-04 9.99934327e-01 -1.33683302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.29, Z:-0.14 [[ 9.99703816e-01 -2.14710602e-02 1.14575092e-02 1.09307190e+01] [ 2.14754480e-02 9.99769342e-01 -2.60048378e-04 -2.87125928e-01] [-1.14492829e-02 5.06026497e-04 9.99934327e-01 -1.36253976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.29, Z:-0.14 [[ 9.99584721e-01 -2.64406948e-02 1.14575783e-02 1.09886093e+01] [ 2.64453730e-02 9.99650227e-01 -2.56966981e-04 -2.88902425e-01] [-1.14467763e-02 5.59860199e-04 9.99934327e-01 -1.37044208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.29, Z:-0.14 [[ 9.99700027e-01 -2.16466821e-02 1.14576532e-02 1.10464607e+01] [ 2.16510073e-02 9.99765557e-01 -2.53579956e-04 -2.94810151e-01] [-1.14494779e-02 5.01573622e-04 9.99934327e-01 -1.40884990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.30, Z:-0.14 [[ 9.99783401e-01 -1.73745047e-02 1.14576760e-02 1.11043033e+01] [ 1.73785381e-02 9.99848950e-01 -2.52548017e-04 -2.97515018e-01] [-1.14515574e-02 4.51610974e-04 9.99934327e-01 -1.42724419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.30, Z:-0.14 [[ 9.99866260e-01 -1.16697296e-02 1.14576979e-02 1.11626088e+01] [ 1.16733774e-02 9.99931832e-01 -2.51547324e-04 -3.01392838e-01] [-1.14539814e-02 3.85263715e-04 9.99934327e-01 -1.40003571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.30, Z:-0.14 [[ 9.99910769e-01 -6.86832632e-03 1.14577678e-02 1.12219234e+01] [ 6.87162233e-03 9.99976359e-01 -2.48322458e-04 -3.04854393e-01] [-1.14557914e-02 3.27033754e-04 9.99934327e-01 -1.40154124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.31, Z:-0.14 [[ 9.99933362e-01 1.41074135e-03 1.14577766e-02 1.12822220e+01] [-1.40799314e-03 9.99998978e-01 -2.47918787e-04 -3.08072135e-01] [-1.14581146e-02 2.31769796e-04 9.99934327e-01 -1.39545145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.31, Z:-0.14 [[ 9.99910151e-01 6.95766734e-03 1.14577723e-02 1.13447488e+01] [-6.95528089e-03 9.99975781e-01 -2.48117479e-04 -3.11618890e-01] [-1.14592211e-02 1.68403162e-04 9.99934327e-01 -1.41743752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.32, Z:-0.14 [[ 9.99756394e-01 1.88645892e-02 1.14577553e-02 1.14077431e+01] [-1.88629755e-02 9.99822047e-01 -2.48899761e-04 -3.15358808e-01] [-1.14604117e-02 3.27117708e-05 9.99934327e-01 -1.38382534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.32, Z:-0.14 [[ 9.99513385e-01 2.90122898e-02 1.14577283e-02 1.14695831e+01] [-2.90113284e-02 9.99579052e-01 -2.50135616e-04 -3.16355109e-01] [-1.14601622e-02 -8.23900219e-05 9.99934327e-01 -1.41826368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.32, Z:-0.14 [[ 9.99373469e-01 3.34871885e-02 1.14576837e-02 1.15327486e+01] [-3.34864980e-02 9.99439138e-01 -2.52160453e-04 -3.17861296e-01] [-1.14597017e-02 -1.31675237e-04 9.99934327e-01 -1.43268383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.32, Z:-0.15 [[ 9.99337130e-01 3.45546441e-02 1.14576107e-02 1.15946467e+01] [-3.45539862e-02 9.99402800e-01 -2.55435032e-04 -3.17864328e-01] [-1.14595947e-02 -1.40640410e-04 9.99934327e-01 -1.45073279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.32, Z:-0.15 [[ 9.99486945e-01 2.99093889e-02 1.14575469e-02 1.16552948e+01] [-2.99083933e-02 9.99552611e-01 -2.58266305e-04 -3.18461061e-01] [-1.14601455e-02 -8.45430189e-05 9.99934327e-01 -1.48088177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.32, Z:-0.15 [[ 9.99538585e-01 2.81308274e-02 1.14575110e-02 1.17186027e+01] [-2.81296968e-02 9.99604248e-01 -2.59851484e-04 -3.20533380e-01] [-1.14602865e-02 -6.25647246e-05 9.99934327e-01 -1.46531078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.32, Z:-0.15 [[ 9.99670074e-01 2.29884833e-02 1.14574359e-02 1.17793915e+01] [-2.29869774e-02 9.99735730e-01 -2.63119545e-04 -3.21774702e-01] [-1.14604568e-02 -3.39085367e-07 9.99934327e-01 -1.45613981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.32, Z:-0.15 [[ 9.99766671e-01 1.83121015e-02 1.14573753e-02 1.18423431e+01] [-1.83102586e-02 9.99832318e-01 -2.65734102e-04 -3.22936124e-01] [-1.14603202e-02 5.58845951e-05 9.99934327e-01 -1.47262481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.32, Z:-0.15 [[ 9.99824509e-01 1.48216851e-02 1.14573010e-02 1.19048782e+01] [-1.48195768e-02 9.99890148e-01 -2.68899805e-04 -3.23379056e-01] [-1.14600279e-02 9.90602638e-05 9.99934327e-01 -1.47496060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.33, Z:-0.15 [[ 9.99889651e-01 9.45606345e-03 1.14572254e-02 1.19673522e+01] [-9.45356644e-03 9.99955277e-01 -2.72081153e-04 -3.25890943e-01] [-1.14592858e-02 1.63739487e-04 9.99934327e-01 -1.48035258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.32, Z:-0.15 [[ 9.99933946e-01 9.15464746e-04 1.14571495e-02 1.20289694e+01] [-9.12371100e-04 9.99999546e-01 -2.75242643e-04 -3.24671710e-01] [-1.14573962e-02 2.64771290e-04 9.99934327e-01 -1.50774806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.33, Z:-0.15 [[ 9.99920578e-01 -5.25106091e-03 1.14570786e-02 1.20919454e+01] [ 5.25459246e-03 9.99986156e-01 -2.78160468e-04 -3.25896450e-01] [-1.14554594e-02 3.38340655e-04 9.99934327e-01 -1.51948712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.33, Z:-0.15 [[ 9.99855435e-01 -1.25637134e-02 1.14570030e-02 1.21525791e+01] [ 1.25677597e-02 9.99920983e-01 -2.81240751e-04 -3.27894417e-01] [-1.14525643e-02 4.25188954e-04 9.99934327e-01 -1.50389985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.33, Z:-0.15 [[ 9.99816105e-01 -1.53783904e-02 1.14569668e-02 1.22109150e+01] [ 1.53826380e-02 9.99881640e-01 -2.82707245e-04 -3.29256437e-01] [-1.14512632e-02 4.58893629e-04 9.99934327e-01 -1.49617686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.33, Z:-0.15 [[ 9.99817639e-01 -1.52782647e-02 1.14569805e-02 1.22701370e+01] [ 1.52824994e-02 9.99883176e-01 -2.82150915e-04 -3.29271802e-01] [-1.14513313e-02 4.57190759e-04 9.99934327e-01 -1.49290825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.33, Z:-0.15 [[ 9.99858025e-01 -1.23557796e-02 1.14570460e-02 1.23294843e+01] [ 1.23597920e-02 9.99923576e-01 -2.79468418e-04 -3.27528178e-01] [-1.14527173e-02 4.21035445e-04 9.99934327e-01 -1.52923381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.33, Z:-0.15 [[ 9.99902379e-01 -7.99793071e-03 1.14571141e-02 1.23889230e+01] [ 8.00162505e-03 9.99967948e-01 -2.76645862e-04 -3.28053837e-01] [-1.14545343e-02 3.68294387e-04 9.99934327e-01 -1.51699328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577627999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.33, Z:-0.16 [[ 9.99923738e-01 -4.61000833e-03 1.14571239e-02 1.24500984e+01] [ 4.61347587e-03 9.99989320e-01 -2.76241838e-04 -3.29698484e-01] [-1.14557280e-02 3.29077936e-04 9.99934327e-01 -1.55330079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.33, Z:-0.16 [[ 9.99933585e-01 1.24922241e-03 1.14571141e-02 1.25118761e+01] [-1.24613458e-03 9.99999185e-01 -2.76646264e-04 -3.30753753e-01] [-1.14574503e-02 2.62350785e-04 9.99934327e-01 -1.56237745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.33, Z:-0.15 [[ 9.99922028e-01 4.96721733e-03 1.14570943e-02 1.25736628e+01] [-4.96436408e-03 9.99987639e-01 -2.77464017e-04 -3.31726023e-01] [-1.14583309e-02 2.20565195e-04 9.99934327e-01 -1.54180159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.33, Z:-0.15 [[ 9.99921095e-01 5.15163874e-03 1.14570742e-02 1.26351103e+01] [-5.14878812e-03 9.99986706e-01 -2.78291224e-04 -3.34911119e-01] [-1.14583555e-02 2.19279218e-04 9.99934327e-01 -1.53362121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.34, Z:-0.15 [[ 9.99931487e-01 2.39958548e-03 1.14569992e-02 1.26982087e+01] [-2.39651930e-03 9.99997089e-01 -2.81346012e-04 -3.41531230e-01] [-1.14576409e-02 2.53869817e-04 9.99934327e-01 -1.52412452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.34, Z:-0.15 [[ 9.99934167e-01 6.32356634e-04 1.14569199e-02 1.27615805e+01] [-6.29137967e-04 9.99999762e-01 -2.84538422e-04 -3.44980399e-01] [-1.14570971e-02 2.77311707e-04 9.99934327e-01 -1.53965944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.34, Z:-0.16 [[ 9.99923169e-01 4.73245377e-03 1.14568838e-02 1.28228017e+01] [-4.72948755e-03 9.99988775e-01 -2.85982884e-04 -3.44320613e-01] [-1.14581086e-02 2.31775722e-04 9.99934327e-01 -1.55972078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.35, Z:-0.16 [[ 9.99911565e-01 6.75293868e-03 1.14568506e-02 1.28849159e+01] [-6.75008986e-03 9.99977177e-01 -2.87307611e-04 -3.45849006e-01] [-1.14585293e-02 2.09947432e-04 9.99934327e-01 -1.57629299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.35, Z:-0.16 [[ 9.99899371e-01 8.36596639e-03 1.14568302e-02 1.29464809e+01] [-8.36321414e-03 9.99964986e-01 -2.88117280e-04 -3.48283109e-01] [-1.14588395e-02 1.92272362e-04 9.99934327e-01 -1.59828917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.35, Z:-0.16 [[ 9.99900552e-01 8.22371070e-03 1.14567589e-02 1.30095676e+01] [-8.22091691e-03 9.99966165e-01 -2.90928774e-04 -3.49348606e-01] [-1.14587637e-02 1.96714779e-04 9.99934327e-01 -1.60497111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.35, Z:-0.16 [[ 9.99916912e-01 5.90880890e-03 1.14566770e-02 1.30728981e+01] [-5.90582670e-03 9.99982517e-01 -2.94116099e-04 -3.50202506e-01] [-1.14582146e-02 2.26430512e-04 9.99934327e-01 -1.61677422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237627999999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.35, Z:-0.17 [[ 9.99925623e-01 4.18280302e-03 1.14565956e-02 1.31362456e+01] [-4.17967164e-03 9.99991221e-01 -2.97255649e-04 -3.50949686e-01] [-1.14577384e-02 2.49348732e-04 9.99934327e-01 -1.65682700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.35, Z:-0.16 [[ 9.99932008e-01 2.17424959e-03 1.14565139e-02 1.31995895e+01] [-2.17095076e-03 9.99997598e-01 -3.00371802e-04 -3.54749472e-01] [-1.14571394e-02 2.75479852e-04 9.99934327e-01 -1.62777833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.36, Z:-0.16 [[ 9.99933794e-01 1.07644059e-03 1.14564323e-02 1.32610390e+01] [-1.07303451e-03 9.99999378e-01 -3.03450152e-04 -3.56958036e-01] [-1.14567519e-02 2.91136914e-04 9.99934327e-01 -1.62509550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.36, Z:-0.16 [[ 9.99934320e-01 3.27705517e-04 1.14563562e-02 1.33237018e+01] [-3.24217724e-04 9.99999901e-01 -3.06297621e-04 -3.58159471e-01] [-1.14564554e-02 3.02563150e-04 9.99934327e-01 -1.63319547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.36, Z:-0.17 [[ 9.99931696e-01 2.31464654e-03 1.14562723e-02 1.33862950e+01] [-2.31125351e-03 9.99997281e-01 -3.09403087e-04 -3.58271178e-01] [-1.14569573e-02 2.82903604e-04 9.99934327e-01 -1.65828661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.36, Z:-0.17 [[ 9.99922274e-01 4.91945148e-03 1.14562395e-02 1.34492292e+01] [-4.91621543e-03 9.99987867e-01 -3.10614974e-04 -3.60272175e-01] [-1.14576285e-02 2.54269490e-04 9.99934327e-01 -1.66459786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.36, Z:-0.17 [[ 9.99891882e-01 9.21848682e-03 1.14562061e-02 1.35126275e+01] [-9.21551876e-03 9.99957488e-01 -3.11841727e-04 -3.61807892e-01] [-1.14585938e-02 2.06233129e-04 9.99934327e-01 -1.67414429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.36, Z:-0.17 [[ 9.99872680e-01 1.11076298e-02 1.14561727e-02 1.35750882e+01] [-1.11047717e-02 9.99938291e-01 -3.13065001e-04 -3.64835133e-01] [-1.14589431e-02 1.85806959e-04 9.99934327e-01 -1.67295960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.37, Z:-0.17 [[ 9.99823538e-01 1.48879353e-02 1.14560822e-02 1.36381107e+01] [-1.48852877e-02 9.99889158e-01 -3.16341600e-04 -3.65395861e-01] [-1.14595220e-02 1.45758699e-04 9.99934327e-01 -1.70247499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.37, Z:-0.17 [[ 9.99777900e-01 1.76892415e-02 1.14560484e-02 1.37013168e+01] [-1.76867638e-02 9.99843527e-01 -3.17559892e-04 -3.66322639e-01] [-1.14598732e-02 1.14868939e-04 9.99934327e-01 -1.70915053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.37, Z:-0.17 [[ 9.99755950e-01 1.88891889e-02 1.14559553e-02 1.37642270e+01] [-1.88867520e-02 9.99821578e-01 -3.20883050e-04 -3.67649255e-01] [-1.14599725e-02 1.04438952e-04 9.99934327e-01 -1.71763269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.37, Z:-0.17 [[ 9.99786554e-01 1.71933024e-02 1.14558620e-02 1.38274454e+01] [-1.71907163e-02 9.99852176e-01 -3.24180452e-04 -3.69392738e-01] [-1.14597423e-02 1.27176783e-04 9.99934327e-01 -1.72660267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.37, Z:-0.17 [[ 9.99847507e-01 1.31806187e-02 1.14557690e-02 1.38905102e+01] [-1.31777320e-02 9.99913116e-01 -3.27434742e-04 -3.71187841e-01] [-1.14590895e-02 1.76423756e-04 9.99934327e-01 -1.71307730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.37, Z:-0.17 [[ 9.99908921e-01 7.13562916e-03 1.14556735e-02 1.39523843e+01] [-7.13230801e-03 9.99974510e-01 -3.30741178e-04 -3.72840215e-01] [-1.14577416e-02 2.49005662e-04 9.99934327e-01 -1.72154798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.37, Z:-0.17 [[ 9.99925632e-01 -4.18332826e-03 1.14555848e-02 1.40155679e+01] [ 4.18742648e-03 9.99991177e-01 -3.33786914e-04 -3.73255569e-01] [-1.14540874e-02 3.81731510e-04 9.99934327e-01 -1.73189844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.37, Z:-0.17 [[ 9.99857597e-01 -1.23918062e-02 1.14554877e-02 1.40787147e+01] [ 1.23964801e-02 9.99923104e-01 -3.37085039e-04 -3.74933376e-01] [-1.14504298e-02 4.79044763e-04 9.99934327e-01 -1.74820317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.37, Z:-0.17 [[ 9.99718964e-01 -2.07549342e-02 1.14553901e-02 1.41382578e+01] [ 2.07601934e-02 9.99784426e-01 -3.40370414e-04 -3.74715975e-01] [-1.14458563e-02 5.78090872e-04 9.99934327e-01 -1.73574934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.37, Z:-0.18 [[ 9.99634629e-01 -2.44822714e-02 1.14554024e-02 1.41954859e+01] [ 2.44877699e-02 9.99700072e-01 -3.39956413e-04 -3.73650084e-01] [-1.14436437e-02 6.20349461e-04 9.99934327e-01 -1.76430252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.37, Z:-0.18 [[ 9.99602210e-01 -2.57719838e-02 1.14554445e-02 1.42531752e+01] [ 2.57775505e-02 9.99667646e-01 -3.38532868e-04 -3.71681998e-01] [-1.14429126e-02 6.33691501e-04 9.99934327e-01 -1.77261978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.37, Z:-0.18 [[ 9.99659860e-01 -2.34293654e-02 1.14555399e-02 1.43118185e+01] [ 2.34347415e-02 9.99725313e-01 -3.35272778e-04 -3.68011500e-01] [-1.14445380e-02 6.03616354e-04 9.99934327e-01 -1.80214358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.37, Z:-0.18 [[ 9.99761428e-01 -1.85971719e-02 1.14556336e-02 1.43703138e+01] [ 1.86021945e-02 9.99826909e-01 -3.32038226e-04 -3.65979817e-01] [-1.14474758e-02 5.45058937e-04 9.99934327e-01 -1.79955813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.36, Z:-0.18 [[ 9.99877956e-01 -1.06226033e-02 1.14557276e-02 1.44282776e+01] [ 1.06270661e-02 9.99943477e-01 -3.28763920e-04 -3.63104784e-01] [-1.14515878e-02 4.50464570e-04 9.99934327e-01 -1.81158090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.36, Z:-0.18 [[ 9.99913912e-01 -6.39787295e-03 1.14558196e-02 1.44884310e+01] [ 6.40202181e-03 9.99979454e-01 -3.25526551e-04 -3.62577795e-01] [-1.14535016e-02 3.98838934e-04 9.99934327e-01 -1.81789435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.36, Z:-0.18 [[ 9.99925006e-01 -4.32964553e-03 1.14558196e-02 1.45508858e+01] [ 4.33365881e-03 9.99990557e-01 -3.25526551e-04 -3.62189282e-01] [-1.14543020e-02 3.75147752e-04 9.99934327e-01 -1.83341674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.36, Z:-0.18 [[ 9.99923867e-01 -4.58522319e-03 1.14557962e-02 1.46130487e+01] [ 4.58926265e-03 9.99989416e-01 -3.26349475e-04 -3.64533177e-01] [-1.14541785e-02 3.78898287e-04 9.99934327e-01 -1.84773127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.37, Z:-0.19 [[ 9.99913584e-01 -6.44903755e-03 1.14557730e-02 1.46760030e+01] [ 6.45320847e-03 9.99979124e-01 -3.27160837e-04 -3.67276949e-01] [-1.14534240e-02 4.01059056e-04 9.99934327e-01 -1.85611943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.37, Z:-0.19 [[ 9.99906172e-01 -7.51093471e-03 1.14556806e-02 1.47376730e+01] [ 7.51521188e-03 9.99971706e-01 -3.30364125e-04 -3.68727084e-01] [-1.14528751e-02 4.16424995e-04 9.99934327e-01 -1.87071461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.37, Z:-0.19 [[ 9.99912576e-01 -6.60369343e-03 1.14556569e-02 1.47992863e+01] [ 6.60792052e-03 9.99978113e-01 -3.31184788e-04 -3.71466509e-01] [-1.14532191e-02 4.06853904e-04 9.99934327e-01 -1.88118481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917627999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.38, Z:-0.19 [[ 9.99928115e-01 -3.54029407e-03 1.14556329e-02 1.48599918e+01] [ 3.54432983e-03 9.99993664e-01 -3.32011801e-04 -3.77287829e-01] [-1.14543849e-02 3.72590475e-04 9.99934327e-01 -1.88434505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.38, Z:-0.19 [[ 9.99934371e-01 1.53039980e-04 1.14555932e-02 1.49217816e+01] [-1.49230742e-04 9.99999933e-01 -3.33376182e-04 -3.80338234e-01] [-1.14556435e-02 3.31644776e-04 9.99934327e-01 -1.91516260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.38, Z:-0.19 [[ 9.99929755e-01 3.04232087e-03 1.14555696e-02 1.49833731e+01] [-3.03869184e-03 9.99995327e-01 -3.34184336e-04 -3.83951433e-01] [-1.14565328e-02 2.99350915e-04 9.99934327e-01 -1.94472013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.39, Z:-0.20 [[ 9.99923108e-01 4.74853787e-03 1.14555463e-02 1.50460071e+01] [-4.74501160e-03 9.99988686e-01 -3.34981745e-04 -3.87447186e-01] [-1.14570074e-02 2.80599287e-04 9.99934327e-01 -1.95356229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.39, Z:-0.20 [[ 9.99907194e-01 7.37393813e-03 1.14555105e-02 1.51071187e+01] [-7.37057006e-03 9.99972780e-01 -3.36203427e-04 -3.93684439e-01] [-1.14576778e-02 2.51738583e-04 9.99934327e-01 -1.99452919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217627999999998 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.40, Z:-0.20 [[ 9.99891592e-01 9.25074210e-03 1.14554638e-02 1.51696714e+01] [-9.24747904e-03 9.99957184e-01 -3.37784605e-04 -3.97841813e-01] [-1.14580981e-02 2.31813825e-04 9.99934327e-01 -1.99830414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.40, Z:-0.20 [[ 9.99827630e-01 1.46111424e-02 1.14553665e-02 1.52321283e+01] [-1.46081936e-02 9.99893236e-01 -3.41054082e-04 -4.01949320e-01] [-1.14591267e-02 1.73653083e-04 9.99934327e-01 -1.95664959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.41, Z:-0.19 [[ 9.99763375e-01 1.84924317e-02 1.14553423e-02 1.52950212e+01] [-1.84897283e-02 9.99828992e-01 -3.41864653e-04 -4.05100707e-01] [-1.14597053e-02 1.29977592e-04 9.99934327e-01 -1.94138785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397627999999997 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.41, Z:-0.20 [[ 9.99666924e-01 2.31261264e-02 1.14552443e-02 1.53577232e+01] [-2.31236899e-02 9.99732552e-01 -3.45118794e-04 -4.06110770e-01] [-1.14601619e-02 8.01163268e-05 9.99934327e-01 -1.96734769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457627999999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.41, Z:-0.20 [[ 9.99534848e-01 2.82642393e-02 1.14551456e-02 1.54204748e+01] [-2.82621030e-02 9.99600486e-01 -3.48363299e-04 -4.07135123e-01] [-1.14604153e-02 2.44547524e-05 9.99934327e-01 -1.97300158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.41, Z:-0.20 [[ 9.99438170e-01 3.14980400e-02 1.14550455e-02 1.54823910e+01] [-3.14960787e-02 9.99503814e-01 -3.51623798e-04 -4.09156284e-01] [-1.14604371e-02 -9.36276988e-06 9.99934327e-01 -2.00960470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.41, Z:-0.20 [[ 9.99447331e-01 3.12060335e-02 1.14549522e-02 1.55455284e+01] [-3.12040185e-02 9.99512973e-01 -3.54636728e-04 -4.11260687e-01] [-1.14604402e-02 -2.99981015e-06 9.99934327e-01 -2.03546595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.41, Z:-0.20 [[ 9.99573345e-01 2.68684746e-02 1.14548532e-02 1.56074963e+01] [-2.68661383e-02 9.99638976e-01 -3.57809007e-04 -4.13295617e-01] [-1.14603315e-02 4.99086760e-05 9.99934327e-01 -2.04605361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.42, Z:-0.20 [[ 9.99695158e-01 2.18718872e-02 1.14547610e-02 1.56705475e+01] [-2.18691894e-02 9.99760776e-01 -3.60736304e-04 -4.15337980e-01] [-1.14599107e-02 1.10119999e-04 9.99934327e-01 -2.04177314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.42, Z:-0.20 [[ 9.99817804e-01 1.52692429e-02 1.14546555e-02 1.57331289e+01] [-1.52660738e-02 9.99883400e-01 -3.64056171e-04 -4.17494586e-01] [-1.14588787e-02 1.89122226e-04 9.99934327e-01 -2.03660594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.42, Z:-0.21 [[ 9.99878675e-01 1.05559727e-02 1.14545489e-02 1.57948309e+01] [-1.05524564e-02 9.99944254e-01 -3.67379764e-04 -4.19148133e-01] [-1.14577884e-02 2.46461565e-04 9.99934327e-01 -2.05051944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.42, Z:-0.21 [[ 9.99899606e-01 8.34106767e-03 1.14544498e-02 1.58572394e+01] [-8.33737101e-03 9.99965175e-01 -3.70441784e-04 -4.19505062e-01] [-1.14571408e-02 2.74904596e-04 9.99934327e-01 -2.06620676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.42, Z:-0.21 [[ 9.99934029e-01 -8.58240576e-04 1.14543442e-02 1.59196924e+01] [ 8.62577363e-04 9.99999558e-01 -3.73680078e-04 -4.21432433e-01] [-1.14540184e-02 3.83535684e-04 9.99934327e-01 -2.07248716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.42, Z:-0.21 [[ 9.99903596e-01 -7.84852925e-03 1.14542392e-02 1.59826900e+01] [ 7.85336054e-03 9.99969091e-01 -3.76871741e-04 -4.22820415e-01] [-1.14509272e-02 4.66789679e-04 9.99934327e-01 -2.08794182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.42, Z:-0.21 [[ 9.99831823e-01 -1.43223191e-02 1.14541312e-02 1.60441784e+01] [ 1.43276116e-02 9.99897282e-01 -3.80125566e-04 -4.20937890e-01] [-1.14475104e-02 5.44171980e-04 9.99934327e-01 -2.05603757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.42, Z:-0.21 [[ 9.99773346e-01 -1.79460483e-02 1.14541178e-02 1.61039887e+01] [ 1.79515826e-02 9.99838785e-01 -3.80529342e-04 -4.21197143e-01] [-1.14454422e-02 5.86062634e-04 9.99934327e-01 -2.05585422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.42, Z:-0.21 [[ 9.99752778e-01 -1.90574266e-02 1.14541311e-02 1.61619813e+01] [ 1.90630291e-02 9.99818212e-01 -3.80128866e-04 -4.18941805e-01] [-1.14448046e-02 5.98385324e-04 9.99934327e-01 -2.08023457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.42, Z:-0.21 [[ 9.99809214e-01 -1.58220096e-02 1.14542382e-02 1.62186449e+01] [ 1.58273630e-02 9.99874668e-01 -3.76871580e-04 -4.17317460e-01] [-1.14468398e-02 5.58090065e-04 9.99934327e-01 -2.10415168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.42, Z:-0.21 [[ 9.99908533e-01 -7.19203367e-03 1.14542841e-02 1.62771841e+01] [ 7.19680596e-03 9.99974032e-01 -3.75473416e-04 -4.15481603e-01] [-1.14512862e-02 4.57873332e-04 9.99934327e-01 -2.11903640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.41, Z:-0.21 [[ 9.99934386e-01 -1.41854392e-04 1.14543748e-02 1.63382339e+01] [ 1.46132846e-04 9.99999920e-01 -3.72685269e-04 -4.14181586e-01] [-1.14543210e-02 3.74334676e-04 9.99934327e-01 -2.13207657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.41, Z:-0.21 [[ 9.99887693e-01 9.66435572e-03 1.14543616e-02 1.63994433e+01] [-9.66071552e-03 9.99953265e-01 -3.73089597e-04 -4.13210176e-01] [-1.14574320e-02 2.62390368e-04 9.99934327e-01 -2.14560510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.41, Z:-0.21 [[ 9.99785561e-01 1.72519506e-02 1.14543172e-02 1.64618424e+01] [-1.72487926e-02 9.99851158e-01 -3.74447857e-04 -4.14674775e-01] [-1.14590723e-02 1.76794420e-04 9.99934327e-01 -2.14412991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.42, Z:-0.22 [[ 9.99695364e-01 2.18627076e-02 1.14542901e-02 1.65234586e+01] [-2.18598426e-02 9.99760975e-01 -3.75275915e-04 -4.16568284e-01] [-1.14597568e-02 1.24772614e-04 9.99934327e-01 -2.15207593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.42, Z:-0.21 [[ 9.99596377e-01 2.59977566e-02 1.14542229e-02 1.65862624e+01] [-2.59951397e-02 9.99661998e-01 -3.77313897e-04 -4.19838539e-01] [-1.14601607e-02 7.94074790e-05 9.99934327e-01 -2.14636542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.42, Z:-0.21 [[ 9.99446368e-01 3.12371608e-02 1.14541139e-02 1.66495106e+01] [-3.12348503e-02 9.99512001e-01 -3.80594414e-04 -4.23577981e-01] [-1.14604130e-02 2.26161698e-05 9.99934327e-01 -2.14734966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.43, Z:-0.22 [[ 9.99331422e-01 3.47205240e-02 1.14540054e-02 1.67120573e+01] [-3.47184052e-02 9.99397061e-01 -3.83833413e-04 -4.27880006e-01] [-1.14604262e-02 -1.40880103e-05 9.99934327e-01 -2.16289020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.43, Z:-0.22 [[ 9.99161979e-01 3.92956437e-02 1.14538948e-02 1.67736972e+01] [-3.92937879e-02 9.99227626e-01 -3.87106931e-04 -4.34958980e-01] [-1.14602597e-02 -6.32843844e-05 9.99934327e-01 -2.18813444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.44, Z:-0.22 [[ 9.99120258e-01 4.03425288e-02 1.14537979e-02 1.68349759e+01] [-4.03407092e-02 9.99185906e-01 -3.89953266e-04 -4.41815602e-01] [-1.14602051e-02 -7.24441208e-05 9.99934327e-01 -2.23995861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.45, Z:-0.23 [[ 9.99158858e-01 3.93749905e-02 1.14537018e-02 1.68966676e+01] [-3.93730752e-02 9.99224503e-01 -3.92755882e-04 -4.48726918e-01] [-1.14602842e-02 -5.85419425e-05 9.99934327e-01 -2.25568597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.46, Z:-0.23 [[ 9.99247252e-01 3.70640461e-02 1.14536037e-02 1.69578668e+01] [-3.70619463e-02 9.99312892e-01 -3.95595764e-04 -4.57357122e-01] [-1.14603962e-02 -2.91948646e-05 9.99934327e-01 -2.25664366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.46, Z:-0.22 [[ 9.99204536e-01 3.81983392e-02 1.14534992e-02 1.70202475e+01] [-3.81962796e-02 9.99270176e-01 -3.98598356e-04 -4.61710367e-01] [-1.14603659e-02 -3.91997719e-05 9.99934327e-01 -2.22772449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.47, Z:-0.22 [[ 9.99184190e-01 3.87269084e-02 1.14533994e-02 1.70811895e+01] [-3.87248509e-02 9.99249831e-01 -4.01443952e-04 -4.65363218e-01] [-1.14603541e-02 -4.24147346e-05 9.99934327e-01 -2.21737016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.47, Z:-0.22 [[ 9.99170255e-01 3.90848142e-02 1.14533074e-02 1.71418781e+01] [-3.90827503e-02 9.99235896e-01 -4.04054081e-04 -4.67422249e-01] [-1.14603482e-02 -4.39079321e-05 9.99934327e-01 -2.21955957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.47, Z:-0.22 [[ 9.99269022e-01 3.64725217e-02 1.14532166e-02 1.72042929e+01] [-3.64702569e-02 9.99334656e-01 -4.06610472e-04 -4.68717410e-01] [-1.14604264e-02 -1.13885034e-05 9.99934327e-01 -2.22641368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.47, Z:-0.22 [[ 9.99435284e-01 3.15901834e-02 1.14531064e-02 1.72668144e+01] [-3.15875627e-02 9.99500904e-01 -4.09690431e-04 -4.69982859e-01] [-1.14603324e-02 4.76833556e-05 9.99934327e-01 -2.23420170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.47, Z:-0.22 [[ 9.99633889e-01 2.45136202e-02 1.14529883e-02 1.73299615e+01] [-2.45104974e-02 9.99699487e-01 -4.12965327e-04 -4.71733824e-01] [-1.14596698e-02 1.32095695e-04 9.99934327e-01 -2.24277171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.47, Z:-0.22 [[ 9.99876759e-01 1.07377090e-02 1.14528703e-02 1.73932982e+01] [-1.07336455e-02 9.99942306e-01 -4.16212775e-04 -4.72744392e-01] [-1.14566787e-02 2.93230431e-04 9.99934327e-01 -2.24767047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.47, Z:-0.23 [[ 9.99917733e-01 -5.77596389e-03 1.14527517e-02 1.74564529e+01] [ 5.78114633e-03 9.99983201e-01 -4.19450619e-04 -4.72628075e-01] [-1.14501366e-02 4.85626146e-04 9.99934327e-01 -2.26318649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.47, Z:-0.23 [[ 9.99794913e-01 -1.67023635e-02 1.14526317e-02 1.75184841e+01] [ 1.67082981e-02 9.99860317e-01 -4.22702402e-04 -4.74985532e-01] [-1.14439719e-02 6.13969697e-04 9.99934327e-01 -2.29477567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.48, Z:-0.23 [[ 9.99596018e-01 -2.60122950e-02 1.14525253e-02 1.75778181e+01] [ 2.60188712e-02 9.99661361e-01 -4.25565905e-04 -4.76486369e-01] [-1.14375771e-02 7.23375765e-04 9.99934327e-01 -2.26195655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617627999999996 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.48, Z:-0.23 [[ 9.99537039e-01 -2.81876928e-02 1.14525554e-02 1.76354480e+01] [ 2.81944019e-02 9.99602369e-01 -4.24753769e-04 -4.76547985e-01] [-1.14360287e-02 7.47455076e-04 9.99934327e-01 -2.30195670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.47, Z:-0.23 [[ 9.99737445e-01 -1.98463347e-02 1.14526752e-02 1.76949292e+01] [ 1.98524612e-02 9.99802832e-01 -4.21498917e-04 -4.74999365e-01] [-1.14420519e-02 6.48752041e-04 9.99934327e-01 -2.27103801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737627999999997 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.47, Z:-0.23 [[ 9.99923629e-01 -4.64431085e-03 1.14527779e-02 1.77525227e+01] [ 4.64941048e-03 9.99989104e-01 -4.18689386e-04 -4.71770790e-01] [-1.14507086e-02 4.71906076e-04 9.99934327e-01 -2.31091841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.47, Z:-0.23 [[ 9.99921414e-01 5.09887757e-03 1.14528284e-02 1.78145723e+01] [-5.09443198e-03 9.99986936e-01 -4.17305015e-04 -4.67528815e-01] [-1.14548066e-02 3.58926565e-04 9.99934327e-01 -2.32762352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.47, Z:-0.23 [[ 9.99769532e-01 1.81580827e-02 1.14527984e-02 1.78768739e+01] [-1.81544838e-02 9.99835106e-01 -4.18126251e-04 -4.70469855e-01] [-1.14585023e-02 2.10110243e-04 9.99934327e-01 -2.31647473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.47, Z:-0.23 [[ 9.99437967e-01 3.15053091e-02 1.14527685e-02 1.79392701e+01] [-3.15025767e-02 9.99503583e-01 -4.18944379e-04 -4.70606837e-01] [-1.14602821e-02 5.79172010e-05 9.99934327e-01 -2.29881262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.47, Z:-0.23 [[ 9.99256234e-01 3.68213720e-02 1.14527388e-02 1.80021070e+01] [-3.68189795e-02 9.99321863e-01 -4.19752668e-04 -4.72418435e-01] [-1.14604282e-02 -2.23768589e-06 9.99934327e-01 -2.31158670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.48, Z:-0.23 [[ 9.99108709e-01 4.06278975e-02 1.14526185e-02 1.80638857e+01] [-4.06257177e-02 9.99174345e-01 -4.23009671e-04 -4.76943092e-01] [-1.14603486e-02 -4.26382018e-05 9.99934327e-01 -2.32814354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.48, Z:-0.23 [[ 9.99061824e-01 4.17649575e-02 1.14525439e-02 1.81262674e+01] [-4.17628294e-02 9.99127462e-01 -4.25020029e-04 -4.82225584e-01] [-1.14603021e-02 -5.36693526e-05 9.99934327e-01 -2.33890926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.49, Z:-0.24 [[ 9.99122067e-01 4.02981106e-02 1.14524251e-02 1.81888400e+01] [-4.02958496e-02 9.99187701e-01 -4.28198501e-04 -4.89259527e-01] [-1.14603779e-02 -3.36626286e-05 9.99934327e-01 -2.36247906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.50, Z:-0.24 [[ 9.99199266e-01 3.83362990e-02 1.14523070e-02 1.82513972e+01] [-3.83338733e-02 9.99264894e-01 -4.31334620e-04 -4.96030966e-01] [-1.14604241e-02 -8.02204883e-06 9.99934327e-01 -2.37503339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277627999999996 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.51, Z:-0.24 [[ 9.99337961e-01 3.45324095e-02 1.14521831e-02 1.83123140e+01] [-3.45296965e-02 9.99403578e-01 -4.34599554e-04 -5.06486722e-01] [-1.14603605e-02 3.88714260e-05 9.99934327e-01 -2.42996864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.51, Z:-0.24 [[ 9.99312060e-01 3.52740233e-02 1.14520836e-02 1.83729567e+01] [-3.52713292e-02 9.99377677e-01 -4.37205913e-04 -5.14691421e-01] [-1.14603787e-02 3.29749321e-05 9.99934327e-01 -2.37257340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.52, Z:-0.24 [[ 9.99222761e-01 3.77190445e-02 1.14519898e-02 1.84357074e+01] [-3.77164829e-02 9.99288384e-01 -4.39649835e-04 -5.18257051e-01] [-1.14604235e-02 7.37934625e-06 9.99934327e-01 -2.36467249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.52, Z:-0.24 [[ 9.99141131e-01 3.98227945e-02 1.14518645e-02 1.84982469e+01] [-3.98203339e-02 9.99206758e-01 -4.42887428e-04 -5.21301128e-01] [-1.14604175e-02 -1.35100244e-05 9.99934327e-01 -2.36421415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.52, Z:-0.24 [[ 9.99157894e-01 3.94000055e-02 1.14517371e-02 1.85607690e+01] [-3.93974797e-02 9.99223518e-01 -4.46157502e-04 -5.23536630e-01] [-1.14604237e-02 -5.38779146e-06 9.99934327e-01 -2.36465693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.53, Z:-0.24 [[ 9.99365967e-01 3.37123789e-02 1.14516079e-02 1.86232302e+01] [-3.37094419e-02 9.99431574e-01 -4.49450811e-04 -5.25441569e-01] [-1.14602506e-02 6.31385342e-05 9.99934327e-01 -2.37171764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.53, Z:-0.24 [[ 9.99600433e-01 2.58425696e-02 1.14514792e-02 1.86865335e+01] [-2.58390788e-02 9.99666013e-01 -4.52705062e-04 -5.28065569e-01] [-1.14593537e-02 1.56628501e-04 9.99934327e-01 -2.36625388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.53, Z:-0.24 [[ 9.99891545e-01 9.26090300e-03 1.14513497e-02 1.87493252e+01] [-9.25628786e-03 9.99957056e-01 -4.55957288e-04 -5.29757229e-01] [-1.14550806e-02 3.49910848e-04 9.99934327e-01 -2.35056057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.53, Z:-0.24 [[ 9.99932336e-01 -2.04774232e-03 1.14512208e-02 1.88117033e+01] [ 2.05313481e-03 9.99997787e-01 -4.59172996e-04 -5.30601790e-01] [-1.14502552e-02 4.82652827e-04 9.99934327e-01 -2.36107762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.53, Z:-0.24 [[ 9.99838806e-01 -1.38287335e-02 1.14511015e-02 1.88747586e+01] [ 1.38349305e-02 9.99904186e-01 -4.62130148e-04 -5.31465790e-01] [-1.14436136e-02 6.20480849e-04 9.99934327e-01 -2.37162904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.53, Z:-0.24 [[ 9.99529044e-01 -2.84704306e-02 1.14509675e-02 1.89341536e+01] [ 2.84776220e-02 9.99594322e-01 -4.65425312e-04 -5.31757924e-01] [-1.14330713e-02 7.91302442e-04 9.99934327e-01 -2.37388923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937627999999997 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.53, Z:-0.24 [[ 9.99414215e-01 -3.22506044e-02 1.14509841e-02 1.89923765e+01] [ 3.22580380e-02 9.99479466e-01 -4.65017702e-04 -5.32881053e-01] [-1.14300264e-02 8.34131581e-04 9.99934327e-01 -2.40239529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.53, Z:-0.24 [[ 9.99339900e-01 -3.44766131e-02 1.14511154e-02 1.90497718e+01] [ 3.44841550e-02 9.99405138e-01 -4.61760493e-04 -5.28633506e-01] [-1.14283837e-02 8.56337724e-04 9.99934327e-01 -2.41247448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.53, Z:-0.24 [[ 9.99486372e-01 -2.99309686e-02 1.14511717e-02 1.91078871e+01] [ 2.99381976e-02 9.99551646e-01 -4.60361420e-04 -5.26742566e-01] [-1.14322584e-02 8.02952407e-04 9.99934327e-01 -2.38336009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.52, Z:-0.24 [[ 9.99762991e-01 -1.85156614e-02 1.14513020e-02 1.91650670e+01] [ 1.85221074e-02 9.99828347e-01 -4.57097288e-04 -5.19900669e-01] [-1.14408729e-02 6.69091196e-04 9.99934327e-01 -2.39652169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.51, Z:-0.24 [[ 9.99897525e-01 -8.59102012e-03 1.14513578e-02 1.92232021e+01] [ 8.59680104e-03 9.99962943e-01 -4.55694451e-04 -5.13270546e-01] [-1.14470186e-02 5.54092798e-04 9.99934327e-01 -2.41191354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.51, Z:-0.24 [[ 9.99921929e-01 -5.00013040e-03 1.14514168e-02 1.92849045e+01] [ 5.00565935e-03 9.99987368e-01 -4.54207361e-04 -5.11541660e-01] [-1.14490010e-02 5.11493792e-04 9.99934327e-01 -2.41281910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.51, Z:-0.24 [[ 9.99922927e-01 -4.79643497e-03 1.14514004e-02 1.93473976e+01] [ 4.80195530e-03 9.99988367e-01 -4.54618797e-04 -5.08231515e-01] [-1.14490867e-02 5.09572871e-04 9.99934327e-01 -2.41669936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.51, Z:-0.24 [[ 9.99912402e-01 -6.63731445e-03 1.14513676e-02 1.94103627e+01] [ 6.64296469e-03 9.99977832e-01 -4.55444803e-04 -5.06478354e-01] [-1.14480908e-02 5.31475938e-04 9.99934327e-01 -2.43750402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.51, Z:-0.24 [[ 9.99891817e-01 -9.23162891e-03 1.14512368e-02 1.94719420e+01] [ 9.23748619e-03 9.99957228e-01 -4.58709467e-04 -5.06748200e-01] [-1.14465124e-02 5.64440485e-04 9.99934327e-01 -2.44525541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.51, Z:-0.25 [[ 9.99843031e-01 -1.35197887e-02 1.14511559e-02 1.95336226e+01] [ 1.35259495e-02 9.99908414e-01 -4.60719582e-04 -5.06802581e-01] [-1.14438783e-02 6.15535019e-04 9.99934327e-01 -2.45004524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537627999999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.51, Z:-0.25 [[ 9.99805565e-01 -1.60531726e-02 1.14511395e-02 1.95937432e+01] [ 1.60595036e-02 9.99870932e-01 -4.61127265e-04 -5.06879609e-01] [-1.14422590e-02 6.44937222e-04 9.99934327e-01 -2.49140049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597627999999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.51, Z:-0.25 [[ 9.99770317e-01 -1.81158396e-02 1.14511478e-02 1.96536189e+01] [ 1.81223031e-02 9.99835671e-01 -4.60922763e-04 -5.07310127e-01] [-1.14409160e-02 6.68338067e-04 9.99934327e-01 -2.48029843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.51, Z:-0.25 [[ 9.99737519e-01 -1.98435044e-02 1.14511645e-02 1.97124730e+01] [ 1.98500761e-02 9.99802862e-01 -4.60505903e-04 -5.07515257e-01] [-1.14397690e-02 6.87691515e-04 9.99934327e-01 -2.48543376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.51, Z:-0.25 [[ 9.99721369e-01 -2.06410363e-02 1.14512806e-02 1.97700102e+01] [ 2.06476270e-02 9.99786710e-01 -4.57600832e-04 -5.06786199e-01] [-1.14393928e-02 6.93915100e-04 9.99934327e-01 -2.45448466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.51, Z:-0.25 [[ 9.99720186e-01 -2.06981994e-02 1.14513509e-02 1.98282423e+01] [ 2.07047736e-02 9.99785529e-01 -4.55835759e-04 -5.06229294e-01] [-1.14394599e-02 6.92805837e-04 9.99934327e-01 -2.45278769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.50, Z:-0.25 [[ 9.99761506e-01 -1.85955513e-02 1.14514802e-02 1.98860670e+01] [ 1.86019507e-02 9.99826866e-01 -4.52563485e-04 -5.03483062e-01] [-1.14410819e-02 6.65475421e-04 9.99934327e-01 -2.45482967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.50, Z:-0.25 [[ 9.99828701e-01 -1.45405906e-02 1.14516091e-02 1.99446665e+01] [ 1.45466874e-02 9.99894090e-01 -4.49277725e-04 -4.99603348e-01] [-1.14438635e-02 6.15783742e-04 9.99934327e-01 -2.46431878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.49, Z:-0.25 [[ 9.99879955e-01 -1.04371144e-02 1.14517193e-02 2.00049764e+01] [ 1.04429105e-02 9.99945372e-01 -4.46451440e-04 -4.93825475e-01] [-1.14464340e-02 5.65987126e-04 9.99934327e-01 -2.47114925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.49, Z:-0.25 [[ 9.99917763e-01 -5.77281696e-03 1.14517193e-02 2.00656937e+01] [ 5.77830784e-03 9.99983206e-01 -4.46451440e-04 -4.89733950e-01] [-1.14489497e-02 5.12586285e-04 9.99934327e-01 -2.47215135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.49, Z:-0.25 [[ 9.99924892e-01 -4.36667018e-03 1.14517115e-02 2.01276065e+01] [ 4.37207131e-03 9.99990343e-01 -4.46651085e-04 -4.89851743e-01] [-1.14496505e-02 4.96685237e-04 9.99934327e-01 -2.47859484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.49, Z:-0.25 [[ 9.99933758e-01 -1.15742703e-03 1.14516787e-02 2.01890248e+01] [ 1.16262767e-03 9.99999224e-01 -4.47491360e-04 -4.85920726e-01] [-1.14511518e-02 4.60775755e-04 9.99934327e-01 -2.49534577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197627999999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.49, Z:-0.25 [[ 9.99934426e-01 5.82733045e-05 1.14516543e-02 2.02513450e+01] [-5.31451525e-05 9.99999898e-01 -4.48112637e-04 -4.85651952e-01] [-1.14516793e-02 4.47474652e-04 9.99934327e-01 -2.52513451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.49, Z:-0.25 [[ 9.99927309e-01 3.77319915e-03 1.14516227e-02 2.03130324e+01] [-3.76830505e-03 9.99992799e-01 -4.48919340e-04 -4.86952211e-01] [-1.14532341e-02 4.05733500e-04 9.99934327e-01 -2.50722231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.49, Z:-0.25 [[ 9.99907847e-01 7.29101626e-03 1.14515899e-02 2.03755764e+01] [-7.28634303e-03 9.99973353e-01 -4.49754567e-04 -4.88135903e-01] [-1.14545639e-02 3.66272908e-04 9.99934327e-01 -2.50870097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.49, Z:-0.25 [[ 9.99812377e-01 1.56228602e-02 1.14515407e-02 2.04382864e+01] [-1.56187187e-02 9.99877919e-01 -4.51004681e-04 -4.88461019e-01] [-1.14571887e-02 2.72061669e-04 9.99934327e-01 -2.53217016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.49, Z:-0.25 [[ 9.99707335e-01 2.13098130e-02 1.14514921e-02 2.05007311e+01] [-2.13060303e-02 9.99772898e-01 -4.52235965e-04 -4.91493437e-01] [-1.14585285e-02 2.08117775e-04 9.99934327e-01 -2.54467216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.50, Z:-0.26 [[ 9.99562976e-01 2.72529091e-02 1.14514427e-02 2.05621735e+01] [-2.72495019e-02 9.99628561e-01 -4.53481404e-04 -4.95850463e-01] [-1.14595479e-02 1.41237111e-04 9.99934327e-01 -2.55765782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.50, Z:-0.26 [[ 9.99526990e-01 2.85423225e-02 1.14513210e-02 2.06244582e+01] [-2.85389650e-02 9.99592577e-01 -4.56534275e-04 -5.02196865e-01] [-1.14596860e-02 1.29509480e-04 9.99934327e-01 -2.55348862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.51, Z:-0.25 [[ 9.99526837e-01 2.85477148e-02 1.14511924e-02 2.06875109e+01] [-2.85443209e-02 9.99592422e-01 -4.59738660e-04 -5.08548169e-01] [-1.14596496e-02 1.32654618e-04 9.99934327e-01 -2.54568618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.52, Z:-0.26 [[ 9.99540238e-01 2.80746434e-02 1.14510571e-02 2.07501998e+01] [-2.80711802e-02 9.99605820e-01 -4.63084415e-04 -5.15174516e-01] [-1.14595442e-02 1.41426820e-04 9.99934327e-01 -2.55214060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.52, Z:-0.26 [[ 9.99688996e-01 2.21537349e-02 1.14509180e-02 2.08129743e+01] [-2.21498442e-02 9.99754553e-01 -4.66498556e-04 -5.23998247e-01] [-1.14584421e-02 2.12717423e-04 9.99934327e-01 -2.57387775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.53, Z:-0.26 [[ 9.99894778e-01 8.90571238e-03 1.14507795e-02 2.08752176e+01] [-8.90091477e-03 9.99960276e-01 -4.69872471e-04 -5.34486216e-01] [-1.14545092e-02 3.67900617e-04 9.99934327e-01 -2.57747825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.54, Z:-0.26 [[ 9.99926523e-01 3.97891536e-03 1.14506401e-02 2.09375339e+01] [-3.97375651e-03 9.99991993e-01 -4.73245476e-04 -5.40700423e-01] [-1.14524315e-02 4.27708647e-04 9.99934327e-01 -2.58208386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.55, Z:-0.26 [[ 9.99915596e-01 -6.13892817e-03 1.14505014e-02 2.10001011e+01] [ 6.14478729e-03 9.99981007e-01 -4.76578823e-04 -5.49969503e-01] [-1.14473582e-02 5.46899493e-04 9.99934327e-01 -2.57588863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.56, Z:-0.26 [[ 9.99812123e-01 -1.56399453e-02 1.14503614e-02 2.10620825e+01] [ 1.56464638e-02 9.99877471e-01 -4.79919714e-04 -5.58620152e-01] [-1.14414525e-02 6.58987213e-04 9.99934327e-01 -2.57085667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.56, Z:-0.26 [[ 9.99763110e-01 -1.85098714e-02 1.14502398e-02 2.11210533e+01] [ 1.85166104e-02 9.99828436e-01 -4.82802967e-04 -5.63875099e-01] [-1.14393387e-02 6.94708225e-04 9.99934327e-01 -2.57332690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.57, Z:-0.26 [[ 9.99768788e-01 -1.82005824e-02 1.14502654e-02 2.11802548e+01] [ 1.82072943e-02 9.99834117e-01 -4.82196173e-04 -5.68335439e-01] [-1.14395897e-02 6.90563034e-04 9.99934327e-01 -2.59714450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.57, Z:-0.26 [[ 9.99809064e-01 -1.58342847e-02 1.14503844e-02 2.12393495e+01] [ 1.58408095e-02 9.99874412e-01 -4.79352975e-04 -5.71613889e-01] [-1.14413561e-02 6.60644807e-04 9.99934327e-01 -2.60333772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.57, Z:-0.26 [[ 9.99893107e-01 -9.09176020e-03 1.14505043e-02 2.12977349e+01] [ 9.09781122e-03 9.99958501e-01 -4.76470695e-04 -5.73423401e-01] [-1.14456972e-02 5.80594290e-04 9.99934327e-01 -2.62313216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.58, Z:-0.26 [[ 9.99929635e-01 -3.10019457e-03 1.14505295e-02 2.13586979e+01] [ 3.10584671e-03 9.99995064e-01 -4.75863887e-04 -5.75695224e-01] [-1.14489977e-02 5.11393992e-04 9.99934327e-01 -2.63280527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.58, Z:-0.26 [[ 9.99912525e-01 6.62022945e-03 1.14505124e-02 2.14201485e+01] [-6.61520891e-03 9.99978006e-01 -4.76275814e-04 -5.76903177e-01] [-1.14534136e-02 4.00486620e-04 9.99934327e-01 -2.64887534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397627999999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.58, Z:-0.27 [[ 9.99863458e-01 1.19143515e-02 1.14504869e-02 2.14818280e+01] [-1.19096707e-02 9.99928964e-01 -4.76887407e-04 -5.79146211e-01] [-1.14553553e-02 3.40450763e-04 9.99934327e-01 -2.66846950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.58, Z:-0.27 [[ 9.99711306e-01 2.11232328e-02 1.14504526e-02 2.15437434e+01] [-2.11191461e-02 9.99776852e-01 -4.77710988e-04 -5.83185548e-01] [-1.14579882e-02 2.35749295e-04 9.99934327e-01 -2.65692824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.59, Z:-0.27 [[ 9.99576912e-01 2.67373427e-02 1.14504185e-02 2.16068075e+01] [-2.67336148e-02 9.99642479e-01 -4.78525274e-04 -5.86963987e-01] [-1.14591193e-02 1.72211737e-04 9.99934327e-01 -2.67374933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.59, Z:-0.27 [[ 9.99370654e-01 3.35736150e-02 1.14502810e-02 2.16697174e+01] [-3.35702983e-02 9.99436243e-01 -4.81794932e-04 -5.93429713e-01] [-1.14600014e-02 9.71023687e-05 9.99934327e-01 -2.67981195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.60, Z:-0.27 [[ 9.99148646e-01 3.96343046e-02 1.14501439e-02 2.17325949e+01] [-3.96313487e-02 9.99214252e-01 -4.85031239e-04 -6.01965790e-01] [-1.14603708e-02 3.08336609e-05 9.99934327e-01 -2.68009080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.61, Z:-0.27 [[ 9.99013175e-01 4.29135712e-02 1.14500035e-02 2.17954221e+01] [-4.29107929e-02 9.99078788e-01 -4.88323259e-04 -6.09918014e-01] [-1.14604113e-02 -3.48735854e-06 9.99934327e-01 -2.69260316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.62, Z:-0.27 [[ 9.98850757e-01 4.65410155e-02 1.14498630e-02 2.18575559e+01] [-4.65384379e-02 9.98916379e-01 -4.91594806e-04 -6.22081101e-01] [-1.14603350e-02 -4.18288946e-05 9.99934327e-01 -2.71241251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.63, Z:-0.28 [[ 9.98902658e-01 4.54134726e-02 1.14497192e-02 2.19203070e+01] [-4.54107828e-02 9.98968276e-01 -4.94922453e-04 -6.28081252e-01] [-1.14603824e-02 -2.55613575e-05 9.99934327e-01 -2.75123186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.65, Z:-0.27 [[ 9.98829669e-01 4.69914770e-02 1.14495744e-02 2.19819225e+01] [-4.69888527e-02 9.98895290e-01 -4.98250057e-04 -6.45864720e-01] [-1.14603394e-02 -4.03354243e-05 9.99934327e-01 -2.74885213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.66, Z:-0.27 [[ 9.98965339e-01 4.40131890e-02 1.14494850e-02 2.20446120e+01] [-4.40103456e-02 9.99030950e-01 -5.00295537e-04 -6.59506154e-01] [-1.14604095e-02 -4.11789151e-06 9.99934327e-01 -2.74581631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.68, Z:-0.28 [[ 9.99176824e-01 3.89176923e-02 1.14493429e-02 2.21065555e+01] [-3.89144773e-02 9.99242418e-01 -5.03525295e-04 -6.75017116e-01] [-1.14602652e-02 5.75656084e-05 9.99934327e-01 -2.75016886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.68, Z:-0.28 [[ 9.98895588e-01 4.55688532e-02 1.14491967e-02 2.21683708e+01] [-4.55660372e-02 9.98961200e-01 -5.06829028e-04 -6.77087339e-01] [-1.14603989e-02 -1.54252431e-05 9.99934327e-01 -2.76276354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.68, Z:-0.27 [[ 9.98690640e-01 4.98590447e-02 1.14490474e-02 2.22312310e+01] [-4.98564721e-02 9.98756263e-01 -5.10178869e-04 -6.81990149e-01] [-1.14602449e-02 -6.12982524e-05 9.99934327e-01 -2.74719504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.68, Z:-0.28 [[ 9.98802581e-01 4.75639252e-02 1.14488948e-02 2.22930282e+01] [-4.75611629e-02 9.98868196e-01 -5.13581830e-04 -6.84376669e-01] [-1.14603648e-02 -3.15558916e-05 9.99934327e-01 -2.76738272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.69, Z:-0.28 [[ 9.99079488e-01 4.13412789e-02 1.14488044e-02 2.23556759e+01] [-4.13380848e-02 9.99145083e-01 -5.15588840e-04 -6.86283993e-01] [-1.14603317e-02 4.18425876e-05 9.99934327e-01 -2.78947824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.69, Z:-0.28 [[ 9.99242289e-01 3.71991340e-02 1.14486598e-02 2.24185177e+01] [-3.71956315e-02 9.99307868e-01 -5.18778949e-04 -6.90030223e-01] [-1.14600340e-02 9.25457323e-05 9.99934327e-01 -2.76761611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.69, Z:-0.28 [[ 9.99402675e-01 3.26071249e-02 1.14485152e-02 2.24801258e+01] [-3.26032847e-02 9.99468235e-01 -5.21951361e-04 -6.92816665e-01] [-1.14594466e-02 1.48380385e-04 9.99934327e-01 -2.76140873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.69, Z:-0.28 [[ 9.99653542e-01 2.37008659e-02 1.14483810e-02 2.25428104e+01] [-2.36964083e-02 9.99719063e-01 -5.24877694e-04 -6.94019274e-01] [-1.14576048e-02 2.53410334e-04 9.99934327e-01 -2.78225955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.69, Z:-0.28 [[ 9.99824744e-01 1.48128122e-02 1.14482372e-02 2.26052353e+01] [-1.48077366e-02 9.99890220e-01 -5.27995645e-04 -6.94904264e-01] [-1.14548016e-02 3.58380629e-04 9.99934327e-01 -2.79990119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.70, Z:-0.28 [[ 9.99873571e-01 1.10355497e-02 1.14480831e-02 2.26677490e+01] [-1.10301888e-02 9.99939024e-01 -5.31316519e-04 -6.95754200e-01] [-1.14532484e-02 4.04974828e-04 9.99934327e-01 -2.79618097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.70, Z:-0.28 [[ 9.99923129e-01 4.76249760e-03 1.14479299e-02 2.27309905e+01] [-4.75668867e-03 9.99988544e-01 -5.34596464e-04 -6.96289895e-01] [-1.14503448e-02 4.80101130e-04 9.99934327e-01 -2.80765172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.70, Z:-0.28 [[ 9.99932211e-01 2.12646775e-03 1.14477732e-02 2.27926770e+01] [-2.12044827e-03 9.99997607e-01 -5.37932804e-04 -6.97120394e-01] [-1.14488897e-02 5.13621927e-04 9.99934327e-01 -2.82324579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.70, Z:-0.28 [[ 9.99933317e-01 1.52115147e-03 1.14476279e-02 2.28551009e+01] [-1.51505729e-03 9.99998706e-01 -5.41006285e-04 -6.98050534e-01] [-1.14484361e-02 5.23626397e-04 9.99934327e-01 -2.83232551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.70, Z:-0.28 [[ 9.99931856e-01 2.28875739e-03 1.14474793e-02 2.29176475e+01] [-2.28267768e-03 9.99997247e-01 -5.44133653e-04 -6.98682596e-01] [-1.14486931e-02 5.17965668e-04 9.99934327e-01 -2.84440347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.70, Z:-0.29 [[ 9.99915602e-01 6.14366214e-03 1.14474213e-02 2.29805682e+01] [-6.13782067e-03 9.99981015e-01 -5.45350525e-04 -6.99787671e-01] [-1.14505544e-02 4.75042279e-04 9.99934327e-01 -2.87172819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.70, Z:-0.29 [[ 9.99873570e-01 1.10364243e-02 1.14473618e-02 2.30437914e+01] [-1.10308887e-02 9.99939009e-01 -5.46596573e-04 -7.01171497e-01] [-1.14526961e-02 4.20252893e-04 9.99934327e-01 -2.86154735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.70, Z:-0.29 [[ 9.99801708e-01 1.62942704e-02 1.14473021e-02 2.31059072e+01] [-1.62890647e-02 9.99867174e-01 -5.47843288e-04 -7.02386141e-01] [-1.14547083e-02 3.61268809e-04 9.99934327e-01 -2.88845381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.71, Z:-0.29 [[ 9.99761397e-01 1.86041045e-02 1.14471552e-02 2.31691046e+01] [-1.85990152e-02 9.99826872e-01 -5.50895773e-04 -7.06315419e-01] [-1.14554223e-02 3.37858512e-04 9.99934327e-01 -2.90131178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.71, Z:-0.29 [[ 9.99709745e-01 2.11988713e-02 1.14469990e-02 2.32318968e+01] [-2.11939150e-02 9.99775230e-01 -5.54123277e-04 -7.11982775e-01] [-1.14561728e-02 3.11355716e-04 9.99934327e-01 -2.90476408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.72, Z:-0.29 [[ 9.99661038e-01 2.33832963e-02 1.14468403e-02 2.32936162e+01] [-2.33784458e-02 9.99726531e-01 -5.57382252e-04 -7.15625227e-01] [-1.14567434e-02 2.89583984e-04 9.99934327e-01 -2.93666411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.72, Z:-0.30 [[ 9.99651251e-01 2.37980895e-02 1.14466931e-02 2.33565997e+01] [-2.37932318e-02 9.99716744e-01 -5.60388982e-04 -7.20293518e-01] [-1.14567870e-02 2.87839724e-04 9.99934327e-01 -2.95722680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.73, Z:-0.30 [[ 9.99665981e-01 2.31711769e-02 1.14465325e-02 2.34190518e+01] [-2.31662408e-02 9.99731468e-01 -5.63650678e-04 -7.27580684e-01] [-1.14565192e-02 2.98289280e-04 9.99934327e-01 -2.96745496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.73, Z:-0.30 [[ 9.99658896e-01 2.34749110e-02 1.14463732e-02 2.34813004e+01] [-2.34699580e-02 9.99724382e-01 -5.66866605e-04 -7.31997679e-01] [-1.14565255e-02 2.98027345e-04 9.99934327e-01 -2.96792974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.73, Z:-0.30 [[ 9.99582366e-01 2.65344744e-02 1.14462257e-02 2.35439138e+01] [-2.65296880e-02 9.99647863e-01 -5.69829610e-04 -7.34502909e-01] [-1.14573152e-02 2.65926833e-04 9.99934327e-01 -2.97896092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.74, Z:-0.30 [[ 9.99538279e-01 2.81463221e-02 1.14460653e-02 2.36071232e+01] [-2.81416046e-02 9.99603782e-01 -5.73033345e-04 -7.37717562e-01] [-1.14576590e-02 2.50658119e-04 9.99934327e-01 -2.99589615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.74, Z:-0.30 [[ 9.99508256e-01 2.91931006e-02 1.14459024e-02 2.36703418e+01] [-2.91884146e-02 9.99573761e-01 -5.76270053e-04 -7.39450699e-01] [-1.14578468e-02 2.41898931e-04 9.99934327e-01 -3.01513019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.74, Z:-0.30 [[ 9.99562796e-01 2.72619027e-02 1.14457373e-02 2.37327141e+01] [-2.72570529e-02 9.99628290e-01 -5.79529525e-04 -7.41304704e-01] [-1.14572819e-02 2.67299084e-04 9.99934327e-01 -3.03488640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.74, Z:-0.30 [[ 9.99597555e-01 2.59562279e-02 1.14456354e-02 2.37958592e+01] [-2.59512696e-02 9.99663040e-01 -5.81535980e-04 -7.44147307e-01] [-1.14568732e-02 2.84273173e-04 9.99934327e-01 -3.02689762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.75, Z:-0.30 [[ 9.99654712e-01 2.36528643e-02 1.14454763e-02 2.38591351e+01] [-2.36477195e-02 9.99720183e-01 -5.84651354e-04 -7.46496097e-01] [-1.14561023e-02 3.13790070e-04 9.99934327e-01 -3.02693455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.75, Z:-0.30 [[ 9.99702413e-01 2.15427319e-02 1.14453116e-02 2.39205337e+01] [-2.15374123e-02 9.99767870e-01 -5.87856807e-04 -7.49379996e-01] [-1.14553189e-02 3.41179474e-04 9.99934327e-01 -3.02272739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.75, Z:-0.30 [[ 9.99676961e-01 2.26932095e-02 1.14452100e-02 2.39837118e+01] [-2.26879426e-02 9.99742422e-01 -5.89828854e-04 -7.52322888e-01] [-1.14556471e-02 3.29970049e-04 9.99934327e-01 -3.03911380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.76, Z:-0.31 [[ 9.99542063e-01 2.80120645e-02 1.14450491e-02 2.40450399e+01] [-2.80071105e-02 9.99607548e-01 -5.92934561e-04 -7.55301225e-01] [-1.14571668e-02 2.72120280e-04 9.99934327e-01 -3.05221501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.76, Z:-0.31 [[ 9.99391926e-01 3.29361912e-02 1.14448997e-02 2.41078886e+01] [-3.29315270e-02 9.99457433e-01 -5.95804614e-04 -7.58525563e-01] [-1.14583136e-02 2.18544298e-04 9.99934327e-01 -3.05448513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.76, Z:-0.31 [[ 9.99213866e-01 3.79561287e-02 1.14447422e-02 2.41705028e+01] [-3.79517592e-02 9.99279393e-01 -5.98814184e-04 -7.62888960e-01] [-1.14592237e-02 1.63995335e-04 9.99934327e-01 -3.07084819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.77, Z:-0.31 [[ 9.99101930e-01 4.07965154e-02 1.14445733e-02 2.42320417e+01] [-4.07922954e-02 9.99167467e-01 -6.02024509e-04 -7.70110165e-01] [-1.14596058e-02 1.34633432e-04 9.99934327e-01 -3.08016735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.77, Z:-0.31 [[ 9.98988180e-01 4.34930079e-02 1.14444169e-02 2.42954181e+01] [-4.34889308e-02 9.99053726e-01 -6.04984509e-04 -7.71932028e-01] [-1.14598999e-02 1.06666920e-04 9.99934328e-01 -3.09154517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.77, Z:-0.31 [[ 9.99097151e-01 4.09134610e-02 1.14442513e-02 2.43570147e+01] [-4.09091791e-02 9.99162684e-01 -6.08100292e-04 -7.73999830e-01] [-1.14595483e-02 1.39376343e-04 9.99934328e-01 -3.11437408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.78, Z:-0.31 [[ 9.99281428e-01 3.61339170e-02 1.14441489e-02 2.44200859e+01] [-3.61292996e-02 9.99346938e-01 -6.10021578e-04 -7.77884979e-01] [-1.14587176e-02 1.96114149e-04 9.99934328e-01 -3.11326216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.78, Z:-0.31 [[ 9.99477497e-01 3.02286037e-02 1.14439852e-02 2.44828425e+01] [-3.02235643e-02 9.99542976e-01 -6.13077697e-04 -7.79530730e-01] [-1.14572875e-02 2.66879341e-04 9.99934328e-01 -3.11818189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.78, Z:-0.31 [[ 9.99598291e-01 2.59286699e-02 1.14438112e-02 2.45460077e+01] [-2.59233120e-02 9.99663744e-01 -6.16308653e-04 -7.81756461e-01] [-1.14559432e-02 3.19399589e-04 9.99934328e-01 -3.14537050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.78, Z:-0.32 [[ 9.99696560e-01 2.18135405e-02 1.14436379e-02 2.46088402e+01] [-2.18078766e-02 9.99761988e-01 -6.19509357e-04 -7.82868376e-01] [-1.14544279e-02 3.69759930e-04 9.99934328e-01 -3.16767172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.79, Z:-0.32 [[ 9.99710887e-01 2.11468393e-02 1.14434653e-02 2.46717111e+01] [-2.11410955e-02 9.99776308e-01 -6.22680369e-04 -7.85413508e-01] [-1.14540733e-02 3.80572951e-04 9.99934328e-01 -3.17844651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.79, Z:-0.32 [[ 9.99672857e-01 2.28742388e-02 1.14432942e-02 2.47344016e+01] [-2.28685722e-02 9.99738284e-01 -6.25809180e-04 -7.86460588e-01] [-1.14546143e-02 3.63912650e-04 9.99934328e-01 -3.19214902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.79, Z:-0.32 [[ 9.99614160e-01 2.53098014e-02 1.14431173e-02 2.47967792e+01] [-2.53042574e-02 9.99679598e-01 -6.29028510e-04 -7.89047272e-01] [-1.14553715e-02 3.39226221e-04 9.99934328e-01 -3.20103492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.79, Z:-0.32 [[ 9.99536388e-01 2.82146896e-02 1.14429360e-02 2.48584735e+01] [-2.82092983e-02 9.99601839e-01 -6.32309490e-04 -7.92016967e-01] [-1.14562203e-02 3.09219150e-04 9.99934328e-01 -3.20657224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.80, Z:-0.32 [[ 9.99422238e-01 3.20039653e-02 1.14427677e-02 2.49211197e+01] [-3.19987875e-02 9.99487706e-01 -6.35340941e-04 -7.95202915e-01] [-1.14572390e-02 2.68819174e-04 9.99934328e-01 -3.22968482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.80, Z:-0.32 [[ 9.99163800e-01 3.92526138e-02 1.14425915e-02 2.49840388e+01] [-3.92478749e-02 9.99229301e-01 -6.38498413e-04 -7.99713832e-01] [-1.14588354e-02 1.88867103e-04 9.99934328e-01 -3.24625169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.80, Z:-0.32 [[ 9.98801491e-01 4.75883658e-02 1.14424122e-02 2.50470398e+01] [-4.75841370e-02 9.98867027e-01 -6.41694506e-04 -8.04694693e-01] [-1.14599855e-02 9.64481184e-05 9.99934328e-01 -3.24851273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.81, Z:-0.33 [[ 9.98561608e-01 5.23812106e-02 1.14422285e-02 2.51100963e+01] [-5.23772590e-02 9.98627161e-01 -6.44953791e-04 -8.09263186e-01] [-1.14603036e-02 4.47135278e-05 9.99934328e-01 -3.25705221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.82, Z:-0.33 [[ 9.98277439e-01 5.75433210e-02 1.14420462e-02 2.51727337e+01] [-5.75396715e-02 9.98343010e-01 -6.48172820e-04 -8.15780054e-01] [-1.14603848e-02 -1.13152749e-05 9.99934328e-01 -3.26061895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.82, Z:-0.33 [[ 9.98080844e-01 6.08581310e-02 1.14418603e-02 2.52356462e+01] [-6.08546618e-02 9.98146425e-01 -6.51437627e-04 -8.21704081e-01] [-1.14602972e-02 -4.61031218e-05 9.99934328e-01 -3.26534305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.82, Z:-0.33 [[ 9.97738788e-01 6.62298905e-02 1.14416755e-02 2.52978434e+01] [-6.62267374e-02 9.97804385e-01 -6.54667181e-04 -8.24940983e-01] [-1.14599125e-02 -1.04557998e-04 9.99934328e-01 -3.28493499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.83, Z:-0.33 [[ 9.97563802e-01 6.88153412e-02 1.14415608e-02 2.53607047e+01] [-6.88123352e-02 9.97629406e-01 -6.56664896e-04 -8.25864966e-01] [-1.14596262e-02 -1.32255389e-04 9.99934328e-01 -3.32052073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.83, Z:-0.34 [[ 9.97738064e-01 6.62408585e-02 1.14413745e-02 2.54222748e+01] [-6.62376461e-02 9.97803657e-01 -6.59895163e-04 -8.26879746e-01] [-1.14599574e-02 -9.94471954e-05 9.99934328e-01 -3.36498485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.83, Z:-0.34 [[ 9.97957766e-01 6.28442134e-02 1.14412593e-02 2.54852003e+01] [-6.28407549e-02 9.98023347e-01 -6.61887510e-04 -8.31084345e-01] [-1.14602397e-02 -5.84415889e-05 9.99934328e-01 -3.37950626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.84, Z:-0.34 [[ 9.98349537e-01 5.62788014e-02 1.14410718e-02 2.55475914e+01] [-5.62748747e-02 9.98415092e-01 -6.65112548e-04 -8.37829965e-01] [-1.14603705e-02 2.01699231e-05 9.99934328e-01 -3.37902798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.84, Z:-0.34 [[ 9.98568236e-01 5.22549946e-02 1.14408794e-02 2.56103505e+01] [-5.22507660e-02 9.98633772e-01 -6.68404808e-04 -8.41009697e-01] [-1.14601761e-02 6.96530957e-05 9.99934328e-01 -3.38127213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.85, Z:-0.34 [[ 9.99038274e-01 4.23277493e-02 1.14406839e-02 2.56724067e+01] [-4.23228314e-02 9.99103762e-01 -6.71734449e-04 -8.45291201e-01] [-1.14588634e-02 1.86886286e-04 9.99934328e-01 -3.36934413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.85, Z:-0.34 [[ 9.99334808e-01 3.46273877e-02 1.14405029e-02 2.57349106e+01] [-3.46219301e-02 9.99400253e-01 -6.74803289e-04 -8.49589414e-01] [-1.14570082e-02 2.78262122e-04 9.99934328e-01 -3.35891275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.85, Z:-0.33 [[ 9.99634510e-01 2.44941804e-02 1.14403096e-02 2.57960930e+01] [-2.44880224e-02 9.99699893e-01 -6.78064838e-04 -8.50832923e-01] [-1.14534850e-02 3.97666454e-04 9.99934328e-01 -3.34082698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.85, Z:-0.34 [[ 9.99858557e-01 1.23283911e-02 1.14401545e-02 2.58591814e+01] [-1.23214081e-02 9.99923857e-01 -6.80672509e-04 -8.51647625e-01] [-1.14476750e-02 5.39617421e-04 9.99934328e-01 -3.37260643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.85, Z:-0.34 [[ 9.99919667e-01 5.45766296e-03 1.14399593e-02 2.59217265e+01] [-5.45019424e-03 9.99984914e-01 -6.83936774e-04 -8.52057780e-01] [-1.14435194e-02 6.21531831e-04 9.99934328e-01 -3.40151032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.85, Z:-0.34 [[ 9.99934516e-01 3.10055907e-04 1.14397666e-02 2.59848948e+01] [-3.02214823e-04 9.99999718e-01 -6.87145751e-04 -8.52206934e-01] [-1.14399764e-02 6.83643486e-04 9.99934328e-01 -3.43219644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777627999999996 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.85, Z:-0.34 [[ 9.99934555e-01 1.49251967e-04 1.14395761e-02 2.60478300e+01] [-1.41364415e-04 9.99999752e-01 -6.90302391e-04 -8.54133377e-01] [-1.14396763e-02 6.88640065e-04 9.99934328e-01 -3.44030236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.85, Z:-0.34 [[ 9.99921799e-01 5.05343703e-03 1.14393798e-02 2.61100589e+01] [-5.04583241e-03 9.99987029e-01 -6.93540025e-04 -8.50905036e-01] [-1.14427362e-02 6.35764596e-04 9.99934328e-01 -3.42255798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.85, Z:-0.34 [[ 9.99885795e-01 9.87616116e-03 1.14393310e-02 2.61725370e+01] [-9.86886207e-03 9.99951061e-01 -6.94343699e-04 -8.50165648e-01] [-1.14456286e-02 5.81371222e-04 9.99934328e-01 -3.41827555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.85, Z:-0.34 [[ 9.99754143e-01 1.89946602e-02 1.14392706e-02 2.62361428e+01] [-1.89879453e-02 9.99819471e-01 -6.95337560e-04 -8.48752504e-01] [-1.14504132e-02 4.77958362e-04 9.99934328e-01 -3.39686794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.85, Z:-0.34 [[ 9.99581140e-01 2.65836262e-02 1.14391963e-02 2.62990892e+01] [-2.65773934e-02 9.99646516e-01 -6.96558514e-04 -8.47576044e-01] [-1.14536697e-02 3.92242735e-04 9.99934328e-01 -3.40263690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.84, Z:-0.34 [[ 9.99180316e-01 3.88309411e-02 1.14391223e-02 2.63625430e+01] [-3.88254961e-02 9.99245763e-01 -6.97770222e-04 -8.44027728e-01] [-1.14575896e-02 2.53068672e-04 9.99934328e-01 -3.43510438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.84, Z:-0.35 [[ 9.98941885e-01 4.45450228e-02 1.14390475e-02 2.64244937e+01] [-4.45399382e-02 9.99007360e-01 -6.98994629e-04 -8.44055323e-01] [-1.14588294e-02 1.88760542e-04 9.99934328e-01 -3.47035326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.85, Z:-0.35 [[ 9.98828503e-01 4.70188774e-02 1.14388631e-02 2.64870836e+01] [-4.70139205e-02 9.98893988e-01 -7.01999302e-04 -8.45887971e-01] [-1.14592188e-02 1.63391110e-04 9.99934328e-01 -3.51256797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.85, Z:-0.35 [[ 9.98957865e-01 4.41852733e-02 1.14387689e-02 2.65491761e+01] [-4.41801132e-02 9.99023334e-01 -7.03531349e-04 -8.50061065e-01] [-1.14586828e-02 1.97432069e-04 9.99934328e-01 -3.52656057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.86, Z:-0.35 [[ 9.99453426e-01 3.10162487e-02 1.14385917e-02 2.66120641e+01] [-3.10101934e-02 9.99518819e-01 -7.06401146e-04 -8.57799674e-01] [-1.14549976e-02 3.51302106e-04 9.99934328e-01 -3.51631650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.87, Z:-0.35 [[ 9.99834479e-01 1.41484223e-02 1.14383870e-02 2.66740165e+01] [-1.41412268e-02 9.99899756e-01 -7.09699712e-04 -8.68082988e-01] [-1.14472815e-02 5.47829416e-04 9.99934328e-01 -3.48820685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.87, Z:-0.35 [[ 9.99921506e-01 5.11355558e-03 1.14382092e-02 2.67369169e+01] [-5.10573806e-03 9.99986712e-01 -7.12553784e-04 -8.74297013e-01] [-1.14417009e-02 6.54097353e-04 9.99934328e-01 -3.48645013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.88, Z:-0.35 [[ 9.99934294e-01 -7.61792765e-04 1.14380043e-02 2.67987989e+01] [ 7.70030594e-04 9.99999447e-01 -7.15828866e-04 -8.78547205e-01] [-1.14374526e-02 7.24589445e-04 9.99934328e-01 -3.51392993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.88, Z:-0.35 [[ 9.99934544e-01 2.89159710e-04 1.14378274e-02 2.68606987e+01] [-2.80958297e-04 9.99999702e-01 -7.18643252e-04 -8.82496149e-01] [-1.14380318e-02 7.15382660e-04 9.99934328e-01 -3.50355577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.88, Z:-0.35 [[ 9.99925271e-01 4.31619348e-03 1.14377648e-02 2.69227389e+01] [-4.30824319e-03 9.99990461e-01 -7.19638820e-04 -8.84437083e-01] [-1.14407618e-02 6.70308370e-04 9.99934328e-01 -3.51688685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.88, Z:-0.35 [[ 9.99822543e-01 1.49687024e-02 1.14377136e-02 2.69844541e+01] [-1.49614377e-02 9.99887812e-01 -7.20452203e-04 -8.84208050e-01] [-1.14472146e-02 5.49199715e-04 9.99934328e-01 -3.53580076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.88, Z:-0.35 [[ 9.99583127e-01 2.65094716e-02 1.14376756e-02 2.70471436e+01] [-2.65029541e-02 9.99648475e-01 -7.21053548e-04 -8.84518774e-01] [-1.14527698e-02 4.17620768e-04 9.99934328e-01 -3.53636986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.89, Z:-0.35 [[ 9.99376249e-01 3.34109695e-02 1.14376249e-02 2.71077986e+01] [-3.34048942e-02 9.99441640e-01 -7.21857188e-04 -8.85957031e-01] [-1.14553566e-02 3.39334279e-04 9.99934328e-01 -3.52811898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.89, Z:-0.35 [[ 9.99118632e-01 4.03874222e-02 1.14374864e-02 2.71685437e+01] [-4.03817785e-02 9.99184061e-01 -7.24044597e-04 -8.86653425e-01] [-1.14573965e-02 2.61540402e-04 9.99934328e-01 -3.50251712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.89, Z:-0.35 [[ 9.99002181e-01 4.31720902e-02 1.14373500e-02 2.72317791e+01] [-4.31666043e-02 9.99067624e-01 -7.26193864e-04 -8.90072498e-01] [-1.14580374e-02 2.31757694e-04 9.99934328e-01 -3.49085451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.89, Z:-0.35 [[ 9.98886869e-01 4.57625807e-02 1.14371427e-02 2.72946677e+01] [-4.57572273e-02 9.98952323e-01 -7.29444041e-04 -8.93639143e-01] [-1.14585415e-02 2.05300137e-04 9.99934328e-01 -3.48989116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.90, Z:-0.35 [[ 9.98840017e-01 4.67741046e-02 1.14369359e-02 2.73565889e+01] [-4.67687806e-02 9.98905473e-01 -7.32672258e-04 -8.96612031e-01] [-1.14586879e-02 1.96930826e-04 9.99934328e-01 -3.51849097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.90, Z:-0.35 [[ 9.98887823e-01 4.57418681e-02 1.14367568e-02 2.74191657e+01] [-4.57364445e-02 9.98953271e-01 -7.35457701e-04 -9.00479997e-01] [-1.14584268e-02 2.11563150e-04 9.99934328e-01 -3.53396886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.91, Z:-0.35 [[ 9.99140293e-01 3.98482046e-02 1.14365453e-02 2.74807308e+01] [-3.98423575e-02 9.99205705e-01 -7.38730726e-04 -9.07026979e-01] [-1.14568984e-02 2.82436706e-04 9.99934328e-01 -3.54316782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.91, Z:-0.36 [[ 9.99395515e-01 3.28300953e-02 1.14363555e-02 2.75419110e+01] [-3.28237555e-02 9.99460880e-01 -7.41658762e-04 -9.14070309e-01] [-1.14545386e-02 3.65826304e-04 9.99934328e-01 -3.56952045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.92, Z:-0.36 [[ 9.99760253e-01 1.86722141e-02 1.14361545e-02 2.76040860e+01] [-1.86649140e-02 9.99825518e-01 -7.44745306e-04 -9.21483223e-01] [-1.14480651e-02 5.31111916e-04 9.99934328e-01 -3.56037977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.93, Z:-0.36 [[ 9.99885744e-01 9.88527684e-03 1.14359427e-02 2.76667614e+01] [-9.87736651e-03 9.99950938e-01 -7.47983570e-04 -9.28017017e-01] [-1.14427756e-02 6.34941111e-04 9.99934328e-01 -3.56359283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.94, Z:-0.36 [[ 9.99930968e-01 2.69860295e-03 1.14357261e-02 2.77295711e+01] [-2.69018670e-03 9.99996099e-01 -7.51279706e-04 -9.36883111e-01] [-1.14377089e-02 7.20463606e-04 9.99934328e-01 -3.55729640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.94, Z:-0.36 [[ 9.99931703e-01 2.41207102e-03 1.14355101e-02 2.77913530e+01] [-2.40359882e-03 9.99996827e-01 -7.54553255e-04 -9.40390724e-01] [-1.14372939e-02 7.27015342e-04 9.99934328e-01 -3.57990545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.94, Z:-0.36 [[ 9.99907639e-01 7.34481836e-03 1.14353224e-02 2.78531396e+01] [-7.33663522e-03 9.99972800e-01 -7.57387312e-04 -9.42114428e-01] [-1.14405742e-02 6.73420570e-04 9.99934328e-01 -3.60303384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.94, Z:-0.36 [[ 9.99792867e-01 1.68361941e-02 1.14352685e-02 2.79141099e+01] [-1.68286206e-02 9.99858101e-01 -7.58199844e-04 -9.44724336e-01] [-1.14464111e-02 5.65603000e-04 9.99934328e-01 -3.59617503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.95, Z:-0.36 [[ 9.99642322e-01 2.41756982e-02 1.14352286e-02 2.79749997e+01] [-2.41685969e-02 9.99707609e-01 -7.58801125e-04 -9.46542196e-01] [-1.14502296e-02 4.82156287e-04 9.99934328e-01 -3.60092952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.95, Z:-0.36 [[ 9.99315894e-01 3.51707747e-02 1.14350585e-02 2.80379612e+01] [-3.51643628e-02 9.99381253e-01 -7.61356815e-04 -9.46584125e-01] [-1.14547606e-02 3.58729421e-04 9.99934328e-01 -3.60388440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.95, Z:-0.36 [[ 9.98985430e-01 4.35586367e-02 1.14348458e-02 2.80996480e+01] [-4.35527373e-02 9.99050837e-01 -7.64538067e-04 -9.49810616e-01] [-1.14572945e-02 2.65743555e-04 9.99934328e-01 -3.60692817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.95, Z:-0.36 [[ 9.98419334e-01 5.50280220e-02 1.14346483e-02 2.81619771e+01] [-5.50228405e-02 9.98484801e-01 -7.67480039e-04 -9.54145159e-01] [-1.14595555e-02 1.37100079e-04 9.99934328e-01 -3.61063690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.96, Z:-0.36 [[ 9.97932256e-01 6.32492358e-02 1.14344318e-02 2.82238171e+01] [-6.32445568e-02 9.97997762e-01 -7.70692610e-04 -9.59481295e-01] [-1.14602830e-02 4.59334446e-05 9.99934328e-01 -3.62293280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.97, Z:-0.36 [[ 9.97597037e-01 6.83330876e-02 1.14342306e-02 2.82863487e+01] [-6.83287084e-02 9.97662563e-01 -7.73666329e-04 -9.66065472e-01] [-1.14603708e-02 -9.47896989e-06 9.99934328e-01 -3.63045374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.35, Y:-0.98, Z:-0.37 [[ 9.97191667e-01 7.40138008e-02 1.14340078e-02 2.83479196e+01] [-7.40097573e-02 9.97257215e-01 -7.76944749e-04 -9.75302487e-01] [-1.14601514e-02 -7.14653132e-05 9.99934328e-01 -3.65400527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:-0.99, Z:-0.37 [[ 9.97062962e-01 7.57279136e-02 1.14338121e-02 2.84097828e+01] [-7.57239499e-02 9.97128515e-01 -7.79814671e-04 -9.86920378e-01] [-1.14600338e-02 -8.82890861e-05 9.99934328e-01 -3.66426068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.00, Z:-0.37 [[ 9.97202850e-01 7.38630469e-02 1.14335877e-02 2.84716731e+01] [-7.38589230e-02 9.97268392e-01 -7.83091327e-04 -9.97681879e-01] [-1.14601971e-02 -6.35715672e-05 9.99934328e-01 -3.66255805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.01, Z:-0.37 [[ 9.97577078e-01 6.86239872e-02 1.14333609e-02 2.85334647e+01] [-6.86194813e-02 9.97642596e-01 -7.86387612e-04 -1.01313376e+00] [-1.14603729e-02 -6.90404785e-08 9.99934328e-01 -3.66646846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.03, Z:-0.37 [[ 9.97820939e-01 6.49819705e-02 1.14331353e-02 2.85944645e+01] [-6.49771880e-02 9.97886437e-01 -7.89654380e-04 -1.02655623e+00] [-1.14602840e-02 4.50406929e-05 9.99934328e-01 -3.67454651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.04, Z:-0.37 [[ 9.98169087e-01 5.93949615e-02 1.14329376e-02 2.86554239e+01] [-5.93897798e-02 9.98234555e-01 -7.92505850e-04 -1.04317217e+00] [-1.14598243e-02 1.12055191e-04 9.99934328e-01 -3.69070047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.05, Z:-0.37 [[ 9.97816157e-01 6.50554253e-02 1.14327424e-02 2.87166407e+01] [-6.50505828e-02 9.97881651e-01 -7.95312697e-04 -1.04909444e+00] [-1.14602633e-02 4.98693033e-05 9.99934328e-01 -3.68088413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.05, Z:-0.37 [[ 9.97668417e-01 6.72831784e-02 1.14325634e-02 2.87783375e+01] [-6.72784528e-02 9.97733919e-01 -7.97877413e-04 -1.05449319e+00] [-1.14603400e-02 2.68519190e-05 9.99934328e-01 -3.67900375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.06, Z:-0.37 [[ 9.97676635e-01 6.71612520e-02 1.14323671e-02 2.88413484e+01] [-6.71564862e-02 9.97742134e-01 -8.00680413e-04 -1.05940475e+00] [-1.14603290e-02 3.10625365e-05 9.99934328e-01 -3.69025069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.06, Z:-0.37 [[ 9.97853943e-01 6.44733587e-02 1.14321407e-02 2.89044836e+01] [-6.44683797e-02 9.97919426e-01 -8.03899394e-04 -1.06307668e+00] [-1.14601854e-02 6.51625916e-05 9.99934328e-01 -3.69460038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.07, Z:-0.37 [[ 9.98148122e-01 5.97464464e-02 1.14319144e-02 2.89667537e+01] [-5.97411206e-02 9.98213578e-01 -8.07105382e-04 -1.06612792e+00] [-1.14597138e-02 1.22655346e-04 9.99934328e-01 -3.71513076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.07, Z:-0.37 [[ 9.98651090e-01 5.06489552e-02 1.14317050e-02 2.90285004e+01] [-5.06429993e-02 9.98716492e-01 -8.10060732e-04 -1.06917282e+00] [-1.14580610e-02 2.30032207e-04 9.99934328e-01 -3.72069398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.07, Z:-0.37 [[ 9.99137841e-01 3.99110954e-02 1.14315127e-02 2.90909209e+01] [-3.99044060e-02 9.99203171e-01 -8.12765228e-04 -1.07333717e+00] [-1.14548421e-02 3.55896772e-04 9.99934328e-01 -3.70351264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.08, Z:-0.37 [[ 9.99370151e-01 3.35950392e-02 1.14312851e-02 2.91538764e+01] [-3.35879005e-02 9.99435434e-01 -8.15953960e-04 -1.07745500e+00] [-1.14522434e-02 4.31487167e-04 9.99934328e-01 -3.69765839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.08, Z:-0.37 [[ 9.99513670e-01 2.90130153e-02 1.14310529e-02 2.92166592e+01] [-2.90055404e-02 9.99578915e-01 -8.19193614e-04 -1.08041142e+00] [-1.14500067e-02 4.87231349e-04 9.99934328e-01 -3.70180908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.08, Z:-0.37 [[ 9.99519813e-01 2.88006791e-02 1.14308179e-02 2.92799456e+01] [-2.87931531e-02 9.99585053e-01 -8.22459720e-04 -1.08311867e+00] [-1.14497621e-02 4.92935497e-04 9.99934328e-01 -3.71029528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.08, Z:-0.37 [[ 9.99432122e-01 3.16981888e-02 1.14305842e-02 2.93423112e+01] [-3.16908150e-02 9.99497379e-01 -8.25694864e-04 -1.08375378e+00] [-1.14510120e-02 4.62981441e-04 9.99934328e-01 -3.73761030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.09, Z:-0.37 [[ 9.99237622e-01 3.73298873e-02 1.14303679e-02 2.94052474e+01] [-3.73228472e-02 9.99302916e-01 -8.28678051e-04 -1.08602244e+00] [-1.14533345e-02 4.01432409e-04 9.99934328e-01 -3.74180055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.09, Z:-0.38 [[ 9.99127277e-01 4.01750812e-02 1.14301369e-02 2.94680682e+01] [-4.01681908e-02 9.99192586e-01 -8.31853002e-04 -1.08856188e+00] [-1.14543278e-02 3.71999105e-04 9.99934328e-01 -3.75104265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.09, Z:-0.38 [[ 9.99083863e-01 4.12406718e-02 1.14299003e-02 2.95297624e+01] [-4.12338141e-02 9.99149176e-01 -8.35091159e-04 -1.09238495e+00] [-1.14546152e-02 3.63027717e-04 9.99934328e-01 -3.76884232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.10, Z:-0.38 [[ 9.98998829e-01 4.32516028e-02 1.14296810e-02 2.95920750e+01] [-4.32448424e-02 9.99064153e-01 -8.38081420e-04 -1.09758271e+00] [-1.14552330e-02 3.42967603e-04 9.99934328e-01 -3.78295016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.10, Z:-0.38 [[ 9.98923970e-01 4.49474129e-02 1.14294428e-02 2.96549553e+01] [-4.49407263e-02 9.98989301e-01 -8.41317843e-04 -1.10424693e+00] [-1.14557061e-02 3.26765100e-04 9.99934328e-01 -3.79060274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.11, Z:-0.38 [[ 9.98924834e-01 4.49282655e-02 1.14292029e-02 2.97166094e+01] [-4.49215406e-02 9.98990161e-01 -8.44564587e-04 -1.10982080e+00] [-1.14556060e-02 3.30239138e-04 9.99934328e-01 -3.80225072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.12, Z:-0.38 [[ 9.98927206e-01 4.48755552e-02 1.14289805e-02 2.97791707e+01] [-4.48687925e-02 9.98992529e-01 -8.47563354e-04 -1.11649184e+00] [-1.14555010e-02 3.33849539e-04 9.99934328e-01 -3.79385148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.12, Z:-0.38 [[ 9.98892796e-01 4.56351426e-02 1.14287356e-02 2.98408955e+01] [-4.56283921e-02 9.98958120e-01 -8.50852120e-04 -1.12438276e+00] [-1.14556570e-02 3.28435222e-04 9.99934328e-01 -3.79333015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.13, Z:-0.38 [[ 9.98821774e-01 4.71641089e-02 1.14285088e-02 2.99036359e+01] [-4.71574236e-02 9.98887105e-01 -8.53888704e-04 -1.12958123e+00] [-1.14560629e-02 3.13943601e-04 9.99934328e-01 -3.80786170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.14, Z:-0.38 [[ 9.98679118e-01 5.00940496e-02 1.14282672e-02 2.99659658e+01] [-5.00875191e-02 9.98744465e-01 -8.57110132e-04 -1.13517477e+00] [-1.14568547e-02 2.83564441e-04 9.99934328e-01 -3.82543452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.14, Z:-0.38 [[ 9.98513914e-01 5.32856811e-02 1.14280256e-02 3.00280374e+01] [-5.32793229e-02 9.98579278e-01 -8.60319326e-04 -1.14394179e+00] [-1.14576322e-02 2.50163354e-04 9.99934328e-01 -3.80410264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.15, Z:-0.38 [[ 9.98339160e-01 5.64652816e-02 1.14277788e-02 3.00904337e+01] [-5.64590942e-02 9.98404540e-01 -8.63585380e-04 -1.15079123e+00] [-1.14583088e-02 2.16949065e-04 9.99934328e-01 -3.80586432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.16, Z:-0.38 [[ 9.98175768e-01 5.92836227e-02 1.14275346e-02 3.01528594e+01] [-5.92775831e-02 9.98241162e-01 -8.66803857e-04 -1.15622803e+00] [-1.14588227e-02 1.87825973e-04 9.99934328e-01 -3.83277006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.16, Z:-0.39 [[ 9.97735801e-01 6.62773597e-02 1.14272912e-02 3.02151970e+01] [-6.62717418e-02 9.97801232e-01 -8.70001554e-04 -1.16205696e+00] [-1.14598266e-02 1.10725207e-04 9.99934328e-01 -3.85196783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.17, Z:-0.38 [[ 9.97311157e-01 7.23869754e-02 1.14272153e-02 3.02778244e+01] [-7.23817470e-02 9.97376621e-01 -8.70997555e-04 -1.16739264e+00] [-1.14602862e-02 4.15337761e-05 9.99934328e-01 -3.84443820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.17, Z:-0.38 [[ 9.97196535e-01 7.39492746e-02 1.14269646e-02 3.03404218e+01] [-7.39441112e-02 9.97262004e-01 -8.74273135e-04 -1.17146239e+00] [-1.14603295e-02 2.68653959e-05 9.99934328e-01 -3.84944172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.18, Z:-0.38 [[ 9.97183281e-01 7.41278267e-02 1.14267158e-02 3.04024429e+01] [-7.41226379e-02 9.97248748e-01 -8.77513759e-04 -1.17743150e+00] [-1.14603262e-02 2.80637333e-05 9.99934328e-01 -3.84756416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.18, Z:-0.38 [[ 9.97198735e-01 7.39196803e-02 1.14264853e-02 3.04645799e+01] [-7.39144435e-02 9.97264198e-01 -8.80504578e-04 -1.18405965e+00] [-1.14603113e-02 3.34557473e-05 9.99934328e-01 -3.84420803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:-1.19, Z:-0.39 [[ 9.97167209e-01 7.43437782e-02 1.14262487e-02 3.05270149e+01] [-7.43385343e-02 9.97232672e-01 -8.83564807e-04 -1.18816701e+00] [-1.14603160e-02 3.16512741e-05 9.99934328e-01 -3.86125395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.19, Z:-0.39 [[ 9.97183255e-01 7.41282812e-02 1.14260071e-02 3.05901044e+01] [-7.41229874e-02 9.97248713e-01 -8.86677445e-04 -1.19152676e+00] [-1.14602988e-02 3.72501188e-05 9.99934328e-01 -3.89257582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.20, Z:-0.39 [[ 9.97162119e-01 7.44120980e-02 1.14257579e-02 3.06520208e+01] [-7.44067862e-02 9.97227576e-01 -8.89877422e-04 -1.19628591e+00] [-1.14602985e-02 3.71981300e-05 9.99934328e-01 -3.91848740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:-1.20, Z:-0.39 [[ 9.97127782e-01 7.48708407e-02 1.14255272e-02 3.07146720e+01] [-7.48655252e-02 9.97193239e-01 -8.92829328e-04 -1.20015539e+00] [-1.14603054e-02 3.48868309e-05 9.99934328e-01 -3.91933065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.20, Z:-0.39 [[ 9.97170133e-01 7.43047069e-02 1.14252710e-02 3.07764993e+01] [-7.42993168e-02 9.97235583e-01 -8.96096298e-04 -1.20347445e+00] [-1.14602710e-02 4.46706346e-05 9.99934328e-01 -3.93743115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.21, Z:-0.40 [[ 9.97335406e-01 7.20524584e-02 1.14250499e-02 3.08380570e+01] [-7.20468883e-02 9.97400841e-01 -8.98906914e-04 -1.20794633e+00] [-1.14601228e-02 7.33724001e-05 9.99934328e-01 -3.96067066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.90, Y:-1.22, Z:-0.39 [[ 9.97749790e-01 6.60668542e-02 1.14248936e-02 3.09000619e+01] [-6.60608689e-02 9.97815188e-01 -9.00888503e-04 -1.21508557e+00] [-1.14594512e-02 1.44122915e-04 9.99934328e-01 -3.91807245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.22, Z:-0.39 [[ 9.98272820e-01 5.76268509e-02 1.14246730e-02 3.09630333e+01] [-5.76202809e-02 9.98338162e-01 -9.03677186e-04 -1.22020034e+00] [-1.14577632e-02 2.43823504e-04 9.99934328e-01 -3.92186117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.02, Y:-1.22, Z:-0.39 [[ 9.98553147e-01 5.25461230e-02 1.14244223e-02 3.10242909e+01] [-5.25391844e-02 9.98618452e-01 -9.06836094e-04 -1.22479110e+00] [-1.14562896e-02 3.05294207e-04 9.99934328e-01 -3.93129855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.23, Z:-0.39 [[ 9.98810504e-01 4.74032131e-02 1.14241904e-02 3.10872535e+01] [-4.73959050e-02 9.98875768e-01 -9.09748000e-04 -1.22937975e+00] [-1.14544719e-02 3.67206015e-04 9.99934328e-01 -3.92897931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:-1.23, Z:-0.39 [[ 9.98926973e-01 4.48820215e-02 1.14239350e-02 3.11496605e+01] [-4.48745122e-02 9.98992215e-01 -9.12943974e-04 -1.23445193e+00] [-1.14533969e-02 3.99320850e-04 9.99934328e-01 -3.93564114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:-1.24, Z:-0.40 [[ 9.98992605e-01 4.33967145e-02 1.14236797e-02 3.12125087e+01] [-4.33890718e-02 9.99057831e-01 -9.16127122e-04 -1.23628069e+00] [-1.14526736e-02 4.19541360e-04 9.99934328e-01 -3.95517133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.27, Y:-1.24, Z:-0.40 [[ 9.98953360e-01 4.42909604e-02 1.14234220e-02 3.12746741e+01] [-4.42833395e-02 9.99018589e-01 -9.19329943e-04 -1.23890436e+00] [-1.14529289e-02 4.12500462e-04 9.99934328e-01 -3.97709250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877627999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:-1.24, Z:-0.40 [[ 9.98780562e-01 4.80302020e-02 1.14231837e-02 3.13376780e+01] [-4.80227917e-02 9.98845814e-01 -9.22280564e-04 -1.24177355e+00] [-1.14542966e-02 3.72582727e-04 9.99934328e-01 -3.96611741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937627999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:-1.24, Z:-0.40 [[ 9.98613681e-01 5.13831899e-02 1.14229280e-02 3.13991910e+01] [-5.13759626e-02 9.98678954e-01 -9.25436769e-04 -1.24496641e+00] [-1.14553897e-02 3.37289895e-04 9.99934328e-01 -3.96897747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:-1.25, Z:-0.40 [[ 9.98340703e-01 5.64390025e-02 1.14227697e-02 3.14626002e+01] [-5.64320835e-02 9.98406010e-01 -9.27386981e-04 -1.24602810e+00] [-1.14569027e-02 2.81237477e-04 9.99934328e-01 -3.96468686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:-1.25, Z:-0.40 [[ 9.98207771e-01 5.87432806e-02 1.14225004e-02 3.15243931e+01] [-5.87364745e-02 9.98273089e-01 -9.30692117e-04 -1.24940610e+00] [-1.14574467e-02 2.58106699e-04 9.99934328e-01 -3.98992270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.26, Z:-0.40 [[ 9.98100640e-01 6.05363104e-02 1.14222510e-02 3.15861778e+01] [-6.05295868e-02 9.98165967e-01 -9.33743555e-04 -1.25612245e+00] [-1.14578276e-02 2.40585909e-04 9.99934328e-01 -3.98108037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.26, Z:-0.40 [[ 9.98057452e-01 6.12442651e-02 1.14220173e-02 3.16490349e+01] [-6.12375553e-02 9.98122780e-01 -9.36592943e-04 -1.26021376e+00] [-1.14579366e-02 2.35317150e-04 9.99934328e-01 -3.99604244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.27, Z:-0.40 [[ 9.98018749e-01 6.18718026e-02 1.14217524e-02 3.17117642e+01] [-6.18650971e-02 9.98084078e-01 -9.39812535e-04 -1.26507953e+00] [-1.14580171e-02 2.31342711e-04 9.99934328e-01 -3.99677262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.27, Z:-0.40 [[ 9.97941033e-01 6.31129503e-02 1.14214840e-02 3.17733624e+01] [-6.31062888e-02 9.98006366e-01 -9.43063481e-04 -1.27254513e+00] [-1.14582332e-02 2.20354279e-04 9.99934328e-01 -3.96915687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.28, Z:-0.40 [[ 9.97717425e-01 6.65544447e-02 1.14212460e-02 3.18355587e+01] [-6.65479756e-02 9.97782778e-01 -9.45936794e-04 -1.27813889e+00] [-1.14588789e-02 1.83716823e-04 9.99934328e-01 -3.97291133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.28, Z:-0.40 [[ 9.97429060e-01 7.07448362e-02 1.14209769e-02 3.18974909e+01] [-7.07386047e-02 9.97494436e-01 -9.49174396e-04 -1.28262210e+00] [-1.14595101e-02 1.38830153e-04 9.99934328e-01 -3.99162294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.29, Z:-0.40 [[ 9.96922776e-01 7.75534944e-02 1.14208104e-02 3.19595909e+01] [-7.75476865e-02 9.96988190e-01 -9.51173821e-04 -1.28894504e+00] [-1.14601799e-02 6.25894212e-05 9.99934328e-01 -4.00878179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.29, Z:-0.40 [[ 9.96697314e-01 8.03992178e-02 1.14205738e-02 3.20211149e+01] [-8.03935642e-02 9.96762742e-01 -9.54006149e-04 -1.29421743e+00] [-1.14603038e-02 3.27147327e-05 9.99934328e-01 -4.03673086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:-1.30, Z:-0.41 [[ 9.96565029e-01 8.20226669e-02 1.14203385e-02 3.20824390e+01] [-8.20170877e-02 9.96630464e-01 -9.56814981e-04 -1.30143636e+00] [-1.14603378e-02 1.68654473e-05 9.99934328e-01 -4.05780127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:-1.31, Z:-0.41 [[ 9.96774501e-01 7.94366078e-02 1.14201059e-02 3.21436851e+01] [-7.94308271e-02 9.96839918e-01 -9.59582893e-04 -1.31248868e+00] [-1.14602434e-02 4.93793022e-05 9.99934328e-01 -4.05557631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.32, Z:-0.40 [[ 9.96935374e-01 7.73915113e-02 1.14198596e-02 3.22052581e+01] [-7.73855630e-02 9.97000776e-01 -9.62505741e-04 -1.32102163e+00] [-1.14600986e-02 7.58237602e-05 9.99934328e-01 -4.04696040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.33, Z:-0.40 [[ 9.96887707e-01 7.80031493e-02 1.14196307e-02 3.22664672e+01] [-7.79972100e-02 9.96953110e-01 -9.65213256e-04 -1.32937291e+00] [-1.14601260e-02 7.15098954e-05 9.99934328e-01 -4.02981267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.34, Z:-0.40 [[ 9.96665488e-01 8.07929614e-02 1.14193924e-02 3.23293314e+01] [-8.07871730e-02 9.96730904e-01 -9.68024358e-04 -1.33683746e+00] [-1.14602709e-02 4.22560390e-05 9.99934328e-01 -4.02759059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.34, Z:-0.41 [[ 9.96269664e-01 8.55357214e-02 1.14191195e-02 3.23913711e+01] [-8.55302077e-02 9.96335104e-01 -9.71233416e-04 -1.34447137e+00] [-1.14603447e-02 -9.06927057e-06 9.99934328e-01 -4.06339442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.35, Z:-0.40 [[ 9.95863145e-01 9.01454738e-02 1.14188449e-02 3.24536605e+01] [-9.01402261e-02 9.95928607e-01 -9.74451031e-04 -1.35010076e+00] [-1.14601966e-02 -5.88773910e-05 9.99934328e-01 -4.04859870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.36, Z:-0.41 [[ 9.95295327e-01 9.62124150e-02 1.14185697e-02 3.25158304e+01] [-9.62075294e-02 9.95360817e-01 -9.77665400e-04 -1.35564112e+00] [-1.14596604e-02 -1.25486573e-04 9.99934328e-01 -4.07092331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.36, Z:-0.41 [[ 9.95028233e-01 9.89365360e-02 1.14183270e-02 3.25778765e+01] [-9.89317973e-02 9.95093733e-01 -9.80491424e-04 -1.35925434e+00] [-1.14593121e-02 -1.54018963e-04 9.99934328e-01 -4.09874114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.36, Z:-0.41 [[ 9.94972570e-01 9.94947815e-02 1.14180834e-02 3.26397587e+01] [-9.94900471e-02 9.95038071e-01 -9.83320575e-04 -1.36304511e+00] [-1.14592629e-02 -1.57608651e-04 9.99934328e-01 -4.14334056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.37, Z:-0.41 [[ 9.95182374e-01 9.73738931e-02 1.14178390e-02 3.27002333e+01] [-9.73689867e-02 9.95247863e-01 -9.86149665e-04 -1.37028214e+00] [-1.14596051e-02 -1.30344649e-04 9.99934328e-01 -4.09059659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.38, Z:-0.41 [[ 9.95599186e-01 9.30155845e-02 1.14176154e-02 3.27616968e+01] [-9.30103617e-02 9.95664650e-01 -9.88731450e-04 -1.37787344e+00] [-1.14600835e-02 -7.75763152e-05 9.99934328e-01 -4.06986368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.38, Z:-0.41 [[ 9.95830533e-01 9.05052128e-02 1.14173729e-02 3.28247126e+01] [-9.04997929e-02 9.95895981e-01 -9.91524558e-04 -1.38444373e+00] [-1.14602539e-02 -4.58794517e-05 9.99934328e-01 -4.06509676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.39, Z:-0.41 [[ 9.96320203e-01 8.49452897e-02 1.14170898e-02 3.28872215e+01] [-8.49394674e-02 9.96385617e-01 -9.94773444e-04 -1.38886797e+00] [-1.14603254e-02 2.13513541e-05 9.99934328e-01 -4.07015838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.39, Z:-0.41 [[ 9.96673644e-01 8.06926538e-02 1.14168075e-02 3.29488141e+01] [-8.06865155e-02 9.96739028e-01 -9.98002724e-04 -1.39361705e+00] [-1.14601091e-02 7.35005958e-05 9.99934328e-01 -4.09575007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.40, Z:-0.41 [[ 9.96923327e-01 7.75470304e-02 1.14165603e-02 3.30104264e+01] [-7.75406534e-02 9.96988689e-01 -1.00082261e-03 -1.39888614e+00] [-1.14597923e-02 1.12495858e-04 9.99934328e-01 -4.11424975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.40, Z:-0.41 [[ 9.97336239e-01 7.20423085e-02 1.14163126e-02 3.30724577e+01] [-7.20355386e-02 9.97401561e-01 -1.00363989e-03 -1.40253243e+00] [-1.14589526e-02 1.78586207e-04 9.99934328e-01 -4.13981120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.41, Z:-0.41 [[ 9.97559479e-01 6.88822152e-02 1.14160674e-02 3.31352783e+01] [-6.88752065e-02 9.97624776e-01 -1.00642154e-03 -1.40652796e+00] [-1.14582762e-02 2.17681349e-04 9.99934328e-01 -4.13617430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.41, Z:-0.41 [[ 9.97655630e-01 6.74753530e-02 1.14157856e-02 3.31972183e+01] [-6.74682158e-02 9.97720913e-01 -1.00960750e-03 -1.40995003e+00] [-1.14578917e-02 2.37037922e-04 9.99934328e-01 -4.12882664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.41, Z:-0.41 [[ 9.97432330e-01 7.06995993e-02 1.14155247e-02 3.32602703e+01] [-7.06926395e-02 9.97497632e-01 -1.01254909e-03 -1.41244507e+00] [-1.14585457e-02 2.02955620e-04 9.99934328e-01 -4.11274145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:33.32, Y:-1.41, Z:-0.41 [[ 9.97166843e-01 7.43503896e-02 1.14152386e-02 3.33220863e+01] [-7.43436321e-02 9.97232166e-01 -1.01576410e-03 -1.41490540e+00] [-1.14591656e-02 1.64235978e-04 9.99934328e-01 -4.14849680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.38, Y:-1.42, Z:-0.41 [[ 9.96610375e-01 8.14705918e-02 1.14150619e-02 3.33848063e+01] [-8.14642783e-02 9.96675742e-01 -1.01774661e-03 -1.41655842e+00] [-1.14600317e-02 8.43770520e-05 9.99934328e-01 -4.14779427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.917628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:-1.42, Z:-0.42 [[ 9.96282607e-01 8.53854192e-02 1.14147704e-02 3.34469229e+01] [-8.53793252e-02 9.96347996e-01 -1.02100531e-03 -1.42112290e+00] [-1.14602626e-02 4.26244412e-05 9.99934328e-01 -4.19558150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.43, Z:-0.42 [[ 9.95789895e-01 9.09515994e-02 1.14145154e-02 3.35085548e+01] [-9.09458383e-02 9.95855314e-01 -1.02384832e-03 -1.42695055e+00] [-1.14603265e-02 -1.85648612e-05 9.99934328e-01 -4.19579800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.57, Y:-1.43, Z:-0.42 [[ 9.95770606e-01 9.11625743e-02 1.14142632e-02 3.35700091e+01] [-9.11567950e-02 9.95836023e-01 -1.02665189e-03 -1.43240943e+00] [-1.14603267e-02 -1.81778741e-05 9.99934328e-01 -4.16141421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.63, Y:-1.44, Z:-0.42 [[ 9.96074288e-01 8.77823026e-02 1.14140296e-02 3.36330040e+01] [-8.77762716e-02 9.96139682e-01 -1.02924320e-03 -1.43954156e+00] [-1.14603171e-02 2.33217272e-05 9.99934328e-01 -4.16428326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.45, Z:-0.42 [[ 9.96864273e-01 7.83029230e-02 1.14137422e-02 3.36953205e+01] [-7.82962338e-02 9.96929603e-01 -1.03242012e-03 -1.45074905e+00] [-1.14595390e-02 1.35529710e-04 9.99934328e-01 -4.15994434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:-1.46, Z:-0.42 [[ 9.97415263e-01 7.09402976e-02 1.14134525e-02 3.37574344e+01] [-7.09330897e-02 9.97480538e-01 -1.03561317e-03 -1.46023532e+00] [-1.14581634e-02 2.23344932e-04 9.99934328e-01 -4.15589206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.47, Z:-0.42 [[ 9.98004348e-01 6.21052464e-02 1.14131619e-02 3.38180894e+01] [-6.20974243e-02 9.98069552e-01 -1.03880535e-03 -1.46870422e+00] [-1.14556447e-02 3.28004294e-04 9.99934328e-01 -4.18920601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.48, Z:-0.42 [[ 9.98109962e-01 6.03841842e-02 1.14129294e-02 3.38803119e+01] [-6.03762205e-02 9.98175149e-01 -1.04135326e-03 -1.47829379e+00] [-1.14549838e-02 3.50315521e-04 9.99934328e-01 -4.17427744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.49, Z:-0.42 [[ 9.98012971e-01 6.19666135e-02 1.14126328e-02 3.39410822e+01] [-6.19587162e-02 9.98078166e-01 -1.04459369e-03 -1.48510746e+00] [-1.14554296e-02 3.35405971e-04 9.99934328e-01 -4.20235937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.49, Z:-0.42 [[ 9.97890513e-01 6.39083774e-02 1.14123958e-02 3.40025991e+01] [-6.39005774e-02 9.97955720e-01 -1.04717719e-03 -1.49134335e+00] [-1.14559891e-02 3.15709507e-04 9.99934328e-01 -4.24653565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.50, Z:-0.42 [[ 9.97599234e-01 6.83046924e-02 1.14121448e-02 3.40638889e+01] [-6.82971486e-02 9.97664471e-01 -1.04990587e-03 -1.49751344e+00] [-1.14572049e-02 2.67968348e-04 9.99934328e-01 -4.19025827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:-1.50, Z:-0.42 [[ 9.97174346e-01 7.42501940e-02 1.14119029e-02 3.41255906e+01] [-7.42430092e-02 9.97239624e-01 -1.05252818e-03 -1.50422324e+00] [-1.14585522e-02 2.02300088e-04 9.99934328e-01 -4.15208050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.51, Z:-0.42 [[ 9.96731155e-01 7.99798644e-02 1.14116440e-02 3.41881255e+01] [-7.99730228e-02 9.96796470e-01 -1.05532798e-03 -1.50923893e+00] [-1.14594914e-02 1.39254614e-04 9.99934328e-01 -4.15354325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.51, Z:-0.42 [[ 9.96005710e-01 8.85573624e-02 1.14113458e-02 3.42507125e+01] [-8.85510466e-02 9.96071078e-01 -1.05854269e-03 -1.51220417e+00] [-1.14602532e-02 4.38279543e-05 9.99934328e-01 -4.19168075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.52, Z:-0.42 [[ 9.95622274e-01 9.27689321e-02 1.14110424e-02 3.43128351e+01] [-9.27628554e-02 9.95687665e-01 -1.06180315e-03 -1.51776824e+00] [-1.14603365e-02 -1.36601045e-06 9.99934328e-01 -4.24091997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.53, Z:-0.42 [[ 9.95067976e-01 9.85368865e-02 1.14107746e-02 3.43747229e+01] [-9.85311559e-02 9.95133397e-01 -1.06467317e-03 -1.52540119e+00] [-1.14601525e-02 -6.48946328e-05 9.99934328e-01 -4.21425042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:-1.53, Z:-0.42 [[ 9.94852052e-01 1.00693570e-01 1.14104911e-02 3.44370286e+01] [-1.00687946e-01 9.94917483e-01 -1.06770282e-03 -1.53261652e+00] [-1.14600079e-02 -8.66925765e-05 9.99934328e-01 -4.21843396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.50, Y:-1.54, Z:-0.42 [[ 9.94844783e-01 1.00765399e-01 1.14101842e-02 3.44997176e+01] [-1.00759743e-01 9.94910211e-01 -1.07097277e-03 -1.54041868e+00] [-1.14600258e-02 -8.42355544e-05 9.99934328e-01 -4.22359797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.55, Z:-0.42 [[ 9.94979186e-01 9.94295440e-02 1.14098805e-02 3.45619949e+01] [-9.94237629e-02 9.95044603e-01 -1.07419849e-03 -1.54914548e+00] [-1.14601471e-02 -6.56081139e-05 9.99934328e-01 -4.24003657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.56, Z:-0.43 [[ 9.95098769e-01 9.82255647e-02 1.14095734e-02 3.46235641e+01] [-9.82196672e-02 9.95164175e-01 -1.07745047e-03 -1.55718525e+00] [-1.14602319e-02 -4.84748703e-05 9.99934328e-01 -4.25409719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:-1.56, Z:-0.42 [[ 9.95001486e-01 9.92062036e-02 1.14092898e-02 3.46865548e+01] [-9.92003362e-02 9.95066895e-01 -1.08044547e-03 -1.56398627e+00] [-1.14601935e-02 -5.67605370e-05 9.99934328e-01 -4.23311739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.57, Z:-0.42 [[ 9.95018963e-01 9.90307962e-02 1.14089851e-02 3.47491447e+01] [-9.90248804e-02 9.95084368e-01 -1.08365283e-03 -1.56974854e+00] [-1.14602178e-02 -5.15182778e-05 9.99934328e-01 -4.24415363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.57, Z:-0.43 [[ 9.95393926e-01 9.51880985e-02 1.14086816e-02 3.48111270e+01] [-9.51818937e-02 9.95459304e-01 -1.08683872e-03 -1.57377905e+00] [-1.14603324e-02 -4.06726293e-06 9.99934328e-01 -4.27269402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.58, Z:-0.43 [[ 9.95958798e-01 8.90837911e-02 1.14084005e-02 3.48732824e+01] [-8.90771519e-02 9.96024133e-01 -1.08978233e-03 -1.57975433e+00] [-1.14601241e-02 6.91504768e-05 9.99934328e-01 -4.29678757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.59, Z:-0.43 [[ 9.96980841e-01 7.68053197e-02 1.14081051e-02 3.49353374e+01] [-7.67978407e-02 9.97046086e-01 -1.09286529e-03 -1.58515690e+00] [-1.14583444e-02 2.13447922e-04 9.99934328e-01 -4.25303035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.59, Z:-0.42 [[ 9.97717025e-01 6.65627410e-02 1.14078507e-02 3.49983952e+01] [-6.65545622e-02 9.97782186e-01 -1.09551461e-03 -1.58971221e+00] [-1.14554707e-02 3.33769067e-04 9.99934328e-01 -4.24551448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.59, Z:-0.43 [[ 9.98671573e-01 5.02489607e-02 1.14075426e-02 3.50610327e+01] [-5.02396816e-02 9.98736586e-01 -1.09871298e-03 -1.59230105e+00] [-1.14483394e-02 5.24142105e-04 9.99934328e-01 -4.25503533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.60, Z:-0.43 [[ 9.99078600e-01 4.13742258e-02 1.14072275e-02 3.51241201e+01] [-4.13643323e-02 9.99143522e-01 -1.10197560e-03 -1.59618508e+00] [-1.14430508e-02 6.29107894e-04 9.99934328e-01 -4.25396571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:-1.60, Z:-0.43 [[ 9.99312686e-01 3.52709302e-02 1.14069103e-02 3.51875434e+01] [-3.52606031e-02 9.99377540e-01 -1.10524909e-03 -1.59763410e+00] [-1.14387931e-02 7.02274902e-04 9.99934328e-01 -4.25283462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:-1.60, Z:-0.43 [[ 9.99184190e-01 3.87407406e-02 1.14065959e-02 3.52505771e+01] [-3.87306020e-02 9.99249074e-01 -1.10848422e-03 -1.59773314e+00] [-1.14409739e-02 6.65795583e-04 9.99934328e-01 -4.25028713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:-1.60, Z:-0.43 [[ 9.98940380e-01 4.45871591e-02 1.14062812e-02 3.53128668e+01] [-4.45773635e-02 9.99005317e-01 -1.11171329e-03 -1.59945961e+00] [-1.14445037e-02 6.02073350e-04 9.99934328e-01 -4.25718282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:-1.60, Z:-0.43 [[ 9.98543644e-01 5.27303912e-02 1.14059897e-02 3.53761001e+01] [-5.27210914e-02 9.98608654e-01 -1.11469546e-03 -1.59642556e+00] [-1.14488984e-02 5.11735840e-04 9.99934328e-01 -4.29283862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.60, Z:-0.43 [[ 9.98305054e-01 5.70695090e-02 1.14056766e-02 3.54389482e+01] [-5.70604554e-02 9.98370099e-01 -1.11789060e-03 -1.59841282e+00] [-1.14508839e-02 4.65182733e-04 9.99934328e-01 -4.27499443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.60, Z:-0.43 [[ 9.98416941e-01 5.50774803e-02 1.14053651e-02 3.55007781e+01] [-5.50682608e-02 9.98481963e-01 -1.12105944e-03 -1.60040126e+00] [-1.14497965e-02 4.91211113e-04 9.99934328e-01 -4.26251620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.60, Z:-0.43 [[ 9.98603667e-01 5.15813774e-02 1.14051729e-02 3.55633243e+01] [-5.15719081e-02 9.98668652e-01 -1.12301174e-03 -1.60275671e+00] [-1.14479151e-02 5.33257111e-04 9.99934328e-01 -4.26785945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.60, Z:-0.43 [[ 9.98759334e-01 4.84739376e-02 1.14048573e-02 3.56266163e+01] [-4.84642297e-02 9.98824284e-01 -1.12620742e-03 -1.60303467e+00] [-1.14460401e-02 5.72082553e-04 9.99934328e-01 -4.27784567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.60, Z:-0.43 [[ 9.98623900e-01 5.11883013e-02 1.14045368e-02 3.56899319e+01] [-5.11787331e-02 9.98688871e-01 -1.12944394e-03 -1.60336043e+00] [-1.14473983e-02 5.44219973e-04 9.99934328e-01 -4.29927502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.61, Z:-0.43 [[ 9.98311913e-01 5.69496915e-02 1.14042191e-02 3.57525019e+01] [-5.69404618e-02 9.98376933e-01 -1.13264216e-03 -1.60500738e+00] [-1.14502129e-02 4.81368662e-04 9.99934328e-01 -4.32235961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.61, Z:-0.43 [[ 9.97624890e-01 6.79303383e-02 1.14038906e-02 3.58137413e+01] [-6.79217870e-02 9.97690002e-01 -1.13593986e-03 -1.60517292e+00] [-1.14547125e-02 3.58669250e-04 9.99934328e-01 -4.34962430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.61, Z:-0.44 [[ 9.97159996e-01 7.44439407e-02 1.14036275e-02 3.58760426e+01] [-7.44357847e-02 9.97225159e-01 -1.13857505e-03 -1.60814838e+00] [-1.14567443e-02 2.86503532e-04 9.99934328e-01 -4.37070175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.61, Z:-0.43 [[ 9.96333396e-01 8.47922625e-02 1.14033314e-02 3.59383083e+01] [-8.47847496e-02 9.96398637e-01 -1.14153290e-03 -1.61171679e+00] [-1.14590571e-02 1.70518752e-04 9.99934328e-01 -4.34990022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.62, Z:-0.44 [[ 9.95702940e-01 9.19000833e-02 1.14030522e-02 3.60002626e+01] [-9.18930043e-02 9.95768229e-01 -1.14431569e-03 -1.61695401e+00] [-1.14599598e-02 9.15377765e-05 9.99934328e-01 -4.35617581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.62, Z:-0.44 [[ 9.94666868e-01 1.02507556e-01 1.14027558e-02 3.60631356e+01] [-1.02501140e-01 9.94732225e-01 -1.14726172e-03 -1.62239527e+00] [-1.14602916e-02 -2.76522435e-05 9.99934328e-01 -4.35275110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.63, Z:-0.44 [[ 9.94101178e-01 1.07855611e-01 1.14024277e-02 3.61244711e+01] [-1.07849509e-01 9.94166565e-01 -1.15051328e-03 -1.62818838e+00] [-1.14600017e-02 -8.60196278e-05 9.99934328e-01 -4.36547459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.64, Z:-0.44 [[ 9.93825798e-01 1.10364282e-01 1.14021231e-02 3.61871155e+01] [-1.10358310e-01 9.93891198e-01 -1.15352441e-03 -1.63682370e+00] [-1.14597776e-02 -1.11916717e-04 9.99934328e-01 -4.38135758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.65, Z:-0.44 [[ 9.94141662e-01 1.07481882e-01 1.14017919e-02 3.62480220e+01] [-1.07475683e-01 9.94207041e-01 -1.15678831e-03 -1.64797843e+00] [-1.14600756e-02 -7.54039244e-05 9.99934328e-01 -4.42701070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.66, Z:-0.45 [[ 9.94554065e-01 1.03596417e-01 1.14015048e-02 3.63095129e+01] [-1.03589930e-01 9.94619416e-01 -1.15961145e-03 -1.65859767e+00] [-1.14602896e-02 -2.77847996e-05 9.99934328e-01 -4.45702675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.67, Z:-0.45 [[ 9.95309873e-01 9.60638815e-02 1.14012136e-02 3.63697693e+01] [-9.60568676e-02 9.95375169e-01 -1.16246731e-03 -1.67311097e+00] [-1.14601560e-02 6.18503285e-05 9.99934328e-01 -4.48427803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.69, Z:-0.45 [[ 9.95769949e-01 9.11713984e-02 1.14010499e-02 3.64320996e+01] [-9.11640454e-02 9.95835208e-01 -1.16407063e-03 -1.68644258e+00] [-1.14596969e-02 1.19780724e-04 9.99934328e-01 -4.46758493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.70, Z:-0.45 [[ 9.96458387e-01 8.33109057e-02 1.14007223e-02 3.64933132e+01] [-8.33030013e-02 9.96523581e-01 -1.16727023e-03 -1.70257553e+00] [-1.14583350e-02 2.13421822e-04 9.99934328e-01 -4.46894247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.917628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.71, Z:-0.45 [[ 9.96882503e-01 7.80724391e-02 1.14004330e-02 3.65543314e+01] [-7.80641600e-02 9.96947650e-01 -1.17008930e-03 -1.71479282e+00] [-1.14569866e-02 2.76476324e-04 9.99934328e-01 -4.46023847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.73, Z:-0.44 [[ 9.97357730e-01 7.17467470e-02 1.14001375e-02 3.66162709e+01] [-7.17380219e-02 9.97422819e-01 -1.17296124e-03 -1.73158243e+00] [-1.14549134e-02 3.52038649e-04 9.99934328e-01 -4.44087593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.74, Z:-0.45 [[ 9.97439633e-01 7.05990321e-02 1.13998038e-02 3.66777018e+01] [-7.05901953e-02 9.97504707e-01 -1.17619525e-03 -1.74216592e+00] [-1.14543962e-02 3.68469379e-04 9.99934328e-01 -4.47742051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.75, Z:-0.45 [[ 9.97329111e-01 7.21435766e-02 1.13995132e-02 3.67402868e+01] [-7.21348085e-02 9.97394195e-01 -1.17900523e-03 -1.75217857e+00] [-1.14548659e-02 3.53554538e-04 9.99934328e-01 -4.48253799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:-1.76, Z:-0.45 [[ 9.97142458e-01 7.46791557e-02 1.13991746e-02 3.68003447e+01] [-7.46705158e-02 9.97207559e-01 -1.18227001e-03 -1.76214233e+00] [-1.14556340e-02 3.27709381e-04 9.99934328e-01 -4.51595637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:-1.77, Z:-0.45 [[ 9.96783240e-01 7.93299184e-02 1.13990103e-02 3.68617345e+01] [-7.93215642e-02 9.96848378e-01 -1.18385153e-03 -1.77353176e+00] [-1.14569998e-02 2.75856033e-04 9.99934328e-01 -4.49836348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-1.78, Z:-0.45 [[ 9.96514712e-01 8.26347245e-02 1.13987270e-02 3.69233933e+01] [-8.26265553e-02 9.96579874e-01 -1.18657286e-03 -1.78189353e+00] [-1.14577941e-02 2.40599762e-04 9.99934328e-01 -4.49297887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-1.79, Z:-0.45 [[ 9.96122688e-01 8.72333971e-02 1.13984383e-02 3.69843415e+01] [-8.72254970e-02 9.96187883e-01 -1.18933979e-03 -1.79192473e+00] [-1.14587363e-02 1.90493897e-04 9.99934328e-01 -4.49457963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.80, Z:-0.45 [[ 9.95721892e-01 9.16951259e-02 1.13981325e-02 3.70460819e+01] [-9.16874845e-02 9.95787118e-01 -1.19226336e-03 -1.80320202e+00] [-1.14594383e-02 1.42096631e-04 9.99934328e-01 -4.50795794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.81, Z:-0.45 [[ 9.95479747e-01 9.42876573e-02 1.13978093e-02 3.71085383e+01] [-9.42801505e-02 9.95544989e-01 -1.19534500e-03 -1.81110318e+00] [-1.14597382e-02 1.15354563e-04 9.99934328e-01 -4.53665065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:-1.82, Z:-0.46 [[ 9.95082214e-01 9.83945340e-02 1.13974810e-02 3.71704055e+01] [-9.83872606e-02 9.95147482e-01 -1.19846760e-03 -1.81676495e+00] [-1.14600972e-02 7.12068654e-05 9.99934328e-01 -4.56380366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-1.82, Z:-0.46 [[ 9.95212434e-01 9.70686081e-02 1.13971884e-02 3.72328265e+01] [-9.70612160e-02 9.95277689e-01 -1.20124341e-03 -1.82336248e+00] [-1.14599704e-02 8.92674117e-05 9.99934328e-01 -4.55504195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-1.83, Z:-0.46 [[ 9.95769298e-01 9.11790361e-02 1.13968458e-02 3.72944625e+01] [-9.11712210e-02 9.95834503e-01 -1.20448536e-03 -1.83009914e+00] [-1.14591961e-02 1.60325194e-04 9.99934328e-01 -4.55167032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:-1.83, Z:-0.45 [[ 9.96766834e-01 7.95361466e-02 1.13965290e-02 3.73568458e+01] [-7.95275359e-02 9.96831938e-01 -1.20747561e-03 -1.83392876e+00] [-1.14564620e-02 2.97233775e-04 9.99934328e-01 -4.53476640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:-1.84, Z:-0.45 [[ 9.97436633e-01 7.06419835e-02 1.13962297e-02 3.74196618e+01] [-7.06327603e-02 9.97501653e-01 -1.21029364e-03 -1.83944630e+00] [-1.14532555e-02 4.02244056e-04 9.99934328e-01 -4.54068317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:-1.84, Z:-0.46 [[ 9.98037987e-01 6.15654983e-02 1.13958851e-02 3.74811530e+01] [-6.15556471e-02 9.98102915e-01 -1.21352931e-03 -1.84424220e+00] [-1.14489777e-02 5.09667269e-04 9.99934328e-01 -4.55936054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:-1.85, Z:-0.46 [[ 9.98193239e-01 5.89948925e-02 1.13955856e-02 3.75434075e+01] [-5.89848421e-02 9.98258137e-01 -1.21633582e-03 -1.84877188e+00] [-1.14474936e-02 5.41971381e-04 9.99934328e-01 -4.60168409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.61, Y:-1.85, Z:-0.46 [[ 9.98002838e-01 6.21327782e-02 1.13952826e-02 3.76052892e+01] [-6.21228997e-02 9.98067763e-01 -1.21916762e-03 -1.85122461e+00] [-1.14490145e-02 5.08824746e-04 9.99934328e-01 -4.60603037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.67, Y:-1.85, Z:-0.46 [[ 9.97335036e-01 7.20623356e-02 1.13949804e-02 3.76662782e+01] [-7.20530715e-02 9.97400051e-01 -1.22198534e-03 -1.85314021e+00] [-1.14534132e-02 3.97685453e-04 9.99934328e-01 -4.63207913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.73, Y:-1.86, Z:-0.46 [[ 9.96600564e-01 8.15933555e-02 1.13947035e-02 3.77293550e+01] [-8.15846840e-02 9.96665661e-01 -1.22456194e-03 -1.85850555e+00] [-1.14566258e-02 2.90765838e-04 9.99934328e-01 -4.63200243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.79, Y:-1.86, Z:-0.46 [[ 9.95303380e-01 9.61319372e-02 1.13943750e-02 3.77914993e+01] [-9.61241819e-02 9.95368592e-01 -1.22761117e-03 -1.86293514e+00] [-1.14596157e-02 1.26570567e-04 9.99934328e-01 -4.59651131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:-1.87, Z:-0.46 [[ 9.94364020e-01 1.05405743e-01 1.13940838e-02 3.78538060e+01] [-1.05398565e-01 9.94429298e-01 -1.23030856e-03 -1.86669091e+00] [-1.14602923e-02 2.24544841e-05 9.99934328e-01 -4.58310912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:-1.87, Z:-0.46 [[ 9.93152023e-01 1.16272267e-01 1.13937933e-02 3.79164676e+01] [-1.16265772e-01 9.93217373e-01 -1.23299258e-03 -1.87229118e+00] [-1.14598763e-02 -1.00159097e-04 9.99934328e-01 -4.56348286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:-1.88, Z:-0.46 [[ 9.92719178e-01 1.19911733e-01 1.13934504e-02 3.79792498e+01] [-1.19905442e-01 9.92784547e-01 -1.23615315e-03 -1.88040024e+00] [-1.14594708e-02 -1.38983758e-04 9.99934328e-01 -4.57017461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:-1.89, Z:-0.46 [[ 9.92672053e-01 1.20301257e-01 1.13931073e-02 3.80412486e+01] [-1.20294955e-01 9.92737421e-01 -1.23930757e-03 -1.88922663e+00] [-1.14594542e-02 -1.40307335e-04 9.99934328e-01 -4.60724087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.90, Z:-0.47 [[ 9.93125823e-01 1.16495940e-01 1.13927621e-02 3.81014941e+01] [-1.16489352e-01 9.93191163e-01 -1.24247291e-03 -1.90042791e+00] [-1.14599337e-02 -9.32035381e-05 9.99934328e-01 -4.66907101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.91, Z:-0.47 [[ 9.93600758e-01 1.12373236e-01 1.13924852e-02 3.81620747e+01] [-1.12366347e-01 9.93666068e-01 -1.24500629e-03 -1.91326534e+00] [-1.14602314e-02 -4.30927538e-05 9.99934328e-01 -4.69568229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.93, Z:-0.47 [[ 9.94446943e-01 1.04620720e-01 1.13921908e-02 3.82225376e+01] [-1.04613291e-01 9.94512193e-01 -1.24769396e-03 -1.92967624e+00] [-1.14602073e-02 4.89908728e-05 9.99934328e-01 -4.74119213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.597628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.94, Z:-0.47 [[ 9.94083953e-01 1.08015364e-01 1.13918996e-02 3.82841708e+01] [-1.08008127e-01 9.94149225e-01 -1.25034741e-03 -1.93589885e+00] [-1.14603049e-02 1.25325554e-05 9.99934328e-01 -4.72591849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.34, Y:-1.95, Z:-0.47 [[ 9.93783149e-01 1.10748742e-01 1.13916113e-02 3.83446156e+01] [-1.10741655e-01 9.93848437e-01 -1.25296859e-03 -1.94530478e+00] [-1.14602998e-02 -1.63468281e-05 9.99934328e-01 -4.68301205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.41, Y:-1.95, Z:-0.47 [[ 9.93817694e-01 1.10438349e-01 1.13913463e-02 3.84056396e+01] [-1.10431214e-01 9.93882977e-01 -1.25537290e-03 -1.95174424e+00] [-1.14603065e-02 -1.03484110e-05 9.99934328e-01 -4.66330168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.47, Y:-1.96, Z:-0.47 [[ 9.93928094e-01 1.09440336e-01 1.13910855e-02 3.84680646e+01] [-1.09433108e-01 9.93993367e-01 -1.25773567e-03 -1.95734011e+00] [-1.14603104e-02 3.53692833e-06 9.99934328e-01 -4.66988682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.96, Z:-0.47 [[ 9.94262209e-01 1.06362165e-01 1.13907667e-02 3.85300406e+01] [-1.06354703e-01 9.94327455e-01 -1.26061598e-03 -1.96252560e+00] [-1.14602339e-02 4.19212238e-05 9.99934328e-01 -4.71097280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.97, Z:-0.47 [[ 9.94513219e-01 1.03989011e-01 1.13904719e-02 3.85926661e+01] [-1.03981363e-01 9.94578444e-01 -1.26327373e-03 -1.96870542e+00] [-1.14600844e-02 7.19456300e-05 9.99934328e-01 -4.70749958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:-1.97, Z:-0.47 [[ 9.94761332e-01 1.01588175e-01 1.13901250e-02 3.86544188e+01] [-1.01580334e-01 9.94826534e-01 -1.26639432e-03 -1.97453030e+00] [-1.14598492e-02 1.02747403e-04 9.99934328e-01 -4.73234732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:-1.98, Z:-0.47 [[ 9.95041338e-01 9.88079308e-02 1.13898052e-02 3.87160703e+01] [-9.87998740e-02 9.95106514e-01 -1.26926393e-03 -1.98121931e+00] [-1.14594827e-02 1.37658763e-04 9.99934328e-01 -4.74192046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:-1.99, Z:-0.48 [[ 9.95463027e-01 9.44650252e-02 1.13895163e-02 3.87777248e+01] [-9.44566545e-02 9.95528163e-01 -1.27185075e-03 -1.98509830e+00] [-1.14587297e-02 1.90264793e-04 9.99934329e-01 -4.77642978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:-1.99, Z:-0.47 [[ 9.95583812e-01 9.31834711e-02 1.13892311e-02 3.88400900e+01] [-9.31749874e-02 9.95648933e-01 -1.27439970e-03 -1.99160655e+00] [-1.14584288e-02 2.07580245e-04 9.99934329e-01 -4.74300288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.00, Z:-0.47 [[ 9.95751831e-01 9.13705893e-02 1.13888786e-02 3.89020095e+01] [-9.13619511e-02 9.95816932e-01 -1.27754235e-03 -1.99859763e+00] [-1.14579679e-02 2.31604966e-04 9.99934329e-01 -4.74149839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.00, Z:-0.47 [[ 9.95523852e-01 9.38219504e-02 1.13886610e-02 3.89642794e+01] [-9.38134504e-02 9.95588971e-01 -1.27947916e-03 -2.00389747e+00] [-1.14584685e-02 2.05342439e-04 9.99934329e-01 -4.74709365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.03, Y:-2.01, Z:-0.48 [[ 9.95013106e-01 9.90920042e-02 1.13883238e-02 3.90272486e+01] [-9.90838149e-02 9.95078265e-01 -1.28247320e-03 -2.00957824e+00] [-1.14593563e-02 1.47679078e-04 9.99934329e-01 -4.75032773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.01, Z:-0.48 [[ 9.94046984e-01 1.08355473e-01 1.13879644e-02 3.90899543e+01] [-1.08347855e-01 9.94112212e-01 -1.28565642e-03 -2.01441002e+00] [-1.14602224e-02 4.41413695e-05 9.99934329e-01 -4.76263434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.02, Z:-0.48 [[ 9.93391228e-01 1.14211167e-01 1.13875987e-02 3.91522980e+01] [-1.14203896e-01 9.93456496e-01 -1.28888813e-03 -2.02069213e+00] [-1.14602893e-02 -2.01379624e-05 9.99934329e-01 -4.79516184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.03, Z:-0.48 [[ 9.93254873e-01 1.15391026e-01 1.13872286e-02 3.92143564e+01] [-1.15383795e-01 9.93320145e-01 -1.29214950e-03 -2.02898931e+00] [-1.14602660e-02 -3.04678628e-05 9.99934329e-01 -4.78725470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.04, Z:-0.48 [[ 9.93661704e-01 1.11833613e-01 1.13868626e-02 3.92762348e+01] [-1.11826111e-01 9.93726946e-01 -1.29536676e-03 -2.04008799e+00] [-1.14602977e-02 1.38077766e-05 9.99934329e-01 -4.80068311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.05, Z:-0.48 [[ 9.94048044e-01 1.08345903e-01 1.13864926e-02 3.93381257e+01] [-1.08338135e-01 9.94113254e-01 -1.29861134e-03 -2.04981151e+00] [-1.14601624e-02 5.72906935e-05 9.99934329e-01 -4.80811722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.06, Z:-0.48 [[ 9.94222941e-01 1.06729098e-01 1.13861239e-02 3.94003155e+01] [-1.06721188e-01 9.94288134e-01 -1.30183550e-03 -2.05594600e+00] [-1.14600316e-02 7.91740494e-05 9.99934329e-01 -4.83784798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-2.06, Z:-0.48 [[ 9.94491809e-01 1.04194082e-01 1.13857582e-02 3.94623616e+01] [-1.04185969e-01 9.94556977e-01 -1.30502662e-03 -2.06474470e+00] [-1.14597613e-02 1.11602037e-04 9.99934329e-01 -4.82022159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:-2.07, Z:-0.48 [[ 9.94492519e-01 1.04187312e-01 1.13856428e-02 3.95241921e+01] [-1.04179187e-01 9.94557686e-01 -1.30603239e-03 -2.07136807e+00] [-1.14597505e-02 1.12692440e-04 9.99934329e-01 -4.81707761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.08, Z:-0.49 [[ 9.94630756e-01 1.02859294e-01 1.13853017e-02 3.95865649e+01] [-1.02851048e-01 9.94695908e-01 -1.30899918e-03 -2.07540146e+00] [-1.14595557e-02 1.30980636e-04 9.99934329e-01 -4.85892545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:-2.08, Z:-0.49 [[ 9.94847407e-01 1.00742349e-01 1.13849320e-02 3.96477475e+01] [-1.00733928e-01 9.94912536e-01 -1.31220645e-03 -2.08233005e+00] [-1.14592063e-02 1.58596268e-04 9.99934329e-01 -4.85370741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.09, Z:-0.48 [[ 9.95490724e-01 9.41732960e-02 1.13845901e-02 3.97105299e+01] [-9.41644110e-02 9.95555792e-01 -1.31516657e-03 -2.08898759e+00] [-1.14578481e-02 2.37212908e-04 9.99934329e-01 -4.84132042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:-2.09, Z:-0.48 [[ 9.96035319e-01 8.82272190e-02 1.13842188e-02 3.97729230e+01] [-8.82179090e-02 9.96100327e-01 -1.31837285e-03 -2.09412319e+00] [-1.14561404e-02 3.08853952e-04 9.99934329e-01 -4.83983449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:-2.10, Z:-0.48 [[ 9.96151908e-01 8.69010055e-02 1.13838496e-02 3.98351387e+01] [-8.68915726e-02 9.96216898e-01 -1.32155259e-03 -2.10053918e+00] [-1.14556276e-02 3.27306536e-04 9.99934329e-01 -4.84728843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.11, Z:-0.49 [[ 9.96195382e-01 8.64012575e-02 1.13834772e-02 3.98973598e+01] [-8.63917555e-02 9.96260362e-01 -1.32475278e-03 -2.10654298e+00] [-1.14553674e-02 3.36274020e-04 9.99934329e-01 -4.86422019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:-2.11, Z:-0.49 [[ 9.96180621e-01 8.65713327e-02 1.13831023e-02 3.99596251e+01] [-8.65618050e-02 9.96245597e-01 -1.32796659e-03 -2.11186433e+00] [-1.14553294e-02 3.37552705e-04 9.99934329e-01 -4.89697525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:-2.12, Z:-0.49 [[ 9.95930560e-01 8.94022032e-02 1.13827247e-02 4.00213563e+01] [-8.93928233e-02 9.95995558e-01 -1.33119495e-03 -2.11837347e+00] [-1.14561550e-02 3.08243833e-04 9.99934329e-01 -4.86814573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.12, Z:-0.49 [[ 9.95350840e-01 9.56407152e-02 1.13823750e-02 4.00838344e+01] [-9.56317088e-02 9.95415891e-01 -1.33417820e-03 -2.12290304e+00] [-1.14577987e-02 2.39459419e-04 9.99934329e-01 -4.89298193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.13, Z:-0.49 [[ 9.94791859e-01 1.01289718e-01 1.13819911e-02 4.01454647e+01] [-1.01281044e-01 9.94856955e-01 -1.33744536e-03 -2.12846375e+00] [-1.14589225e-02 1.77699812e-04 9.99934329e-01 -4.90986571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.13, Z:-0.49 [[ 9.93884761e-01 1.09834153e-01 1.13816357e-02 4.02081854e+01] [-1.09826004e-01 9.93949924e-01 -1.34046326e-03 -2.13390420e+00] [-1.14600046e-02 8.22664445e-05 9.99934329e-01 -4.89790786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.14, Z:-0.49 [[ 9.93104313e-01 1.16680293e-01 1.13812568e-02 4.02710508e+01] [-1.16672557e-01 9.93169527e-01 -1.34367223e-03 -2.14099261e+00] [-1.14602975e-02 6.52635443e-06 9.99934329e-01 -4.90881466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.15, Z:-0.49 [[ 9.92738773e-01 1.19750591e-01 1.13808738e-02 4.03328315e+01] [-1.19743019e-01 9.92804007e-01 -1.34690883e-03 -2.14866327e+00] [-1.14602702e-02 -2.56515623e-05 9.99934329e-01 -4.93255256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.16, Z:-0.50 [[ 9.92521156e-01 1.21541100e-01 1.13805187e-02 4.03946261e+01] [-1.21533611e-01 9.92586399e-01 -1.34990289e-03 -2.15818655e+00] [-1.14602167e-02 -4.33083526e-05 9.99934329e-01 -4.95412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.46, Y:-2.17, Z:-0.50 [[ 9.92530857e-01 1.21461891e-01 1.13801377e-02 4.04563497e+01] [-1.21454360e-01 9.92596095e-01 -1.35310722e-03 -2.16869419e+00] [-1.14602312e-02 -3.91666640e-05 9.99934329e-01 -4.96102809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.18, Z:-0.50 [[ 9.92799111e-01 1.19249431e-01 1.13797540e-02 4.05175126e+01] [-1.19241718e-01 9.92864328e-01 -1.35632602e-03 -2.18217584e+00] [-1.14602929e-02 -1.03821488e-05 9.99934329e-01 -4.97357642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.19, Z:-0.50 [[ 9.92945430e-01 1.18024924e-01 1.13793996e-02 4.05791165e+01] [-1.18017097e-01 9.93010633e-01 -1.35929265e-03 -2.19334500e+00] [-1.14602953e-02 6.73971734e-06 9.99934329e-01 -4.97948344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.20, Z:-0.50 [[ 9.92817592e-01 1.19095537e-01 1.13790246e-02 4.06414003e+01] [-1.19087744e-01 9.92882799e-01 -1.36242509e-03 -2.20297716e+00] [-1.14602965e-02 -2.46277144e-06 9.99934329e-01 -4.96920016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.21, Z:-0.50 [[ 9.92709743e-01 1.19991221e-01 1.13786520e-02 4.07034837e+01] [-1.19983451e-01 9.92774953e-01 -1.36552960e-03 -2.21066321e+00] [-1.14602923e-02 -9.67540107e-06 9.99934329e-01 -4.97742115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.22, Z:-0.50 [[ 9.92711476e-01 1.19976917e-01 1.13782775e-02 4.07639219e+01] [-1.19969110e-01 9.92776682e-01 -1.36864362e-03 -2.21895932e+00] [-1.14602942e-02 -6.37360000e-06 9.99934329e-01 -5.00100869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:-2.23, Z:-0.50 [[ 9.93203704e-01 1.15831533e-01 1.13779766e-02 4.08265600e+01] [-1.15823426e-01 9.93268873e-01 -1.37114014e-03 -2.22788010e+00] [-1.14602113e-02 4.39852323e-05 9.99934329e-01 -5.00321739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:-2.23, Z:-0.50 [[ 9.93490459e-01 1.13345746e-01 1.13775917e-02 4.08895488e+01] [-1.13337440e-01 9.93555603e-01 -1.37432662e-03 -2.23468910e+00] [-1.14600441e-02 7.58732747e-05 9.99934329e-01 -5.01785357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:-2.24, Z:-0.50 [[ 9.93747182e-01 1.11072484e-01 1.13772022e-02 4.09523370e+01] [-1.11063992e-01 9.93812302e-01 -1.37754390e-03 -2.24130027e+00] [-1.14598107e-02 1.05332887e-04 9.99934329e-01 -4.99210795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.01, Y:-2.25, Z:-0.50 [[ 9.94075341e-01 1.08096183e-01 1.13768072e-02 4.10146874e+01] [-1.08087458e-01 9.94140430e-01 -1.38079783e-03 -2.24662243e+00] [-1.14594030e-02 1.42926900e-04 9.99934329e-01 -5.00187930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:-2.25, Z:-0.50 [[ 9.94275725e-01 1.06237284e-01 1.13764061e-02 4.10764533e+01] [-1.06228400e-01 9.94340792e-01 -1.38409502e-03 -2.25399245e+00] [-1.14590671e-02 1.67674663e-04 9.99934329e-01 -4.99952572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:-2.26, Z:-0.50 [[ 9.94490740e-01 1.04205327e-01 1.13761588e-02 4.11377751e+01] [-1.04196287e-01 9.94555786e-01 -1.38612463e-03 -2.26000823e+00] [-1.14586661e-02 1.93134602e-04 9.99934329e-01 -4.98917457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.27, Z:-0.50 [[ 9.94494622e-01 1.04168300e-01 1.13759209e-02 4.11999322e+01] [-1.04159235e-01 9.94559665e-01 -1.38807447e-03 -2.26640959e+00] [-1.14586254e-02 1.95525379e-04 9.99934329e-01 -5.00053249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.27, Z:-0.50 [[ 9.94505414e-01 1.04065258e-01 1.13755274e-02 4.12602442e+01] [-1.04056149e-01 9.94570451e-01 -1.39129128e-03 -2.27326367e+00] [-1.14585485e-02 1.99953128e-04 9.99934329e-01 -5.04643845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.28, Z:-0.51 [[ 9.94348818e-01 1.05551092e-01 1.13752125e-02 4.13222394e+01] [-1.05542051e-01 9.94413864e-01 -1.39386112e-03 -2.27978414e+00] [-1.14587926e-02 1.85420891e-04 9.99934329e-01 -5.07028044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:-2.29, Z:-0.51 [[ 9.94184449e-01 1.07088253e-01 1.13748661e-02 4.13844436e+01] [-1.07079280e-01 9.94249504e-01 -1.39668274e-03 -2.28776394e+00] [-1.14590233e-02 1.70547788e-04 9.99934329e-01 -5.05452360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.30, Z:-0.50 [[ 9.94248119e-01 1.06495533e-01 1.13744662e-02 4.14463673e+01] [-1.06486484e-01 9.94313164e-01 -1.39993156e-03 -2.29658073e+00] [-1.14588680e-02 1.80652407e-04 9.99934329e-01 -5.04806895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.30, Z:-0.50 [[ 9.94594355e-01 1.03211920e-01 1.13740650e-02 4.15089301e+01] [-1.03202619e-01 9.94659364e-01 -1.40318389e-03 -2.30442762e+00] [-1.14581456e-02 2.21765476e-04 9.99934329e-01 -5.04942882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.31, Z:-0.50 [[ 9.94879275e-01 1.00428417e-01 1.13736612e-02 4.15704377e+01] [-1.00418898e-01 9.94944253e-01 -1.40644948e-03 -2.31292206e+00] [-1.14574063e-02 2.57116919e-04 9.99934329e-01 -5.04229582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:-2.32, Z:-0.51 [[ 9.95035826e-01 9.88653272e-02 1.13732880e-02 4.16331243e+01] [-9.88556711e-02 9.95100784e-01 -1.40946110e-03 -2.32138381e+00] [-1.14569146e-02 2.78150277e-04 9.99934329e-01 -5.06468487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.33, Z:-0.51 [[ 9.94800828e-01 1.01202622e-01 1.13728812e-02 4.16953058e+01] [-1.01193082e-01 9.94865802e-01 -1.41273544e-03 -2.32864482e+00] [-1.14574631e-02 2.54533491e-04 9.99934329e-01 -5.07608704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.957628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:-2.34, Z:-0.51 [[ 9.94564460e-01 1.03499766e-01 1.13724762e-02 4.17578452e+01] [-1.03490338e-01 9.94629451e-01 -1.41598813e-03 -2.33583907e+00] [-1.14579542e-02 2.31350056e-04 9.99934329e-01 -5.12119714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.34, Z:-0.51 [[ 9.94121493e-01 1.07671410e-01 1.13720733e-02 4.18198169e+01] [-1.07662218e-01 9.94186518e-01 -1.41921704e-03 -2.34249654e+00] [-1.14587710e-02 1.86531530e-04 9.99934329e-01 -5.14141977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.35, Z:-0.51 [[ 9.93818865e-01 1.10429833e-01 1.13717220e-02 4.18815438e+01] [-1.10420789e-01 9.93883910e-01 -1.42202585e-03 -2.34952887e+00] [-1.14592056e-02 1.57561599e-04 9.99934329e-01 -5.12469306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.36, Z:-0.51 [[ 9.93805831e-01 1.10547104e-01 1.13713492e-02 4.19429414e+01] [-1.10538033e-01 9.93870873e-01 -1.42500085e-03 -2.35701110e+00] [-1.14591825e-02 1.59207573e-04 9.99934329e-01 -5.10640209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.197628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:-2.36, Z:-0.51 [[ 9.94316478e-01 1.05855765e-01 1.13709936e-02 4.20041342e+01] [-1.05846356e-01 9.94381471e-01 -1.42783301e-03 -2.36352180e+00] [-1.14582497e-02 2.16139660e-04 9.99934329e-01 -5.14336770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.37, Z:-0.51 [[ 9.94739132e-01 1.01807508e-01 1.13706177e-02 4.20662496e+01] [-1.01797800e-01 9.94804082e-01 -1.43082046e-03 -2.37265904e+00] [-1.14572051e-02 2.65789243e-04 9.99934329e-01 -5.10574202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.13, Y:-2.38, Z:-0.51 [[ 9.95486823e-01 9.42162549e-02 1.13702106e-02 4.21275282e+01] [-9.42060148e-02 9.95551691e-01 -1.43404804e-03 -2.38108088e+00] [-1.14547430e-02 3.56433700e-04 9.99934329e-01 -5.07403031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:-2.39, Z:-0.51 [[ 9.96226886e-01 8.60390516e-02 1.13698350e-02 4.21903899e+01] [-8.60282454e-02 9.96291662e-01 -1.43701938e-03 -2.38580848e+00] [-1.14513116e-02 4.53470379e-04 9.99934329e-01 -5.09425120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:-2.39, Z:-0.51 [[ 9.96557006e-01 8.21271558e-02 1.13694254e-02 4.22532097e+01] [-8.21160585e-02 9.96621733e-01 -1.44025353e-03 -2.39277929e+00] [-1.14493003e-02 5.01682344e-04 9.99934329e-01 -5.10634402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:-2.40, Z:-0.51 [[ 9.96797834e-01 7.91506343e-02 1.13690138e-02 4.23153074e+01] [-7.91393069e-02 9.96862521e-01 -1.44349475e-03 -2.39747606e+00] [-1.14475973e-02 5.39136565e-04 9.99934329e-01 -5.13444881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.557628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:-2.40, Z:-0.52 [[ 9.96759623e-01 7.96304521e-02 1.13686338e-02 4.23773950e+01] [-7.96191218e-02 9.96824309e-01 -1.44648167e-03 -2.40004244e+00] [-1.14477145e-02 5.36633889e-04 9.99934329e-01 -5.19422337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.44, Y:-2.40, Z:-0.52 [[ 9.96220531e-01 8.61128095e-02 1.13682833e-02 4.24406546e+01] [-8.61018690e-02 9.96285284e-01 -1.44923096e-03 -2.40169667e+00] [-1.14508507e-02 4.64923195e-04 9.99934329e-01 -5.16055785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.41, Z:-0.51 [[ 9.95642676e-01 9.25550274e-02 1.13678772e-02 4.25035816e+01] [-9.25444697e-02 9.95707493e-01 -1.45240970e-03 -2.40671768e+00] [-1.14535083e-02 3.94046910e-04 9.99934329e-01 -5.13909962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.41, Z:-0.51 [[ 9.94283564e-01 1.06164845e-01 1.13674694e-02 4.25663499e+01] [-1.06155139e-01 9.94348514e-01 -1.45559413e-03 -2.40678110e+00] [-1.14577592e-02 2.40558024e-04 9.99934329e-01 -5.13372003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.41, Z:-0.51 [[ 9.93724681e-01 1.11274638e-01 1.13672173e-02 4.26291019e+01] [-1.11265243e-01 9.93789677e-01 -1.45756050e-03 -2.41138399e+00] [-1.14588127e-02 1.83637649e-04 9.99934329e-01 -5.14222175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.41, Z:-0.51 [[ 9.92205339e-01 1.24094164e-01 1.13668037e-02 4.26921966e+01] [-1.24085572e-01 9.92270446e-01 -1.46077839e-03 -2.41317442e+00] [-1.14602175e-02 3.89357782e-05 9.99934329e-01 -5.13682134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.42, Z:-0.52 [[ 9.91355771e-01 1.30707844e-01 1.13663783e-02 4.27543017e+01] [-1.30699648e-01 9.91420929e-01 -1.46408098e-03 -2.41701844e+00] [-1.14602322e-02 -3.41565252e-05 9.99934329e-01 -5.15670380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.42, Z:-0.52 [[ 9.91231239e-01 1.31648944e-01 1.13659840e-02 4.28173071e+01] [-1.31640775e-01 9.91296401e-01 -1.46713598e-03 -2.42328536e+00] [-1.14602059e-02 -4.19559266e-05 9.99934329e-01 -5.18784959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.43, Z:-0.52 [[ 9.91298760e-01 1.31139588e-01 1.13655682e-02 4.28793074e+01] [-1.31131349e-01 9.91363913e-01 -1.47034997e-03 -2.43230522e+00] [-1.14602352e-02 -3.28261797e-05 9.99934329e-01 -5.20864066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.44, Z:-0.52 [[ 9.91533105e-01 1.29355845e-01 1.13651503e-02 4.29416113e+01] [-1.29347452e-01 9.91598238e-01 -1.47357335e-03 -2.44297318e+00] [-1.14602783e-02 -8.95647286e-06 9.99934329e-01 -5.22600621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.45, Z:-0.53 [[ 9.91648637e-01 1.28467208e-01 1.13647329e-02 4.30037897e+01] [-1.28458720e-01 9.91713757e-01 -1.47678551e-03 -2.45273777e+00] [-1.14602804e-02 4.55330860e-06 9.99934329e-01 -5.25156358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.46, Z:-0.53 [[ 9.92164234e-01 1.24422603e-01 1.13643136e-02 4.30656938e+01] [-1.24413813e-01 9.92229315e-01 -1.48000509e-03 -2.46045096e+00] [-1.14601511e-02 5.45305377e-05 9.99934329e-01 -5.31706363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.48, Z:-0.53 [[ 9.91688026e-01 1.28162871e-01 1.13638870e-02 4.31256617e+01] [-1.28154289e-01 9.91753134e-01 -1.48327317e-03 -2.47774313e+00] [-1.14602711e-02 1.46133881e-05 9.99934329e-01 -5.29084632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.49, Z:-0.53 [[ 9.91778220e-01 1.27463065e-01 1.13635205e-02 4.31870328e+01] [-1.27454405e-01 9.91843317e-01 -1.48607555e-03 -2.48995710e+00] [-1.14602516e-02 2.55266259e-05 9.99934329e-01 -5.29152721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.50, Z:-0.53 [[ 9.92016276e-01 1.25596928e-01 1.13630997e-02 4.32465737e+01] [-1.25588108e-01 9.92081352e-01 -1.48928610e-03 -2.50359139e+00] [-1.14601691e-02 5.03258556e-05 9.99934329e-01 -5.32834360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-2.52, Z:-0.53 [[ 9.91969910e-01 1.25962631e-01 1.13627632e-02 4.33083426e+01] [-1.25953806e-01 9.92034986e-01 -1.49184920e-03 -2.51939024e+00] [-1.14601759e-02 4.86862405e-05 9.99934329e-01 -5.32088708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-2.53, Z:-0.54 [[ 9.92140169e-01 1.24614536e-01 1.13623394e-02 4.33687390e+01] [-1.24605585e-01 9.92205227e-01 -1.49507018e-03 -2.53172620e+00] [-1.14600800e-02 6.75082276e-05 9.99934329e-01 -5.35837486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.55, Z:-0.53 [[ 9.92421821e-01 1.22351271e-01 1.13619998e-02 4.34288582e+01] [-1.22342142e-01 9.92486855e-01 -1.49764676e-03 -2.54746999e+00] [-1.14598744e-02 9.62459366e-05 9.99934329e-01 -5.32916288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.56, Z:-0.53 [[ 9.92538235e-01 1.21403301e-01 1.13617980e-02 4.34885209e+01] [-1.21394093e-01 9.92603257e-01 -1.49917610e-03 -2.56014725e+00] [-1.14597626e-02 1.08734442e-04 9.99934329e-01 -5.30142313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.57, Z:-0.53 [[ 9.92378755e-01 1.22700140e-01 1.13614592e-02 4.35510138e+01] [-1.22690987e-01 9.92443785e-01 -1.50173943e-03 -2.56861674e+00] [-1.14598732e-02 9.63456595e-05 9.99934329e-01 -5.30463326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.58, Z:-0.53 [[ 9.92292066e-01 1.23399280e-01 1.13610386e-02 4.36138778e+01] [-1.23390137e-01 9.92357098e-01 -1.50491434e-03 -2.57587551e+00] [-1.14599126e-02 9.14744469e-05 9.99934329e-01 -5.32821458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.58, Z:-0.53 [[ 9.92927670e-01 1.18176051e-01 1.13606132e-02 4.36766490e+01] [-1.18166529e-01 9.92992647e-01 -1.50811907e-03 -2.58277903e+00] [-1.14592289e-02 1.55008930e-04 9.99934329e-01 -5.33600417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-2.59, Z:-0.53 [[ 9.93911056e-01 1.09598166e-01 1.13601907e-02 4.37394569e+01] [-1.09588048e-01 9.93975943e-01 -1.51129452e-03 -2.58881943e+00] [-1.14573914e-02 2.57151215e-04 9.99934329e-01 -5.34725428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-2.59, Z:-0.54 [[ 9.95516046e-01 9.39082432e-02 1.13597683e-02 4.38014663e+01] [-9.38970663e-02 9.95580759e-01 -1.51446331e-03 -2.59380150e+00] [-1.14517873e-02 4.41023608e-04 9.99934329e-01 -5.36881542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:-2.60, Z:-0.54 [[ 9.96301304e-01 8.51743645e-02 1.13595084e-02 4.38638567e+01] [-8.51625983e-02 9.96365913e-01 -1.51641034e-03 -2.60153086e+00] [-1.14473862e-02 5.43396349e-04 9.99934329e-01 -5.37018338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.61, Z:-0.54 [[ 9.96856864e-01 7.84051220e-02 1.13590761e-02 4.39270245e+01] [-7.83928805e-02 9.96921385e-01 -1.51964154e-03 -2.60622711e+00] [-1.14432535e-02 6.24394407e-04 9.99934329e-01 -5.39090692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.61, Z:-0.54 [[ 9.96597820e-01 8.16319026e-02 1.13586361e-02 4.39894044e+01] [-8.16198328e-02 9.96662372e-01 -1.52292283e-03 -2.61054913e+00] [-1.14450443e-02 5.90651593e-04 9.99934329e-01 -5.39755994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.62, Z:-0.54 [[ 9.95985647e-01 8.87895160e-02 1.13583652e-02 4.40522056e+01] [-8.87778872e-02 9.96050281e-01 -1.52494102e-03 -2.61528319e+00] [-1.14489016e-02 5.10447702e-04 9.99934329e-01 -5.39811925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.62, Z:-0.54 [[ 9.94484570e-01 1.04266189e-01 1.13579346e-02 4.41154517e+01] [-1.04255530e-01 9.94549370e-01 -1.52814147e-03 -2.61723716e+00] [-1.14553602e-02 3.35585618e-04 9.99934329e-01 -5.41590152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.62, Z:-0.54 [[ 9.93303662e-01 1.14973222e-01 1.13575037e-02 4.41785281e+01] [-1.14963225e-01 9.93368568e-01 -1.53133750e-03 -2.62211606e+00] [-1.14582500e-02 2.15387900e-04 9.99934329e-01 -5.41977973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-2.63, Z:-0.54 [[ 9.91874629e-01 1.26711235e-01 1.13570739e-02 4.42417612e+01] [-1.26701970e-01 9.91939643e-01 -1.53451824e-03 -2.62576320e+00] [-1.14599725e-02 8.30860716e-05 9.99934329e-01 -5.44066653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-2.63, Z:-0.55 [[ 9.91260184e-01 1.31431635e-01 1.13566444e-02 4.43043034e+01] [-1.31422643e-01 9.91325236e-01 -1.53769038e-03 -2.63255999e+00] [-1.14602293e-02 3.17310214e-05 9.99934329e-01 -5.45372412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:-2.64, Z:-0.55 [[ 9.91288027e-01 1.31221511e-01 1.13562147e-02 4.43662940e+01] [-1.31212469e-01 9.91353072e-01 -1.54085739e-03 -2.64211070e+00] [-1.14602119e-02 3.73565187e-05 9.99934329e-01 -5.46104964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-2.65, Z:-0.55 [[ 9.91983607e-01 1.25855349e-01 1.13557722e-02 4.44279768e+01] [-1.25845918e-01 9.92048598e-01 -1.54411175e-03 -2.65438638e+00] [-1.14598126e-02 1.02655968e-04 9.99934329e-01 -5.47036332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-2.67, Z:-0.55 [[ 9.92490588e-01 1.21792816e-01 1.13553324e-02 4.44901020e+01] [-1.21783083e-01 9.92555533e-01 -1.54733868e-03 -2.66720255e+00] [-1.14592528e-02 1.52831686e-04 9.99934329e-01 -5.48115811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:-2.68, Z:-0.55 [[ 9.92933016e-01 1.18131675e-01 1.13548933e-02 4.45520512e+01] [-1.18121665e-01 9.92997920e-01 -1.55055479e-03 -2.68053565e+00] [-1.14585550e-02 1.98338149e-04 9.99934329e-01 -5.49822487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:-2.69, Z:-0.55 [[ 9.93012766e-01 1.17459452e-01 1.13544551e-02 4.46142094e+01] [-1.17449361e-01 9.93077657e-01 -1.55375699e-03 -2.69189347e+00] [-1.14583591e-02 2.09327030e-04 9.99934329e-01 -5.52158674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-2.71, Z:-0.55 [[ 9.93128481e-01 1.16477068e-01 1.13540136e-02 4.46760607e+01] [-1.16466877e-01 9.93193356e-01 -1.55697641e-03 -2.70518012e+00] [-1.14580829e-02 2.23911111e-04 9.99934329e-01 -5.53410956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-2.72, Z:-0.55 [[ 9.93371364e-01 1.14387196e-01 1.13535684e-02 4.47373530e+01] [-1.14376831e-01 9.93436211e-01 -1.56021602e-03 -2.71969554e+00] [-1.14575147e-02 2.51288739e-04 9.99934329e-01 -5.54427410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-2.73, Z:-0.56 [[ 9.93051179e-01 1.17134380e-01 1.13531206e-02 4.47989661e+01] [-1.17124158e-01 9.93116049e-01 -1.56346761e-03 -2.72983982e+00] [-1.14581021e-02 2.22878665e-04 9.99934329e-01 -5.55007347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:-2.74, Z:-0.55 [[ 9.92221658e-01 1.23964890e-01 1.13528447e-02 4.48611960e+01] [-1.23955091e-01 9.92286594e-01 -1.56546852e-03 -2.73963247e+00] [-1.14593387e-02 1.46048874e-04 9.99934329e-01 -5.54895542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:-2.75, Z:-0.55 [[ 9.91344576e-01 1.30793939e-01 1.13524035e-02 4.49239931e+01] [-1.30784550e-01 9.91409573e-01 -1.56866154e-03 -2.74803560e+00] [-1.14600529e-02 7.03651255e-05 9.99934329e-01 -5.54434124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:44.99, Y:-2.76, Z:-0.56 [[ 9.90968104e-01 1.33616427e-01 1.13519605e-02 4.49867280e+01] [-1.33607187e-01 9.91033122e-01 -1.57186126e-03 -2.75533862e+00] [-1.14601953e-02 4.09608654e-05 9.99934329e-01 -5.57191355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.05, Y:-2.76, Z:-0.55 [[ 9.90466265e-01 1.37287002e-01 1.13515079e-02 4.50489126e+01] [-1.37277966e-01 9.90531312e-01 -1.57512250e-03 -2.76143675e+00] [-1.14602679e-02 1.79378152e-06 9.99934329e-01 -5.53483442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:-2.77, Z:-0.55 [[ 9.90204850e-01 1.39160006e-01 1.13511147e-02 4.51104918e+01] [-1.39151061e-01 9.90269909e-01 -1.57795099e-03 -2.76916471e+00] [-1.14602550e-02 -1.70249373e-05 9.99934329e-01 -5.51884045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:-2.78, Z:-0.55 [[ 9.90121742e-01 1.39750126e-01 1.13506981e-02 4.51727122e+01] [-1.39741185e-01 9.90186802e-01 -1.58094190e-03 -2.77709815e+00] [-1.14602483e-02 -2.08350567e-05 9.99934329e-01 -5.53567360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:-2.78, Z:-0.56 [[ 9.90235229e-01 1.38943736e-01 1.13502666e-02 4.52347893e+01] [-1.38934706e-01 9.90300277e-01 -1.58403391e-03 -2.78474387e+00] [-1.14602638e-02 -8.37978302e-06 9.99934329e-01 -5.58032678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:-2.79, Z:-0.56 [[ 9.90456289e-01 1.37359097e-01 1.13498288e-02 4.52969786e+01] [-1.37349927e-01 9.90521316e-01 -1.58716468e-03 -2.79447380e+00] [-1.14602589e-02 1.31190759e-05 9.99934329e-01 -5.60331955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:-2.81, Z:-0.56 [[ 9.91206529e-01 1.31836294e-01 1.13493953e-02 4.53584211e+01] [-1.31826727e-01 9.91271499e-01 -1.59025866e-03 -2.80555388e+00] [-1.14599859e-02 8.01211316e-05 9.99934329e-01 -5.62859013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:-2.82, Z:-0.56 [[ 9.91992663e-01 1.25784566e-01 1.13489661e-02 4.54201491e+01] [-1.25774567e-01 9.92057569e-01 -1.59331598e-03 -2.81539449e+00] [-1.14592422e-02 1.53146467e-04 9.99934329e-01 -5.63723695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:-2.83, Z:-0.56 [[ 9.92326562e-01 1.23122726e-01 1.13485400e-02 4.54826806e+01] [-1.23112519e-01 9.92391435e-01 -1.59634519e-03 -2.82544491e+00] [-1.14587402e-02 1.86948399e-04 9.99934329e-01 -5.64267517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.55, Y:-2.83, Z:-0.56 [[ 9.92542958e-01 1.21365967e-01 1.13481044e-02 4.55453908e+01] [-1.21355609e-01 9.92607807e-01 -1.59943587e-03 -2.83415989e+00] [-1.14583341e-02 2.10352694e-04 9.99934329e-01 -5.64843249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.84, Z:-0.57 [[ 9.92574008e-01 1.21111808e-01 1.13476534e-02 4.56081108e+01] [-1.21101397e-01 9.92638848e-01 -1.60262913e-03 -2.84202849e+00] [-1.14582189e-02 2.16511342e-04 9.99934329e-01 -5.66215265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.67, Y:-2.85, Z:-0.57 [[ 9.92497841e-01 1.21734451e-01 1.13472016e-02 4.56709347e+01] [-1.21724045e-01 9.92562682e-01 -1.60582148e-03 -2.84951751e+00] [-1.14582927e-02 2.12547074e-04 9.99934329e-01 -5.67529101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:-2.86, Z:-0.57 [[ 9.92401312e-01 1.22518925e-01 1.13467482e-02 4.57337434e+01] [-1.22508534e-01 9.92466156e-01 -1.60901878e-03 -2.85619280e+00] [-1.14583988e-02 2.06718861e-04 9.99934329e-01 -5.67696200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.86, Z:-0.57 [[ 9.92376656e-01 1.22718517e-01 1.13462899e-02 4.57966125e+01] [-1.22708101e-01 9.92441496e-01 -1.61224394e-03 -2.86321687e+00] [-1.14583811e-02 2.07671554e-04 9.99934329e-01 -5.67558938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.87, Z:-0.57 [[ 9.92369356e-01 1.22777578e-01 1.13458332e-02 4.58590568e+01] [-1.22767130e-01 9.92434190e-01 -1.61545156e-03 -2.86886465e+00] [-1.14583340e-02 2.10229235e-04 9.99934329e-01 -5.69381687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:-2.88, Z:-0.57 [[ 9.92134920e-01 1.24657863e-01 1.13453717e-02 4.59215470e+01] [-1.24647501e-01 9.92199768e-01 -1.61868604e-03 -2.87705418e+00] [-1.14586572e-02 1.91782706e-04 9.99934329e-01 -5.70280757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:-2.89, Z:-0.57 [[ 9.91887131e-01 1.26614426e-01 1.13449142e-02 4.59829260e+01] [-1.26604156e-01 9.91951993e-01 -1.62188634e-03 -2.88505345e+00] [-1.14589645e-02 1.72414901e-04 9.99934329e-01 -5.70932209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.90, Z:-0.57 [[ 9.91400089e-01 1.30373177e-01 1.13444907e-02 4.60454163e+01] [-1.30363118e-01 9.91464985e-01 -1.62484318e-03 -2.89551840e+00] [-1.14595013e-02 1.31966495e-04 9.99934329e-01 -5.71002825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.91, Z:-0.57 [[ 9.90786189e-01 1.34959402e-01 1.13440316e-02 4.61069523e+01] [-1.34949607e-01 9.90851126e-01 -1.62804244e-03 -2.90565692e+00] [-1.14599661e-02 8.21693635e-05 9.99934329e-01 -5.71569064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:-2.91, Z:-0.57 [[ 9.89693765e-01 1.42750038e-01 1.13436071e-02 4.61677094e+01] [-1.42740721e-01 9.89758772e-01 -1.63099445e-03 -2.91476735e+00] [-1.14602592e-02 -5.00961634e-06 9.99934329e-01 -5.73968773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:-2.92, Z:-0.58 [[ 9.88623813e-01 1.49980947e-01 1.13433879e-02 4.62292808e+01] [-1.49972087e-01 9.88688883e-01 -1.63251780e-03 -2.92499229e+00] [-1.14599281e-02 -8.72455816e-05 9.99934329e-01 -5.75514030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:-2.94, Z:-0.57 [[ 9.88073342e-01 1.53565649e-01 1.13429463e-02 4.62911493e+01] [-1.53556990e-01 9.88138439e-01 -1.63558066e-03 -2.93661265e+00] [-1.14595702e-02 -1.25715044e-04 9.99934329e-01 -5.74935981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:-2.95, Z:-0.57 [[ 9.87577148e-01 1.56724996e-01 1.13424877e-02 4.63531261e+01] [-1.56716509e-01 9.87642268e-01 -1.63875462e-03 -2.94968292e+00] [-1.14591541e-02 -1.59158456e-04 9.99934329e-01 -5.74088470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:-2.96, Z:-0.58 [[ 9.87858172e-01 1.54943831e-01 1.13420293e-02 4.64140235e+01] [-1.54935190e-01 9.87923272e-01 -1.64192078e-03 -2.96004885e+00] [-1.14594602e-02 -1.35294614e-04 9.99934329e-01 -5.75854780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.97, Z:-0.58 [[ 9.88634550e-01 1.49910289e-01 1.13416180e-02 4.64748023e+01] [-1.49901284e-01 9.88699600e-01 -1.64475719e-03 -2.96646511e+00] [-1.14600192e-02 -7.40593164e-05 9.99934329e-01 -5.80568578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:-2.97, Z:-0.58 [[ 9.88909843e-01 1.48083407e-01 1.13413853e-02 4.65367389e+01] [-1.48074264e-01 9.88974874e-01 -1.64636035e-03 -2.97465369e+00] [-1.14601437e-02 -5.12653198e-05 9.99934329e-01 -5.82164717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:-2.98, Z:-0.58 [[ 9.89460284e-01 1.44359719e-01 1.13409816e-02 4.65983167e+01] [-1.44350299e-01 9.89525276e-01 -1.64913662e-03 -2.98284299e+00] [-1.14602568e-02 -5.31889769e-06 9.99934329e-01 -5.82579153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:-2.99, Z:-0.58 [[ 9.90224797e-01 1.39018858e-01 1.13405777e-02 4.66606203e+01] [-1.39009055e-01 9.90289732e-01 -1.65190908e-03 -2.99353010e+00] [-1.14601042e-02 5.93183324e-05 9.99934329e-01 -5.80402774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:-3.00, Z:-0.58 [[ 9.90777197e-01 1.35025729e-01 1.13401140e-02 4.67225057e+01] [-1.35015629e-01 9.90842087e-01 -1.65508624e-03 -3.00269549e+00] [-1.14597415e-02 1.08729080e-04 9.99934329e-01 -5.79320358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-3.01, Z:-0.58 [[ 9.91559371e-01 1.29156590e-01 1.13397028e-02 4.67839325e+01] [-1.29146073e-01 9.91624195e-01 -1.65789914e-03 -3.01036878e+00] [-1.14588522e-02 1.79427347e-04 9.99934329e-01 -5.79513140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:-3.02, Z:-0.58 [[ 9.92164128e-01 1.24425733e-01 1.13392906e-02 4.68462043e+01] [-1.24414875e-01 9.92228895e-01 -1.66071321e-03 -3.01946875e+00] [-1.14578073e-02 2.36923639e-04 9.99934329e-01 -5.77585370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:-3.03, Z:-0.58 [[ 9.92316355e-01 1.23205853e-01 1.13388193e-02 4.69088773e+01] [-1.23194879e-01 9.92381103e-01 -1.66392535e-03 -3.02763615e+00] [-1.14574353e-02 2.54255869e-04 9.99934329e-01 -5.78424412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:-3.03, Z:-0.58 [[ 9.92239830e-01 1.23820685e-01 1.13383523e-02 4.69701675e+01] [-1.23809715e-01 9.92304578e-01 -1.66710163e-03 -3.03214623e+00] [-1.14575205e-02 2.50366469e-04 9.99934329e-01 -5.82362785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:-3.04, Z:-0.58 [[ 9.92061898e-01 1.25238336e-01 1.13379786e-02 4.70306615e+01] [-1.25227430e-01 9.92126657e-01 -1.66963895e-03 -3.03886016e+00] [-1.14578136e-02 2.36559267e-04 9.99934329e-01 -5.84567833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:-3.05, Z:-0.58 [[ 9.91846651e-01 1.26931791e-01 1.13376149e-02 4.70928530e+01] [-1.26920967e-01 9.91911424e-01 -1.67210534e-03 -3.04660345e+00] [-1.14581530e-02 2.19491045e-04 9.99934329e-01 -5.83618278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.05, Z:-0.58 [[ 9.91378472e-01 1.30538094e-01 1.13371641e-02 4.71541930e+01] [-1.30527471e-01 9.91443278e-01 -1.67515627e-03 -3.05204007e+00] [-1.14588268e-02 1.80902518e-04 9.99934329e-01 -5.83178242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:-3.06, Z:-0.58 [[ 9.90601664e-01 1.36307801e-01 1.13369514e-02 4.72159003e+01] [-1.36297539e-01 9.90666528e-01 -1.67659439e-03 -3.05944934e+00] [-1.14596712e-02 1.15638623e-04 9.99934329e-01 -5.80554589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.07, Z:-0.58 [[ 9.90070437e-01 1.40114285e-01 1.13365341e-02 4.72780535e+01] [-1.40104240e-01 9.90135335e-01 -1.67941095e-03 -3.06773328e+00] [-1.14600125e-02 7.44386383e-05 9.99934329e-01 -5.81609593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.08, Z:-0.58 [[ 9.89280082e-01 1.45589880e-01 1.13360597e-02 4.73404612e+01] [-1.45580158e-01 9.89345029e-01 -1.68260718e-03 -3.07513288e+00] [-1.14602449e-02 1.42644074e-05 9.99934329e-01 -5.83714676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.08, Z:-0.58 [[ 9.88688633e-01 1.49553644e-01 1.13355892e-02 4.74023689e+01] [-1.49544145e-01 9.88753613e-01 -1.68577076e-03 -3.08474456e+00] [-1.14602180e-02 -2.84686157e-05 9.99934329e-01 -5.83602701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.10, Z:-0.59 [[ 9.87897190e-01 1.54695371e-01 1.13351115e-02 4.74629801e+01] [-1.54686174e-01 9.87962213e-01 -1.68897693e-03 -3.09515724e+00] [-1.14599388e-02 -8.48494644e-05 9.99934329e-01 -5.86591954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.11, Z:-0.59 [[ 9.87489598e-01 1.57276235e-01 1.13348779e-02 4.75245590e+01] [-1.57267190e-01 9.87554643e-01 -1.69054298e-03 -3.10555760e+00] [-1.14596936e-02 -1.13210798e-04 9.99934329e-01 -5.89350459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.12, Z:-0.59 [[ 9.87477155e-01 1.57354372e-01 1.13344646e-02 4.75855091e+01] [-1.57345300e-01 9.87542196e-01 -1.69330964e-03 -3.11955942e+00] [-1.14597117e-02 -1.11320146e-04 9.99934329e-01 -5.90687419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.13, Z:-0.59 [[ 9.87848038e-01 1.55009010e-01 1.13340454e-02 4.76465807e+01] [-1.54999752e-01 9.87913053e-01 -1.69611102e-03 -3.13336876e+00] [-1.14599639e-02 -8.12742825e-05 9.99934329e-01 -5.89055466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:-3.15, Z:-0.59 [[ 9.88575179e-01 1.50301913e-01 1.13336159e-02 4.77074137e+01] [-1.50292312e-01 9.88640144e-01 -1.69897606e-03 -3.14845698e+00] [-1.14602270e-02 -2.37897752e-05 9.99934329e-01 -5.87850933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.16, Z:-0.59 [[ 9.89260950e-01 1.45720045e-01 1.13331902e-02 4.77678583e+01] [-1.45710111e-01 9.89325865e-01 -1.70181101e-03 -3.16030759e+00] [-1.14602062e-02 3.21747748e-05 9.99934329e-01 -5.89078704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.17, Z:-0.59 [[ 9.89751426e-01 1.42350565e-01 1.13327416e-02 4.78301604e+01] [-1.42340376e-01 9.89816302e-01 -1.70479319e-03 -3.16964375e+00] [-1.14600106e-02 7.42147955e-05 9.99934329e-01 -5.88638850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:-3.18, Z:-0.59 [[ 9.90377546e-01 1.37927144e-01 1.13322533e-02 4.78912780e+01] [-1.37916628e-01 9.90442369e-01 -1.70803276e-03 -3.17829864e+00] [-1.14595279e-02 1.28691125e-04 9.99934329e-01 -5.89617037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:-3.19, Z:-0.59 [[ 9.91106096e-01 1.32590709e-01 1.13318319e-02 4.79534673e+01] [-1.32579812e-01 9.91170856e-01 -1.71082419e-03 -3.18761355e+00] [-1.14586209e-02 1.93236146e-04 9.99934329e-01 -5.90169927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:-3.19, Z:-0.59 [[ 9.92199403e-01 1.24144857e-01 1.13313435e-02 4.80152181e+01] [-1.24133372e-01 9.92264062e-01 -1.71405306e-03 -3.19343444e+00] [-1.14564758e-02 2.94084553e-04 9.99934329e-01 -5.91570156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:-3.20, Z:-0.60 [[ 9.93106674e-01 1.16665101e-01 1.13308924e-02 4.80778061e+01] [-1.16653095e-01 9.93171238e-01 -1.71702937e-03 -3.20141787e+00] [-1.14538339e-02 3.83409661e-04 9.99934329e-01 -5.95047951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.21, Z:-0.59 [[ 9.93930008e-01 1.09429248e-01 1.13304170e-02 4.81383500e+01] [-1.09416737e-01 9.93994476e-01 -1.72016077e-03 -3.20954135e+00] [-1.14506079e-02 4.69982155e-04 9.99934329e-01 -5.90037896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.21, Z:-0.59 [[ 9.93847600e-01 1.10175218e-01 1.13300376e-02 4.82012417e+01] [-1.10162726e-01 9.93912072e-01 -1.72265643e-03 -3.21361554e+00] [-1.14508552e-02 4.63910129e-04 9.99934329e-01 -5.88651715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:-3.22, Z:-0.59 [[ 9.93289648e-01 1.15096990e-01 1.13295447e-02 4.82640650e+01] [-1.15084781e-01 9.93354174e-01 -1.72589177e-03 -3.21713141e+00] [-1.14528955e-02 4.10452251e-04 9.99934329e-01 -5.90242205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.22, Z:-0.59 [[ 9.91952286e-01 1.26104378e-01 1.13290520e-02 4.83258784e+01] [-1.26092848e-01 9.92016937e-01 -1.72911999e-03 -3.22091195e+00] [-1.14566611e-02 2.86692088e-04 9.99934329e-01 -5.90819317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.22, Z:-0.59 [[ 9.90594074e-01 1.36363644e-01 1.13285962e-02 4.83893665e+01] [-1.36352750e-01 9.90658835e-01 -1.73210108e-03 -3.22224583e+00] [-1.14589696e-02 1.71123814e-04 9.99934329e-01 -5.94217005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.45, Y:-3.23, Z:-0.60 [[ 9.89724323e-01 1.42539249e-01 1.13281099e-02 4.84512208e+01] [-1.42528723e-01 9.89789145e-01 -1.73527604e-03 -3.22672118e+00] [-1.14597851e-02 1.02863874e-04 9.99934329e-01 -5.96747426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.24, Z:-0.60 [[ 9.89342390e-01 1.45166525e-01 1.13276596e-02 4.85137538e+01] [-1.45156138e-01 9.89407234e-01 -1.73821038e-03 -3.23514745e+00] [-1.14599983e-02 7.54059000e-05 9.99934329e-01 -5.98426781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.57, Y:-3.24, Z:-0.60 [[ 9.88750037e-01 1.49147775e-01 1.13271702e-02 4.85748597e+01] [-1.49137612e-01 9.88814917e-01 -1.74139360e-03 -3.24187283e+00] [-1.14601999e-02 3.24958697e-05 9.99934329e-01 -5.99360416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.25, Z:-0.60 [[ 9.88532674e-01 1.50581729e-01 1.13267131e-02 4.86377322e+01] [-1.50571626e-01 9.88597564e-01 -1.74436157e-03 -3.24961857e+00] [-1.14602300e-02 1.88767910e-05 9.99934329e-01 -6.00846508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:-3.26, Z:-0.60 [[ 9.88537398e-01 1.50550756e-01 1.13262254e-02 4.86993361e+01] [-1.50540615e-01 9.88602281e-01 -1.74752254e-03 -3.25631933e+00] [-1.14602231e-02 2.24344351e-05 9.99934329e-01 -5.99252553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:-3.27, Z:-0.60 [[ 9.87990639e-01 1.54098097e-01 1.13257655e-02 4.87599115e+01] [-1.54088155e-01 9.88055553e-01 -1.75049848e-03 -3.27018232e+00] [-1.14602340e-02 -1.56902033e-05 9.99934329e-01 -5.96617143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.82, Y:-3.28, Z:-0.60 [[ 9.88101752e-01 1.53384037e-01 1.13254422e-02 4.88219420e+01] [-1.53374024e-01 9.88166655e-01 -1.75258737e-03 -3.28127159e+00] [-1.14602433e-02 -5.29400188e-06 9.99934329e-01 -5.97597242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.88, Y:-3.30, Z:-0.60 [[ 9.88536289e-01 1.50558128e-01 1.13249468e-02 4.88833790e+01] [-1.50547893e-01 9.88601158e-01 -1.75578282e-03 -3.29537876e+00] [-1.14602029e-02 3.07081494e-05 9.99934329e-01 -5.99767703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.94, Y:-3.31, Z:-0.60 [[ 9.88905545e-01 1.48113403e-01 1.13244512e-02 4.89437269e+01] [-1.48102971e-01 9.88970382e-01 -1.75897384e-03 -3.30803298e+00] [-1.14600744e-02 6.22741230e-05 9.99934329e-01 -6.02188720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.00, Y:-3.32, Z:-0.60 [[ 9.89819431e-01 1.41877626e-01 1.13240247e-02 4.90043007e+01] [-1.41866754e-01 9.89884195e-01 -1.76171544e-03 -3.32366925e+00] [-1.14594210e-02 1.37277551e-04 9.99934329e-01 -6.03206089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.34, Z:-0.60 [[ 9.90820967e-01 1.34705563e-01 1.13235791e-02 4.90653728e+01] [-1.34694190e-01 9.90885645e-01 -1.76457465e-03 -3.34014561e+00] [-1.14580700e-02 2.23157256e-04 9.99934329e-01 -6.03278092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:-3.36, Z:-0.60 [[ 9.91639454e-01 1.28541746e-01 1.13230751e-02 4.91246645e+01] [-1.28529934e-01 9.91704054e-01 -1.76780278e-03 -3.35663500e+00] [-1.14563759e-02 2.97668885e-04 9.99934329e-01 -6.01872559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.37, Z:-0.60 [[ 9.92074729e-01 1.25138027e-01 1.13228383e-02 4.91855886e+01] [-1.25125976e-01 9.92139284e-01 -1.76931858e-03 -3.37001726e+00] [-1.14552417e-02 3.38515068e-04 9.99934329e-01 -5.99807218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:-3.38, Z:-0.60 [[ 9.92662028e-01 1.20390619e-01 1.13224105e-02 4.92470528e+01] [-1.20378228e-01 9.92726519e-01 -1.77205197e-03 -3.38232543e+00] [-1.14533956e-02 3.96076992e-04 9.99934329e-01 -6.00206617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:-3.39, Z:-0.60 [[ 9.92840611e-01 1.18908942e-01 1.13219036e-02 4.93085589e+01] [-1.18896418e-01 9.92905076e-01 -1.77528416e-03 -3.39367437e+00] [-1.14526728e-02 4.16440423e-04 9.99934329e-01 -6.01076679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.40, Z:-0.60 [[ 9.93009164e-01 1.17493088e-01 1.13213974e-02 4.93700425e+01] [-1.17480435e-01 9.93073605e-01 -1.77850662e-03 -3.40337911e+00] [-1.14519432e-02 4.36030675e-04 9.99934329e-01 -6.00596960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.41, Z:-0.60 [[ 9.92886559e-01 1.18524757e-01 1.13209295e-02 4.94322982e+01] [-1.18512137e-01 9.92951006e-01 -1.78148032e-03 -3.41054826e+00] [-1.14522778e-02 4.27140313e-04 9.99934329e-01 -6.01992171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.42, Z:-0.60 [[ 9.92216838e-01 1.24006425e-01 1.13204366e-02 4.94946991e+01] [-1.23994126e-01 9.92281347e-01 -1.78460710e-03 -3.41739922e+00] [-1.14543608e-02 3.67049577e-04 9.99934329e-01 -6.03554858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-3.42, Z:-0.61 [[ 9.91193840e-01 1.31934188e-01 1.13199307e-02 4.95564285e+01] [-1.31922369e-01 9.91258439e-01 -1.78780977e-03 -3.42204533e+00] [-1.14568501e-02 2.78713953e-04 9.99934329e-01 -6.05725183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-3.43, Z:-0.61 [[ 9.90045850e-01 1.40289291e-01 1.13194622e-02 4.96194017e+01] [-1.40277983e-01 9.90110540e-01 -1.79077120e-03 -3.42618447e+00] [-1.14587449e-02 1.85074259e-04 9.99934329e-01 -6.08809069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.43, Z:-0.61 [[ 9.88983539e-01 1.47592143e-01 1.13189613e-02 4.96818694e+01] [-1.47581277e-01 9.89048304e-01 -1.79393203e-03 -3.43496593e+00] [-1.14597697e-02 1.03702498e-04 9.99934329e-01 -6.08158007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.44, Z:-0.61 [[ 9.88237809e-01 1.52505491e-01 1.13184521e-02 4.97442015e+01] [-1.52494910e-01 9.88302622e-01 -1.79713862e-03 -3.44261182e+00] [-1.14601294e-02 4.99939968e-05 9.99934329e-01 -6.09912863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:-3.45, Z:-0.61 [[ 9.87151838e-01 1.59383666e-01 1.13179458e-02 4.98063572e+01] [-1.59373500e-01 9.87216717e-01 -1.80032195e-03 -3.45098457e+00] [-1.14602072e-02 -2.65895068e-05 9.99934329e-01 -6.11777122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:-3.46, Z:-0.61 [[ 9.86632488e-01 1.62567675e-01 1.13174408e-02 4.98673461e+01] [-1.62557682e-01 9.86697394e-01 -1.80349081e-03 -3.46175583e+00] [-1.14600786e-02 -6.03543098e-05 9.99934329e-01 -6.11554896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:-3.47, Z:-0.61 [[ 9.86275093e-01 1.64722081e-01 1.13171289e-02 4.99288745e+01] [-1.64712207e-01 9.86340017e-01 -1.80544594e-03 -3.47356296e+00] [-1.14599339e-02 -8.34029163e-05 9.99934329e-01 -6.10433054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.99, Y:-3.48, Z:-0.61 [[ 9.86217278e-01 1.65067909e-01 1.13166176e-02 4.99893425e+01] [-1.65058022e-01 9.86282200e-01 -1.80864530e-03 -3.48488449e+00] [-1.14599278e-02 -8.41812638e-05 9.99934329e-01 -6.12728243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.50, Z:-0.61 [[ 9.86100798e-01 1.65762346e-01 1.13163677e-02 5.00508045e+01] [-1.65752487e-01 9.86165725e-01 -1.81020728e-03 -3.49790715e+00] [-1.14598782e-02 -9.06692473e-05 9.99934329e-01 -6.12135519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.11, Y:-3.51, Z:-0.61 [[ 9.86122960e-01 1.65630490e-01 1.13158488e-02 5.01119885e+01] [-1.65620585e-01 9.86187879e-01 -1.81344495e-03 -3.50944396e+00] [-1.14599147e-02 -8.58578001e-05 9.99934329e-01 -6.14033508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.17, Y:-3.52, Z:-0.62 [[ 9.86546909e-01 1.63086353e-01 1.13153985e-02 5.01726165e+01] [-1.63076248e-01 9.86611797e-01 -1.81625056e-03 -3.52166853e+00] [-1.14601113e-02 -5.34563557e-05 9.99934329e-01 -6.16582119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.23, Y:-3.54, Z:-0.62 [[ 9.87720590e-01 1.55820436e-01 1.13149471e-02 5.02340356e+01] [-1.55809821e-01 9.87785397e-01 -1.81905859e-03 -3.53812355e+00] [-1.14601860e-02 3.37417381e-05 9.99934329e-01 -6.15143340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.55, Z:-0.61 [[ 9.88862134e-01 1.48403721e-01 1.13144248e-02 5.02948305e+01] [-1.48392583e-01 9.88926853e-01 -1.82230109e-03 -3.55129136e+00] [-1.14595748e-02 1.23027816e-04 9.99934329e-01 -6.14889651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.57, Z:-0.61 [[ 9.90903468e-01 1.34098138e-01 1.13139707e-02 5.03547426e+01] [-1.34086034e-01 9.90968014e-01 -1.82511650e-03 -3.56653944e+00] [-1.14565278e-02 2.91468807e-04 9.99934329e-01 -6.14406274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.58, Z:-0.61 [[ 9.92760570e-01 1.19576143e-01 1.13135488e-02 5.04143714e+01] [-1.19563066e-01 9.92824925e-01 -1.82772787e-03 -3.58156975e+00] [-1.14509259e-02 4.61813585e-04 9.99934329e-01 -6.12588858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:-3.59, Z:-0.61 [[ 9.93197585e-01 1.15890320e-01 1.13133024e-02 5.04758556e+01] [-1.15876986e-01 9.93261888e-01 -1.82925164e-03 -3.59306623e+00] [-1.14490647e-02 5.05856927e-04 9.99934329e-01 -6.12100586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.54, Y:-3.60, Z:-0.61 [[ 9.93870671e-01 1.09968673e-01 1.13127940e-02 5.05382873e+01] [-1.09954921e-01 9.93934886e-01 -1.83239060e-03 -3.60291924e+00] [-1.14456862e-02 5.77261904e-04 9.99934329e-01 -6.11475221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.60, Y:-3.61, Z:-0.61 [[ 9.93830971e-01 1.10326938e-01 1.13122915e-02 5.06003896e+01] [-1.10313174e-01 9.93895183e-01 -1.83548764e-03 -3.61051582e+00] [-1.14457357e-02 5.76269685e-04 9.99934329e-01 -6.12629551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:-3.62, Z:-0.61 [[ 9.93340694e-01 1.14657353e-01 1.13117929e-02 5.06626562e+01] [-1.14643834e-01 9.93404958e-01 -1.83855539e-03 -3.61627550e+00] [-1.14479950e-02 5.29484591e-04 9.99934329e-01 -6.12889871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-3.62, Z:-0.61 [[ 9.92886677e-01 1.18524687e-01 1.13113318e-02 5.07259507e+01] [-1.18511386e-01 9.92950986e-01 -1.84138770e-03 -3.62163174e+00] [-1.14498479e-02 4.87767710e-04 9.99934329e-01 -6.14295801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-3.62, Z:-0.62 [[ 9.91862733e-01 1.26808454e-01 1.13108476e-02 5.07891194e+01] [-1.26795657e-01 9.91927144e-01 -1.84435697e-03 -3.62300235e+00] [-1.14534168e-02 3.95182588e-04 9.99934329e-01 -6.15711930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-3.63, Z:-0.62 [[ 9.91033487e-01 1.33134160e-01 1.13103165e-02 5.08520088e+01] [-1.33121736e-01 9.91097972e-01 -1.84760801e-03 -3.62658661e+00] [-1.14556115e-02 3.25392431e-04 9.99934329e-01 -6.17356441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-3.63, Z:-0.62 [[ 9.89963132e-01 1.40872585e-01 1.13097826e-02 5.09142315e+01] [-1.40860629e-01 9.90027705e-01 -1.85087069e-03 -3.62919577e+00] [-1.14577350e-02 2.39190654e-04 9.99934329e-01 -6.19226142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:-3.63, Z:-0.62 [[ 9.88859720e-01 1.48420192e-01 1.13093182e-02 5.09757784e+01] [-1.48408696e-01 9.88924377e-01 -1.85370417e-03 -3.63482874e+00] [-1.14591875e-02 1.54652224e-04 9.99934329e-01 -6.19571465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:-3.64, Z:-0.62 [[ 9.87266963e-01 1.58669639e-01 1.13088571e-02 5.10384743e+01] [-1.58658783e-01 9.87331730e-01 -1.85651259e-03 -3.63841668e+00] [-1.14601656e-02 3.86240490e-05 9.99934329e-01 -6.20858216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:-3.65, Z:-0.62 [[ 9.86138332e-01 1.65539458e-01 1.13083241e-02 5.11008847e+01] [-1.65529016e-01 9.86203167e-01 -1.85975335e-03 -3.64541662e+00] [-1.14601676e-02 -3.78816941e-05 9.99934329e-01 -6.21808727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:-3.65, Z:-0.62 [[ 9.84787778e-01 1.73393097e-01 1.13077913e-02 5.11636475e+01] [-1.73383134e-01 9.84852689e-01 -1.86298754e-03 -3.65413003e+00] [-1.14595378e-02 -1.25932936e-04 9.99934329e-01 -6.21535381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.137628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.23, Y:-3.66, Z:-0.62 [[ 9.84169905e-01 1.76866457e-01 1.13072572e-02 5.12256242e+01] [-1.76856686e-01 9.84234845e-01 -1.86622356e-03 -3.66355154e+00] [-1.14590689e-02 -1.63082969e-04 9.99934329e-01 -6.24095385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:-3.67, Z:-0.62 [[ 9.83901713e-01 1.78352396e-01 1.13067181e-02 5.12867661e+01] [-1.78342686e-01 9.83966662e-01 -1.86948416e-03 -3.67368832e+00] [-1.14588606e-02 -1.77081808e-04 9.99934329e-01 -6.24171719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:-3.69, Z:-0.63 [[ 9.84320429e-01 1.76026878e-01 1.13062199e-02 5.13479610e+01] [-1.76016980e-01 9.84385350e-01 -1.87249232e-03 -3.68651296e+00] [-1.14592862e-02 -1.46954235e-04 9.99934329e-01 -6.26755794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:-3.70, Z:-0.63 [[ 9.84926963e-01 1.72600859e-01 1.13057591e-02 5.14086458e+01] [-1.72590703e-01 9.84991844e-01 -1.87527048e-03 -3.69958909e+00] [-1.14597538e-02 -1.04264452e-04 9.99934329e-01 -6.29707387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:-3.72, Z:-0.63 [[ 9.86331949e-01 1.64382105e-01 1.13052907e-02 5.14679424e+01] [-1.64371376e-01 9.86396737e-01 -1.87809011e-03 -3.71562889e+00] [-1.14602262e-02 -5.84590022e-06 9.99934329e-01 -6.33291170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.53, Y:-3.73, Z:-0.63 [[ 9.87533358e-01 1.57003387e-01 1.13050260e-02 5.15292246e+01] [-1.56992155e-01 9.87598061e-01 -1.87968169e-03 -3.73226964e+00] [-1.14599382e-02 8.14479677e-05 9.99934329e-01 -6.31702745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.59, Y:-3.75, Z:-0.63 [[ 9.89614905e-01 1.43298807e-01 1.13044901e-02 5.15892827e+01] [-1.43286643e-01 9.89679439e-01 -1.88289934e-03 -3.75206496e+00] [-1.14576387e-02 2.43562811e-04 9.99934329e-01 -6.29263726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.65, Y:-3.77, Z:-0.63 [[ 9.91584523e-01 1.28966476e-01 1.13040291e-02 5.16480183e+01] [-1.28953348e-01 9.91648868e-01 -1.88566286e-03 -3.77210442e+00] [-1.14528150e-02 4.12101712e-04 9.99934329e-01 -6.25837020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:51.71, Y:-3.79, Z:-0.63 [[ 9.92623825e-01 1.20706960e-01 1.13036082e-02 5.17078780e+01] [-1.20693269e-01 9.92688053e-01 -1.88818256e-03 -3.78758847e+00] [-1.14488736e-02 5.09985566e-04 9.99934329e-01 -6.25787363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-3.80, Z:-0.62 [[ 9.93226302e-01 1.15644934e-01 1.13031666e-02 5.17679648e+01] [-1.15630885e-01 9.93290453e-01 -1.89082266e-03 -3.80398065e+00] [-1.14459915e-02 5.71019643e-04 9.99934329e-01 -6.22581979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-3.82, Z:-0.62 [[ 9.93056150e-01 1.17097102e-01 1.13026944e-02 5.18291816e+01] [-1.17083115e-01 9.93120314e-01 -1.89364101e-03 -3.81572541e+00] [-1.14466753e-02 5.57137187e-04 9.99934329e-01 -6.24595349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.89, Y:-3.83, Z:-0.63 [[ 9.92013754e-01 1.25622344e-01 1.13021952e-02 5.18898961e+01] [-1.25608875e-01 9.92078028e-01 -1.89661585e-03 -3.82502823e+00] [-1.14509168e-02 4.61812992e-04 9.99934329e-01 -6.28589212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:-3.83, Z:-0.63 [[ 9.90929890e-01 1.33903783e-01 1.13017697e-02 5.19514460e+01] [-1.33890822e-01 9.90994269e-01 -1.89914789e-03 -3.83495166e+00] [-1.14542921e-02 3.68719173e-04 9.99934329e-01 -6.29637260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:-3.84, Z:-0.63 [[ 9.90254741e-01 1.38808603e-01 1.13013021e-02 5.20136057e+01] [-1.38795929e-01 9.90319177e-01 -1.90192619e-03 -3.84398658e+00] [-1.14558999e-02 3.14816694e-04 9.99934329e-01 -6.29922787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:-3.85, Z:-0.63 [[ 9.89099584e-01 1.46813847e-01 1.13007647e-02 5.20750081e+01] [-1.46801659e-01 9.89164114e-01 -1.90511403e-03 -3.85063999e+00] [-1.14580080e-02 2.25376493e-04 9.99934329e-01 -6.29286184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:-3.86, Z:-0.63 [[ 9.88131621e-01 1.53193348e-01 1.13002961e-02 5.21367356e+01] [-1.53181545e-01 9.88196223e-01 -1.90788961e-03 -3.85725318e+00] [-1.14591859e-02 1.54249242e-04 9.99934329e-01 -6.28784942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:-3.87, Z:-0.63 [[ 9.87771028e-01 1.55501483e-01 1.12998213e-02 5.21989652e+01] [-1.55489798e-01 9.87835650e-01 -1.91069768e-03 -3.86537151e+00] [-1.14594826e-02 1.30324883e-04 9.99934329e-01 -6.28916354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:-3.87, Z:-0.63 [[ 9.87550083e-01 1.56898564e-01 1.12992702e-02 5.22607247e+01] [-1.56886933e-01 9.87614716e-01 -1.91395083e-03 -3.87338981e+00] [-1.14596217e-02 1.17414448e-04 9.99934329e-01 -6.30390059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-3.88, Z:-0.63 [[ 9.87802138e-01 1.55303811e-01 1.12987604e-02 5.23225514e+01] [-1.55292042e-01 9.87866746e-01 -1.91695559e-03 -3.88331527e+00] [-1.14593802e-02 1.38965246e-04 9.99934329e-01 -6.32601102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-3.89, Z:-0.63 [[ 9.88302126e-01 1.52089612e-01 1.12985905e-02 5.23841055e+01] [-1.52077621e-01 9.88366692e-01 -1.91795679e-03 -3.89413361e+00] [-1.14588518e-02 1.77258005e-04 9.99934329e-01 -6.33757166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:-3.91, Z:-0.64 [[ 9.88942411e-01 1.47869070e-01 1.12980529e-02 5.24458449e+01] [-1.47856768e-01 9.89006919e-01 -1.92111832e-03 -3.90509231e+00] [-1.14579265e-02 2.29381794e-04 9.99934329e-01 -6.35000136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:-3.92, Z:-0.64 [[ 9.89612519e-01 1.43315832e-01 1.12975064e-02 5.25080136e+01] [-1.43303196e-01 9.89676963e-01 -1.92432685e-03 -3.91760403e+00] [-1.14566683e-02 2.85369168e-04 9.99934330e-01 -6.35210930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:-3.93, Z:-0.63 [[ 9.90137212e-01 1.39644838e-01 1.12969471e-02 5.25689997e+01] [-1.39631926e-01 9.90201600e-01 -1.92760472e-03 -3.92954542e+00] [-1.14554351e-02 3.31178678e-04 9.99934330e-01 -6.33872868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:-3.94, Z:-0.63 [[ 9.89938162e-01 1.41049021e-01 1.12964303e-02 5.26317518e+01] [-1.41036166e-01 9.90002562e-01 -1.93062861e-03 -3.93863120e+00] [-1.14558082e-02 3.17997718e-04 9.99934330e-01 -6.34815644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:-3.95, Z:-0.64 [[ 9.89444311e-01 1.44472691e-01 1.12958880e-02 5.26940498e+01] [-1.44460023e-01 9.89508748e-01 -1.93379645e-03 -3.94774579e+00] [-1.14567607e-02 2.81579664e-04 9.99934330e-01 -6.36866138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:-3.96, Z:-0.64 [[ 9.88456718e-01 1.51081871e-01 1.12953374e-02 5.27561149e+01] [-1.51069596e-01 9.88521231e-01 -1.93700713e-03 -3.95638810e+00] [-1.14583275e-02 2.08265650e-04 9.99934330e-01 -6.37318184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:-3.96, Z:-0.64 [[ 9.87836612e-01 1.55084673e-01 1.12947857e-02 5.28180722e+01] [-1.55072624e-01 9.87901168e-01 -1.94021845e-03 -3.96389862e+00] [-1.14590302e-02 1.65106760e-04 9.99934330e-01 -6.38939750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.97, Z:-0.64 [[ 9.86999508e-01 1.60325938e-01 1.12944453e-02 5.28790885e+01] [-1.60314209e-01 9.87064123e-01 -1.94219840e-03 -3.97202289e+00] [-1.14597265e-02 1.06288806e-04 9.99934330e-01 -6.39862033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.98, Z:-0.64 [[ 9.86594900e-01 1.62797267e-01 1.12939477e-02 5.29411068e+01] [-1.62785667e-01 9.86659538e-01 -1.94508770e-03 -3.98377027e+00] [-1.14599361e-02 8.05208072e-05 9.99934330e-01 -6.39414219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.99, Z:-0.64 [[ 9.86716616e-01 1.62057945e-01 1.12934156e-02 5.30018597e+01] [-1.62046261e-01 9.86781239e-01 -1.94817224e-03 -3.99467373e+00] [-1.14598474e-02 9.22381559e-05 9.99934330e-01 -6.40226695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.01, Z:-0.64 [[ 9.86930407e-01 1.60750854e-01 1.12930877e-02 5.30636446e+01] [-1.60739063e-01 9.86995011e-01 -1.95007060e-03 -4.00783980e+00] [-1.14596968e-02 1.09343635e-04 9.99934330e-01 -6.38519891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:-4.02, Z:-0.64 [[ 9.86964235e-01 1.60543068e-01 1.12925273e-02 5.31248841e+01] [-1.60531226e-01 9.87028829e-01 -1.95331045e-03 -4.02155695e+00] [-1.14596405e-02 1.15044301e-04 9.99934330e-01 -6.38245488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.03, Z:-0.64 [[ 9.86665785e-01 1.62367240e-01 1.12919738e-02 5.31866040e+01] [-1.62355481e-01 9.86730394e-01 -1.95650521e-03 -4.03346409e+00] [-1.14598061e-02 9.71029157e-05 9.99934330e-01 -6.39649057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:-4.04, Z:-0.65 [[ 9.86256719e-01 1.64833819e-01 1.12914231e-02 5.32476821e+01] [-1.64822185e-01 9.86321351e-01 -1.95967839e-03 -4.04406521e+00] [-1.14599929e-02 7.16689537e-05 9.99934330e-01 -6.45524963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:-4.06, Z:-0.65 [[ 9.85998651e-01 1.66370595e-01 1.12909424e-02 5.33097005e+01] [-1.66359030e-01 9.86063295e-01 -1.96244426e-03 -4.05530866e+00] [-1.14600768e-02 5.66171748e-05 9.99934330e-01 -6.46349655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:-4.07, Z:-0.65 [[ 9.86290373e-01 1.64632398e-01 1.12903926e-02 5.33709918e+01] [-1.64620683e-01 9.86354990e-01 -1.96560210e-03 -4.06781753e+00] [-1.14599369e-02 8.00222905e-05 9.99934330e-01 -6.48117905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.43, Y:-4.08, Z:-0.65 [[ 9.86748048e-01 1.61866695e-01 1.12899065e-02 5.34329359e+01] [-1.61854767e-01 9.86812627e-01 -1.96839008e-03 -4.08121494e+00] [-1.14596391e-02 1.14979883e-04 9.99934330e-01 -6.48062052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.49, Y:-4.09, Z:-0.65 [[ 9.87594314e-01 1.56620631e-01 1.12893571e-02 5.34943427e+01] [-1.56608324e-01 9.87658821e-01 -1.97153580e-03 -4.09416290e+00] [-1.14588163e-02 1.79070237e-04 9.99934330e-01 -6.48700969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.11, Z:-0.65 [[ 9.88554877e-01 1.50438750e-01 1.12887937e-02 5.35552809e+01] [-1.50426003e-01 9.88619299e-01 -1.97475693e-03 -4.10938412e+00] [-1.14573992e-02 2.54027480e-04 9.99934330e-01 -6.48122617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:-4.12, Z:-0.65 [[ 9.88973040e-01 1.47664830e-01 1.12882360e-02 5.36170613e+01] [-1.47651866e-01 9.89037418e-01 -1.97793967e-03 -4.12286989e+00] [-1.14565599e-02 2.89399899e-04 9.99934330e-01 -6.47430517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:-4.14, Z:-0.65 [[ 9.88750658e-01 1.49146653e-01 1.12876870e-02 5.36791122e+01] [-1.49133750e-01 9.88815048e-01 -1.98106752e-03 -4.13542076e+00] [-1.14569044e-02 2.75406717e-04 9.99934330e-01 -6.49600802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:-4.15, Z:-0.65 [[ 9.87783524e-01 1.55423004e-01 1.12871461e-02 5.37408662e+01] [-1.55410475e-01 9.87847988e-01 -1.98414453e-03 -4.14717247e+00] [-1.14583663e-02 2.05764529e-04 9.99934330e-01 -6.51169945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:-4.16, Z:-0.65 [[ 9.87098301e-01 1.59717115e-01 1.12865794e-02 5.38016469e+01] [-1.59704830e-01 9.87162812e-01 -1.98736305e-03 -4.15808636e+00] [-1.14591074e-02 1.59201446e-04 9.99934330e-01 -6.52377221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:-4.17, Z:-0.65 [[ 9.86183352e-01 1.65272567e-01 1.12860549e-02 5.38633128e+01] [-1.65260611e-01 9.86247925e-01 -1.99033693e-03 -4.16880840e+00] [-1.14597964e-02 9.76968092e-05 9.99934330e-01 -6.52201719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:-4.18, Z:-0.65 [[ 9.85071468e-01 1.71775550e-01 1.12855026e-02 5.39244926e+01] [-1.71763984e-01 9.85136112e-01 -1.99346417e-03 -4.18013106e+00] [-1.14601845e-02 2.52618007e-05 9.99934330e-01 -6.53230077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:-4.19, Z:-0.65 [[ 9.84205897e-01 1.76667487e-01 1.12849916e-02 5.39864252e+01] [-1.76656209e-01 9.84270592e-01 -1.99635250e-03 -4.19022507e+00] [-1.14601759e-02 -2.87419328e-05 9.99934330e-01 -6.54285827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.05, Y:-4.20, Z:-0.66 [[ 9.82953761e-01 1.83506309e-01 1.12844475e-02 5.40483690e+01] [-1.83495446e-01 9.83018527e-01 -1.99942332e-03 -4.19963626e+00] [-1.14597277e-02 -1.05304060e-04 9.99934330e-01 -6.57528269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.11, Y:-4.21, Z:-0.66 [[ 9.82414335e-01 1.86372603e-01 1.12838904e-02 5.41097525e+01] [-1.86361894e-01 9.82479127e-01 -2.00256257e-03 -4.21099511e+00] [-1.14594096e-02 -1.35541003e-04 9.99934330e-01 -6.59009253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.17, Y:-4.22, Z:-0.66 [[ 9.82338385e-01 1.86772548e-01 1.12833154e-02 5.41702552e+01] [-1.86761827e-01 9.82403174e-01 -2.00579697e-03 -4.22375398e+00] [-1.14593927e-02 -1.36921246e-04 9.99934330e-01 -6.58449225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:-4.24, Z:-0.66 [[ 9.83068706e-01 1.82889622e-01 1.12829567e-02 5.42319837e+01] [-1.82878622e-01 9.83133449e-01 -2.00781270e-03 -4.23694926e+00] [-1.14598602e-02 -8.95937444e-05 9.99934330e-01 -6.60270647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:-4.25, Z:-0.66 [[ 9.83766119e-01 1.79100339e-01 1.12823893e-02 5.42940499e+01] [-1.79089054e-01 9.83830812e-01 -2.01099615e-03 -4.24891406e+00] [-1.14601323e-02 -4.22025435e-05 9.99934330e-01 -6.61154809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.26, Z:-0.66 [[ 9.84564717e-01 1.74656917e-01 1.12818130e-02 5.43555934e+01] [-1.74645303e-01 9.84629352e-01 -2.01422408e-03 -4.25865390e+00] [-1.14602024e-02 1.28183197e-05 9.99934330e-01 -6.59902917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.42, Y:-4.27, Z:-0.66 [[ 9.84917438e-01 1.72656808e-01 1.12812806e-02 5.44173735e+01] [-1.72645028e-01 9.84982043e-01 -2.01720140e-03 -4.26972563e+00] [-1.14601424e-02 3.91198295e-05 9.99934330e-01 -6.59752832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.48, Y:-4.28, Z:-0.66 [[ 9.86702440e-01 1.62145121e-01 1.12807181e-02 5.44790919e+01] [-1.62132617e-01 9.86766909e-01 -2.02034207e-03 -4.28024781e+00] [-1.14590280e-02 1.64504096e-04 9.99934330e-01 -6.58930500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.54, Y:-4.29, Z:-0.66 [[ 9.88454591e-01 1.51096922e-01 1.12801464e-02 5.45413149e+01] [-1.51083661e-01 9.88518909e-01 -2.02352918e-03 -4.29099992e+00] [-1.14563870e-02 2.95920886e-04 9.99934330e-01 -6.60912285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.60, Y:-4.30, Z:-0.66 [[ 9.89385978e-01 1.44872900e-01 1.12795823e-02 5.46018093e+01] [-1.44859199e-01 9.89450203e-01 -2.02666876e-03 -4.29987571e+00] [-1.14541944e-02 3.71206404e-04 9.99934330e-01 -6.63491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:-4.31, Z:-0.67 [[ 9.90744157e-01 1.35273047e-01 1.12791316e-02 5.46640473e+01] [-1.35258695e-01 9.90808240e-01 -2.02917366e-03 -4.30747677e+00] [-1.14499491e-02 4.84791318e-04 9.99934330e-01 -6.68165391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.73, Y:-4.32, Z:-0.67 [[ 9.91275600e-01 1.31322011e-01 1.12789556e-02 5.47253550e+01] [-1.31307393e-01 9.91339622e-01 -2.03015153e-03 -4.31657675e+00] [-1.14478792e-02 5.31429421e-04 9.99934330e-01 -6.65401689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.79, Y:-4.32, Z:-0.66 [[ 9.91380853e-01 1.30525095e-01 1.12784575e-02 5.47860602e+01] [-1.30510394e-01 9.91444857e-01 -2.03291496e-03 -4.32191684e+00] [-1.14473151e-02 5.43437031e-04 9.99934330e-01 -6.63435636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.33, Z:-0.66 [[ 9.91019184e-01 1.33243321e-01 1.12780019e-02 5.48485015e+01] [-1.33228767e-01 9.91083222e-01 -2.03543937e-03 -4.32813977e+00] [-1.14486472e-02 5.14605174e-04 9.99934330e-01 -6.61813666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:-4.33, Z:-0.66 [[ 9.90247515e-01 1.38862085e-01 1.12774647e-02 5.49121379e+01] [-1.38847861e-01 9.90311626e-01 -2.03841174e-03 -4.33149056e+00] [-1.14512625e-02 4.52680309e-04 9.99934330e-01 -6.59418658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:-4.33, Z:-0.66 [[ 9.89374417e-01 1.44952044e-01 1.12768880e-02 5.49760278e+01] [-1.44938178e-01 9.89438607e-01 -2.04159714e-03 -4.33194387e+00] [-1.14537220e-02 3.85452383e-04 9.99934330e-01 -6.60312323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:-4.34, Z:-0.66 [[ 9.88869016e-01 1.48360756e-01 1.12763144e-02 5.50388805e+01] [-1.48347075e-01 9.88933246e-01 -2.04476026e-03 -4.33637373e+00] [-1.14548844e-02 3.49191809e-04 9.99934330e-01 -6.62250398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:-4.34, Z:-0.67 [[ 9.88358738e-01 1.51722981e-01 1.12757459e-02 5.51026363e+01] [-1.51709484e-01 9.88423006e-01 -2.04789046e-03 -4.33804267e+00] [-1.14559187e-02 3.13412842e-04 9.99934330e-01 -6.66708876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:-4.34, Z:-0.67 [[ 9.88123646e-01 1.53246636e-01 1.12751677e-02 5.51656655e+01] [-1.53233201e-01 9.88187927e-01 -2.05106873e-03 -4.34052414e+00] [-1.14563040e-02 2.98979466e-04 9.99934330e-01 -6.70120821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.23, Y:-4.35, Z:-0.67 [[ 9.87758102e-01 1.55585394e-01 1.12745910e-02 5.52283505e+01] [-1.55572075e-01 9.87822408e-01 -2.05423406e-03 -4.34730793e+00] [-1.14569024e-02 2.75074821e-04 9.99934330e-01 -6.70358764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.29, Y:-4.35, Z:-0.67 [[ 9.86625385e-01 1.62613796e-01 1.12740108e-02 5.52907302e+01] [-1.62600899e-01 9.86689776e-01 -2.05741358e-03 -4.35281009e+00] [-1.14585150e-02 1.96732175e-04 9.99934330e-01 -6.69957110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.35, Y:-4.36, Z:-0.67 [[ 9.85177233e-01 1.71168703e-01 1.12736526e-02 5.53535803e+01] [-1.71156343e-01 9.85241729e-01 -2.05937413e-03 -4.35977944e+00] [-1.14597734e-02 9.92913487e-05 9.99934330e-01 -6.70431407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.37, Z:-0.67 [[ 9.84624417e-01 1.74320611e-01 1.12730560e-02 5.54153462e+01] [-1.74308420e-01 9.84688946e-01 -2.06263520e-03 -4.36936244e+00] [-1.14600134e-02 6.59324044e-05 9.99934330e-01 -6.70037356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.38, Z:-0.67 [[ 9.84404430e-01 1.75558679e-01 1.12724610e-02 5.54765999e+01] [-1.75546532e-01 9.84468967e-01 -2.06588144e-03 -4.37958852e+00] [-1.14600715e-02 5.48214103e-05 9.99934330e-01 -6.68542312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.39, Z:-0.67 [[ 9.84287853e-01 1.76211141e-01 1.12719108e-02 5.55380791e+01] [-1.76199002e-01 9.84352392e-01 -2.06887906e-03 -4.39143857e+00] [-1.14600919e-02 5.02730859e-05 9.99934330e-01 -6.69457219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.60, Y:-4.40, Z:-0.67 [[ 9.84178439e-01 1.76821259e-01 1.12713238e-02 5.56003367e+01] [-1.76809124e-01 9.84242978e-01 -2.07207229e-03 -4.40253481e+00] [-1.14601077e-02 4.64159845e-05 9.99934330e-01 -6.71943989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.66, Y:-4.41, Z:-0.67 [[ 9.84079055e-01 1.77373574e-01 1.12707228e-02 5.56624959e+01] [-1.77361438e-01 9.84143594e-01 -2.07533599e-03 -4.41492412e+00] [-1.14601194e-02 4.33030625e-05 9.99934330e-01 -6.74940303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.72, Y:-4.43, Z:-0.68 [[ 9.84353685e-01 1.75843129e-01 1.12701304e-02 5.57230490e+01] [-1.75830856e-01 9.84418199e-01 -2.07854822e-03 -4.43144374e+00] [-1.14600199e-02 6.43899184e-05 9.99934330e-01 -6.76105765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.78, Y:-4.45, Z:-0.68 [[ 9.84803543e-01 1.73306029e-01 1.12695425e-02 5.57840591e+01] [-1.73293553e-01 9.84868017e-01 -2.08173076e-03 -4.44607476e+00] [-1.14597885e-02 9.71567580e-05 9.99934330e-01 -6.76371289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:-4.46, Z:-0.68 [[ 9.85825805e-01 1.67393229e-01 1.12689442e-02 5.58451580e+01] [-1.67380330e-01 9.85890196e-01 -2.08496465e-03 -4.46430686e+00] [-1.14589506e-02 1.69212364e-04 9.99934330e-01 -6.76260367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:-4.48, Z:-0.68 [[ 9.86432823e-01 1.63778232e-01 1.12683459e-02 5.59058924e+01] [-1.63765060e-01 9.86497159e-01 -2.08819314e-03 -4.48086806e+00] [-1.14581918e-02 2.14500920e-04 9.99934330e-01 -6.75817469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:-4.50, Z:-0.68 [[ 9.86809241e-01 1.61494770e-01 1.12677429e-02 5.59659240e+01] [-1.61481412e-01 9.86873538e-01 -2.09144168e-03 -4.49804727e+00] [-1.14575942e-02 2.44322941e-04 9.99934330e-01 -6.75390458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:-4.51, Z:-0.68 [[ 9.86516180e-01 1.63275462e-01 1.12671864e-02 5.60271425e+01] [-1.63262185e-01 9.86580495e-01 -2.09443540e-03 -4.51239428e+00] [-1.14579563e-02 2.26688930e-04 9.99934330e-01 -6.77758445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:-4.53, Z:-0.68 [[ 9.86168402e-01 1.65363077e-01 1.12666058e-02 5.60882872e+01] [-1.65349902e-01 9.86232736e-01 -2.09755404e-03 -4.52566419e+00] [-1.14583535e-02 2.05609347e-04 9.99934330e-01 -6.78654771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:-4.54, Z:-0.68 [[ 9.85510448e-01 1.69240165e-01 1.12660145e-02 5.61494040e+01] [-1.69227206e-01 9.85574827e-01 -2.10072546e-03 -4.53912504e+00] [-1.14590274e-02 1.63770737e-04 9.99934330e-01 -6.79910290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:-4.55, Z:-0.68 [[ 9.84902479e-01 1.72743156e-01 1.12654230e-02 5.62098609e+01] [-1.72730390e-01 9.84966896e-01 -2.10389246e-03 -4.55241638e+00] [-1.14595018e-02 1.26247989e-04 9.99934330e-01 -6.82692348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:-4.57, Z:-0.68 [[ 9.84605708e-01 1.74426781e-01 1.12648765e-02 5.62711296e+01] [-1.74414092e-01 9.84670141e-01 -2.10681440e-03 -4.56708974e+00] [-1.14596724e-02 1.09628271e-04 9.99934330e-01 -6.83678246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:-4.58, Z:-0.69 [[ 9.84083377e-01 1.77350000e-01 1.12642860e-02 5.63317345e+01] [-1.77337466e-01 9.84147840e-01 -2.10996725e-03 -4.58280656e+00] [-1.14599254e-02 7.88037680e-05 9.99934330e-01 -6.85124206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:-4.60, Z:-0.69 [[ 9.83847746e-01 1.78652573e-01 1.12637015e-02 5.63932277e+01] [-1.78640088e-01 9.83912219e-01 -2.11308247e-03 -4.59578613e+00] [-1.14600012e-02 6.68027920e-05 9.99934330e-01 -6.86091119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.45, Y:-4.61, Z:-0.69 [[ 9.82977845e-01 1.83378569e-01 1.12631082e-02 5.64543710e+01] [-1.83366358e-01 9.83042370e-01 -2.11624034e-03 -4.61236579e+00] [-1.14601857e-02 1.49422419e-05 9.99934330e-01 -6.87674708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.51, Y:-4.63, Z:-0.69 [[ 9.82392589e-01 1.86488488e-01 1.12625129e-02 5.65144063e+01] [-1.86476445e-01 9.82457146e-01 -2.11940384e-03 -4.62915021e+00] [-1.14601807e-02 -1.81067480e-05 9.99934330e-01 -6.89123252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:-4.65, Z:-0.69 [[ 9.82574408e-01 1.85528167e-01 1.12619626e-02 5.65757191e+01] [-1.85516027e-01 9.82638947e-01 -2.12232367e-03 -4.64511952e+00] [-1.14601939e-02 -3.93365101e-06 9.99934330e-01 -6.90011328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:-4.66, Z:-0.69 [[ 9.83403074e-01 1.81084442e-01 1.12613498e-02 5.66350463e+01] [-1.81071974e-01 9.83467550e-01 -2.12557036e-03 -4.66355341e+00] [-1.14600799e-02 5.11775828e-05 9.99934330e-01 -6.92274306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.69, Y:-4.68, Z:-0.69 [[ 9.83970515e-01 1.77975334e-01 1.12607839e-02 5.66949420e+01] [-1.77962628e-01 9.84034945e-01 -2.12856430e-03 -4.68282925e+00] [-1.14598368e-02 9.04458152e-05 9.99934330e-01 -6.92406608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:-4.70, Z:-0.69 [[ 9.83713754e-01 1.79389124e-01 1.12601801e-02 5.67567098e+01] [-1.79376474e-01 9.83778195e-01 -2.13175359e-03 -4.69532825e+00] [-1.14599331e-02 7.72239176e-05 9.99934330e-01 -6.92609635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:-4.71, Z:-0.70 [[ 9.83013378e-01 1.83188211e-01 1.12595795e-02 5.68170536e+01] [-1.83175774e-01 9.83077860e-01 -2.13492128e-03 -4.70610905e+00] [-1.14601357e-02 3.61739957e-05 9.99934330e-01 -6.95629482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.657628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:-4.72, Z:-0.70 [[ 9.82832394e-01 1.84156778e-01 1.12590992e-02 5.68768461e+01] [-1.84144375e-01 9.82896882e-01 -2.13745145e-03 -4.71773060e+00] [-1.14601596e-02 2.74567482e-05 9.99934330e-01 -6.98966769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:-4.73, Z:-0.70 [[ 9.82918835e-01 1.83694873e-01 1.12586264e-02 5.69384653e+01] [-1.83682412e-01 9.82983312e-01 -2.13993882e-03 -4.72977845e+00] [-1.14601376e-02 3.53745211e-05 9.99934330e-01 -6.97893143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.00, Y:-4.74, Z:-0.70 [[ 9.83927121e-01 1.78215254e-01 1.12580468e-02 5.70001956e+01] [-1.78202399e-01 9.83991521e-01 -2.14298339e-03 -4.74034899e+00] [-1.14597350e-02 1.02328523e-04 9.99934330e-01 -6.99354305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.837628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:-4.75, Z:-0.70 [[ 9.84827057e-01 1.73173146e-01 1.12574398e-02 5.70623423e+01] [-1.73159924e-01 9.84891382e-01 -2.14616759e-03 -4.75226772e+00] [-1.14590140e-02 1.64266490e-04 9.99934330e-01 -7.01258330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:-4.76, Z:-0.70 [[ 9.85761056e-01 1.67774920e-01 1.12568361e-02 5.71236680e+01] [-1.67761310e-01 9.85825301e-01 -2.14932949e-03 -4.76304347e+00] [-1.14578774e-02 2.30263737e-04 9.99934330e-01 -6.98448898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:-4.77, Z:-0.70 [[ 9.85867553e-01 1.67148029e-01 1.12563157e-02 5.71854627e+01] [-1.67134348e-01 9.85931782e-01 -2.15205110e-03 -4.77400612e+00] [-1.14576705e-02 2.40320365e-04 9.99934330e-01 -6.95127357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:-4.79, Z:-0.69 [[ 9.85520845e-01 1.69180301e-01 1.12557008e-02 5.72471273e+01] [-1.69166715e-01 9.85585094e-01 -2.15526279e-03 -4.78562884e+00] [-1.14580789e-02 2.19966486e-04 9.99934330e-01 -6.94546197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:-4.79, Z:-0.70 [[ 9.84513234e-01 1.74948609e-01 1.12550861e-02 5.73080301e+01] [-1.74935363e-01 9.84577554e-01 -2.15846797e-03 -4.79424445e+00] [-1.14591261e-02 1.56127712e-04 9.99934330e-01 -6.95168255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.137628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.80, Z:-0.70 [[ 9.83661696e-01 1.79674714e-01 1.12545172e-02 5.73705592e+01] [-1.79661743e-01 9.83726073e-01 -2.16143026e-03 -4.80361871e+00] [-1.14597163e-02 1.04109983e-04 9.99934330e-01 -6.98770260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.43, Y:-4.81, Z:-0.70 [[ 9.82241817e-01 1.87281509e-01 1.12538974e-02 5.74323138e+01] [-1.87269000e-01 9.82306284e-01 -2.16465263e-03 -4.81423181e+00] [-1.14601735e-02 1.87062254e-05 9.99934330e-01 -6.99238726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.49, Y:-4.83, Z:-0.70 [[ 9.81778400e-01 1.89695908e-01 1.12532796e-02 5.74929601e+01] [-1.89683520e-01 9.81842891e-01 -2.16785926e-03 -4.82748198e+00] [-1.14601866e-02 -6.20430152e-06 9.99934330e-01 -7.03512002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:-4.84, Z:-0.71 [[ 9.82368436e-01 1.86616270e-01 1.12527071e-02 5.75542992e+01] [-1.86603646e-01 9.82432882e-01 -2.17082694e-03 -4.84197543e+00] [-1.14601411e-02 3.27556902e-05 9.99934330e-01 -7.05437233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.62, Y:-4.86, Z:-0.70 [[ 9.83658255e-01 1.79693704e-01 1.12520984e-02 5.76153931e+01] [-1.79680591e-01 9.83722603e-01 -2.17397751e-03 -4.85816674e+00] [-1.14595936e-02 1.16667239e-04 9.99934330e-01 -7.03871381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:-4.87, Z:-0.70 [[ 9.84136425e-01 1.77056211e-01 1.12514804e-02 5.76769409e+01] [-1.77042889e-01 9.84200729e-01 -2.17717139e-03 -4.86912236e+00] [-1.14591969e-02 1.50639071e-04 9.99934330e-01 -7.03725110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:-4.88, Z:-0.70 [[ 9.84531404e-01 1.74846596e-01 1.12508598e-02 5.77381347e+01] [-1.74833093e-01 9.84595671e-01 -2.18037377e-03 -4.88156104e+00] [-1.14587788e-02 1.79623833e-04 9.99934330e-01 -7.03434808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:-4.89, Z:-0.70 [[ 9.84627489e-01 1.74304735e-01 1.12502389e-02 5.77998311e+01] [-1.74291160e-01 9.84691740e-01 -2.18357242e-03 -4.89274860e+00] [-1.14586244e-02 1.89188229e-04 9.99934330e-01 -7.04693054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:-4.90, Z:-0.71 [[ 9.84482372e-01 1.75122542e-01 1.12496224e-02 5.78619397e+01] [-1.75108984e-01 9.84546628e-01 -2.18674427e-03 -4.90076542e+00] [-1.14587260e-02 1.82901241e-04 9.99934330e-01 -7.08387271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-4.91, Z:-0.71 [[ 9.84092952e-01 1.77297833e-01 1.12490058e-02 5.79240026e+01] [-1.77284381e-01 9.84157230e-01 -2.18991169e-03 -4.91035257e+00] [-1.14590570e-02 1.60803640e-04 9.99934330e-01 -7.10825695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.99, Y:-4.92, Z:-0.71 [[ 9.83433851e-01 1.80918034e-01 1.12483928e-02 5.79865814e+01] [-1.80904783e-01 9.83498170e-01 -2.19305589e-03 -4.91973135e+00] [-1.14595371e-02 1.21837353e-04 9.99934330e-01 -7.11383810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:-4.93, Z:-0.71 [[ 9.83334691e-01 1.81456259e-01 1.12477750e-02 5.80489514e+01] [-1.81443006e-01 9.83399010e-01 -2.19621949e-03 -4.93067407e+00] [-1.14595686e-02 1.18788693e-04 9.99934330e-01 -7.11592347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:-4.94, Z:-0.71 [[ 9.83663512e-01 1.79665238e-01 1.12471483e-02 5.81092996e+01] [-1.79651832e-01 9.83727799e-01 -2.19942437e-03 -4.94371072e+00] [-1.14592926e-02 1.42922703e-04 9.99934330e-01 -7.12450176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:-4.96, Z:-0.71 [[ 9.84482900e-01 1.75119771e-01 1.12465683e-02 5.81711497e+01] [-1.75106034e-01 9.84547117e-01 -2.20238646e-03 -4.95701717e+00] [-1.14584578e-02 1.98869843e-04 9.99934330e-01 -7.12188374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:-4.97, Z:-0.71 [[ 9.85191366e-01 1.71089159e-01 1.12459462e-02 5.82316505e+01] [-1.71075124e-01 9.85255519e-01 -2.20555806e-03 -4.97205305e+00] [-1.14574777e-02 2.48995114e-04 9.99934330e-01 -7.11153174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:-4.99, Z:-0.71 [[ 9.85279391e-01 1.70581544e-01 1.12453721e-02 5.82936666e+01] [-1.70567442e-01 9.85343529e-01 -2.20848131e-03 -4.98514918e+00] [-1.14572808e-02 2.57876756e-04 9.99934330e-01 -7.11091014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.00, Z:-0.71 [[ 9.84893120e-01 1.72797850e-01 1.12447467e-02 5.83540916e+01] [-1.72783856e-01 9.84957282e-01 -2.21166113e-03 -4.99734450e+00] [-1.14577655e-02 2.35339132e-04 9.99934330e-01 -7.10923392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.01, Z:-0.71 [[ 9.84222322e-01 1.76578563e-01 1.12441680e-02 5.84152958e+01] [-1.76564782e-01 9.84286530e-01 -2.21459963e-03 -5.00974763e+00] [-1.14585339e-02 1.94334319e-04 9.99934330e-01 -7.11595088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.02, Z:-0.71 [[ 9.83439404e-01 1.80888144e-01 1.12435477e-02 5.84769590e+01] [-1.80874608e-01 9.83503664e-01 -2.21774437e-03 -5.02183957e+00] [-1.14592340e-02 1.47344916e-04 9.99934330e-01 -7.13496642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.04, Z:-0.72 [[ 9.82256689e-01 1.87204147e-01 1.12429202e-02 5.85386255e+01] [-1.87190988e-01 9.82321028e-01 -2.22092096e-03 -5.03623305e+00] [-1.14599225e-02 7.69411268e-05 9.99934330e-01 -7.15758498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:-5.05, Z:-0.72 [[ 9.80850719e-01 1.94436306e-01 1.12422941e-02 5.85998017e+01] [-1.94423586e-01 9.80915146e-01 -2.22408571e-03 -5.04876424e+00] [-1.14601796e-02 -4.27106350e-06 9.99934330e-01 -7.18654787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-5.06, Z:-0.72 [[ 9.79188843e-01 2.02639669e-01 1.12416680e-02 5.86615211e+01] [-2.02627452e-01 9.79253366e-01 -2.22724603e-03 -5.05959019e+00] [-1.14597696e-02 -9.69760721e-05 9.99934330e-01 -7.21612196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.07, Z:-0.72 [[ 9.79017694e-01 2.03464970e-01 1.12410265e-02 5.87225012e+01] [-2.03452770e-01 9.79082221e-01 -2.23047878e-03 -5.07089248e+00] [-1.14597135e-02 -1.03339787e-04 9.99934330e-01 -7.24564814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.78, Y:-5.08, Z:-0.72 [[ 9.79542067e-01 2.00925337e-01 1.12404325e-02 5.87848299e+01] [-2.00912935e-01 9.79606556e-01 -2.23346802e-03 -5.08237233e+00] [-1.14599617e-02 -7.05724162e-05 9.99934330e-01 -7.23794136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:-5.09, Z:-0.72 [[ 9.81017579e-01 1.93592813e-01 1.12397973e-02 5.88469502e+01] [-1.93579892e-01 9.81081965e-01 -2.23666016e-03 -5.09427257e+00] [-1.14601638e-02 1.84041817e-05 9.99934330e-01 -7.22217788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.91, Y:-5.11, Z:-0.72 [[ 9.82197727e-01 1.87513483e-01 1.12391639e-02 5.89081611e+01] [-1.87500128e-01 9.82262025e-01 -2.23983841e-03 -5.10874878e+00] [-1.14598038e-02 9.26195181e-05 9.99934330e-01 -7.20515911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:-5.12, Z:-0.72 [[ 9.83714077e-01 1.79388711e-01 1.12385321e-02 5.89695635e+01] [-1.79374789e-01 9.83778255e-01 -2.24300444e-03 -5.12220203e+00] [-1.14585931e-02 1.90565729e-04 9.99934330e-01 -7.20635470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.03, Y:-5.13, Z:-0.72 [[ 9.84485714e-01 1.75104506e-01 1.12379030e-02 5.90320295e+01] [-1.75090269e-01 9.84549822e-01 -2.24615180e-03 -5.13193305e+00] [-1.14575867e-02 2.43656907e-04 9.99934330e-01 -7.23277445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.14, Z:-0.73 [[ 9.84443837e-01 1.75339830e-01 1.12372705e-02 5.90941642e+01] [-1.75325572e-01 9.84507940e-01 -2.24931166e-03 -5.14382450e+00] [-1.14575759e-02 2.44140127e-04 9.99934330e-01 -7.25716528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.16, Y:-5.15, Z:-0.73 [[ 9.83863550e-01 1.78567224e-01 1.12366438e-02 5.91563154e+01] [-1.78553141e-01 9.83927692e-01 -2.25243777e-03 -5.15407269e+00] [-1.14582566e-02 2.09753372e-04 9.99934330e-01 -7.31586348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.22, Y:-5.16, Z:-0.73 [[ 9.82450853e-01 1.86182901e-01 1.12360195e-02 5.92182947e+01] [-1.86169280e-01 9.82515095e-01 -2.25554794e-03 -5.16387256e+00] [-1.14595032e-02 1.24163344e-04 9.99934330e-01 -7.33438336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.28, Y:-5.17, Z:-0.74 [[ 9.81239957e-01 1.92462755e-01 1.12353813e-02 5.92790442e+01] [-1.92449508e-01 9.81304277e-01 -2.25872240e-03 -5.17447051e+00] [-1.14600477e-02 5.41050634e-05 9.99934330e-01 -7.35066183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:-5.19, Z:-0.73 [[ 9.79804696e-01 1.99641020e-01 1.12347909e-02 5.93397531e+01] [-1.99628211e-01 9.79869105e-01 -2.26165523e-03 -5.18740681e+00] [-1.14601437e-02 -2.68007944e-05 9.99934330e-01 -7.32549291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-5.20, Z:-0.73 [[ 9.78862334e-01 2.04211470e-01 1.12342233e-02 5.94014875e+01] [-2.04198929e-01 9.78926795e-01 -2.26447119e-03 -5.20116289e+00] [-1.14599132e-02 -7.74108051e-05 9.99934330e-01 -7.29444559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:-5.21, Z:-0.73 [[ 9.78458249e-01 2.06138936e-01 1.12335651e-02 5.94621372e+01] [-2.06126485e-01 9.78522728e-01 -2.26773150e-03 -5.21416551e+00] [-1.14597666e-02 -9.66547076e-05 9.99934330e-01 -7.30048954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:-5.23, Z:-0.73 [[ 9.78629959e-01 2.05322246e-01 1.12329570e-02 5.95236079e+01] [-2.05309706e-01 9.78694420e-01 -2.27073983e-03 -5.22867756e+00] [-1.14598657e-02 -8.40210771e-05 9.99934330e-01 -7.34609782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:-5.24, Z:-0.74 [[ 9.78556658e-01 2.05671345e-01 1.12323084e-02 5.95838574e+01] [-2.05658791e-01 9.78621117e-01 -2.27394368e-03 -5.24123200e+00] [-1.14598592e-02 -8.48402378e-05 9.99934330e-01 -7.39134771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-5.25, Z:-0.74 [[ 9.77827322e-01 2.09111401e-01 1.12317092e-02 5.96456357e+01] [-2.09099040e-01 9.77891818e-01 -2.27689928e-03 -5.25140268e+00] [-1.14595222e-02 -1.22125299e-04 9.99934330e-01 -7.41252224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-5.26, Z:-0.74 [[ 9.76840726e-01 2.13672785e-01 1.12310766e-02 5.97075571e+01] [-2.13660690e-01 9.76905272e-01 -2.28001556e-03 -5.25818620e+00] [-1.14588752e-02 -1.72427523e-04 9.99934330e-01 -7.44915036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:-5.27, Z:-0.74 [[ 9.77127921e-01 2.12355591e-01 1.12306860e-02 5.97693708e+01] [-2.12343387e-01 9.77192447e-01 -2.28193799e-03 -5.27092078e+00] [-1.14591238e-02 -1.55016571e-04 9.99934330e-01 -7.44590929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-5.29, Z:-0.74 [[ 9.77580830e-01 2.10260804e-01 1.12300608e-02 5.98304159e+01] [-2.10248426e-01 9.77645323e-01 -2.28501071e-03 -5.28654866e+00] [-1.14594646e-02 -1.27319939e-04 9.99934330e-01 -7.44081107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.30, Z:-0.75 [[ 9.78511746e-01 2.05885072e-01 1.12294066e-02 5.98910953e+01] [-2.05872369e-01 9.78576176e-01 -2.28822087e-03 -5.30243638e+00] [-1.14599403e-02 -7.27735509e-05 9.99934330e-01 -7.46364328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.31, Z:-0.75 [[ 9.78972737e-01 2.03681849e-01 1.12287613e-02 5.99524542e+01] [-2.03668964e-01 9.79037130e-01 -2.29138336e-03 -5.31489876e+00] [-1.14600874e-02 -4.37483432e-05 9.99934330e-01 -7.47791676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:-5.32, Z:-0.75 [[ 9.79317835e-01 2.02016109e-01 1.12281050e-02 6.00149434e+01] [-2.02003078e-01 9.79382199e-01 -2.29459476e-03 -5.32437569e+00] [-1.14601513e-02 -2.09742015e-05 9.99934330e-01 -7.46800908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:-5.33, Z:-0.75 [[ 9.79877206e-01 1.99285239e-01 1.12274496e-02 6.00763575e+01] [-1.99271992e-01 9.79941526e-01 -2.29779722e-03 -5.33283636e+00] [-1.14601611e-02 1.42428741e-05 9.99934330e-01 -7.45940766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:-5.35, Z:-0.75 [[ 9.80206592e-01 1.97658774e-01 1.12270459e-02 6.01380540e+01] [-1.97645397e-01 9.80270885e-01 -2.29976799e-03 -5.34540588e+00] [-1.14601155e-02 3.52737977e-05 9.99934330e-01 -7.46727971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:-5.36, Z:-0.75 [[ 9.80690788e-01 1.95242277e-01 1.12263941e-02 6.01990151e+01] [-1.95228706e-01 9.80755040e-01 -2.30294535e-03 -5.36028060e+00] [-1.14599749e-02 6.67628955e-05 9.99934330e-01 -7.48681693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:-5.37, Z:-0.75 [[ 9.80669936e-01 1.95347025e-01 1.12257350e-02 6.02610117e+01] [-1.95333424e-01 9.80734182e-01 -2.30615365e-03 -5.37339592e+00] [-1.14599623e-02 6.88142955e-05 9.99934330e-01 -7.50562120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.39, Z:-0.76 [[ 9.80093189e-01 1.98220431e-01 1.12250808e-02 6.03217501e+01] [-1.98206982e-01 9.80157467e-01 -2.30933379e-03 -5.38608411e+00] [-1.14601039e-02 3.84729334e-05 9.99934330e-01 -7.55035069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.40, Z:-0.76 [[ 9.78995982e-01 2.03570326e-01 1.12245149e-02 6.03831244e+01] [-2.03557197e-01 9.79060326e-01 -2.31208093e-03 -5.39751417e+00] [-1.14601483e-02 -2.13128491e-05 9.99934330e-01 -7.55702592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.41, Z:-0.76 [[ 9.78330898e-01 2.06743027e-01 1.12238560e-02 6.04447830e+01] [-2.06730070e-01 9.78395277e-01 -2.31527483e-03 -5.40934256e+00] [-1.14600347e-02 -5.52036420e-05 9.99934330e-01 -7.56357909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-5.42, Z:-0.75 [[ 9.78061207e-01 2.08015179e-01 1.12232034e-02 6.05058623e+01] [-2.08002269e-01 9.78125596e-01 -2.31843420e-03 -5.42165238e+00] [-1.14599720e-02 -6.68812181e-05 9.99934330e-01 -7.54773028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.44, Z:-0.75 [[ 9.78588385e-01 2.05520865e-01 1.12226299e-02 6.05673027e+01] [-2.05507759e-01 9.78652734e-01 -2.32120680e-03 -5.43542168e+00] [-1.14601139e-02 -3.48315112e-05 9.99934330e-01 -7.53274222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:-5.45, Z:-0.75 [[ 9.78639194e-01 2.05278823e-01 1.12219771e-02 6.06275110e+01] [-2.05265665e-01 9.78703532e-01 -2.32435891e-03 -5.44841601e+00] [-1.14601302e-02 -2.87778549e-05 9.99934330e-01 -7.53571860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.69, Y:-5.46, Z:-0.76 [[ 9.78195760e-01 2.07381619e-01 1.12213737e-02 6.06895458e+01] [-2.07368566e-01 9.78260120e-01 -2.32726822e-03 -5.45929089e+00] [-1.14600550e-02 -5.04362632e-05 9.99934330e-01 -7.55964958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.75, Y:-5.47, Z:-0.76 [[ 9.77926054e-01 2.08649776e-01 1.12207148e-02 6.07515271e+01] [-2.08636770e-01 9.77990423e-01 -2.33044046e-03 -5.47012815e+00] [-1.14599975e-02 -6.20552569e-05 9.99934330e-01 -7.63352056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.81, Y:-5.48, Z:-0.77 [[ 9.77791291e-01 2.09280437e-01 1.12200601e-02 6.08121557e+01] [-2.09267437e-01 9.77855661e-01 -2.33358858e-03 -5.48159955e+00] [-1.14599737e-02 -6.62306179e-05 9.99934330e-01 -7.68497544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.87, Y:-5.49, Z:-0.77 [[ 9.77724809e-01 2.09590843e-01 1.12194781e-02 6.08727280e+01] [-2.09577831e-01 9.77789177e-01 -2.33638301e-03 -5.49248033e+00] [-1.14599688e-02 -6.70142700e-05 9.99934330e-01 -7.72094594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.93, Y:-5.50, Z:-0.77 [[ 9.77966337e-01 2.08460977e-01 1.12189050e-02 6.09347417e+01] [-2.08447859e-01 9.78030684e-01 -2.33913184e-03 -5.50341649e+00] [-1.14600511e-02 -5.09645348e-05 9.99934330e-01 -7.71521925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:61.00, Y:-5.51, Z:-0.77 [[ 9.78816181e-01 2.04433447e-01 1.12182357e-02 6.09970713e+01] [-2.04420028e-01 9.78880465e-01 -2.34233721e-03 -5.51240498e+00] [-1.14601639e-02 -5.14505202e-07 9.99934330e-01 -7.73118610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.06, Y:-5.53, Z:-0.77 [[ 9.79398420e-01 2.01625646e-01 1.12175696e-02 6.10578550e+01] [-2.01612006e-01 9.79462658e-01 -2.34552304e-03 -5.52540426e+00] [-1.14601081e-02 3.56048434e-05 9.99934330e-01 -7.69689627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:-5.54, Z:-0.77 [[ 9.79612240e-01 2.00584243e-01 1.12169900e-02 6.11182207e+01] [-2.00570503e-01 9.79676456e-01 -2.34829175e-03 -5.53856933e+00] [-1.14600513e-02 5.06180203e-05 9.99934330e-01 -7.71274417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:-5.55, Z:-0.77 [[ 9.79453669e-01 2.01357155e-01 1.12163770e-02 6.11794666e+01] [-2.01343432e-01 9.79517889e-01 -2.35121588e-03 -5.55169017e+00] [-1.14600761e-02 4.45631853e-05 9.99934330e-01 -7.72227425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.917628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:-5.57, Z:-0.77 [[ 9.78848178e-01 2.04280328e-01 1.12157176e-02 6.12392472e+01] [-2.04266761e-01 9.78912431e-01 -2.35435703e-03 -5.56616372e+00] [-1.14601542e-02 1.35597800e-05 9.99934330e-01 -7.74559350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:-5.58, Z:-0.77 [[ 9.78135820e-01 2.07664483e-01 1.12151904e-02 6.13003177e+01] [-2.07651110e-01 9.78200113e-01 -2.35686586e-03 -5.58109451e+00] [-1.14601379e-02 -2.35118128e-05 9.99934330e-01 -7.73779683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.36, Y:-5.60, Z:-0.78 [[ 9.77004471e-01 2.12923688e-01 1.12145467e-02 6.13603006e+01] [-2.12910626e-01 9.77068829e-01 -2.35992487e-03 -5.59601355e+00] [-1.14598679e-02 -8.20390019e-05 9.99934330e-01 -7.77823172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.097628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:61.42, Y:-5.61, Z:-0.78 [[ 9.76012867e-01 2.17423849e-01 1.12139639e-02 6.14213289e+01] [-2.17411051e-01 9.76077278e-01 -2.36269099e-03 -5.60887366e+00] [-1.14594007e-02 -1.32022872e-04 9.99934330e-01 -7.78723302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.48, Y:-5.62, Z:-0.77 [[ 9.74491565e-01 2.24143815e-01 1.12133651e-02 6.14812484e+01] [-2.24131429e-01 9.74556056e-01 -2.36552955e-03 -5.61993059e+00] [-1.14582717e-02 -2.08078951e-04 9.99934330e-01 -7.73616828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:-5.63, Z:-0.77 [[ 9.74302098e-01 2.24965986e-01 1.12128173e-02 6.15420789e+01] [-2.24953624e-01 9.74366594e-01 -2.36812307e-03 -5.63095245e+00] [-1.14581418e-02 -2.15096616e-04 9.99934330e-01 -7.70943564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:-5.64, Z:-0.77 [[ 9.74728625e-01 2.23110719e-01 1.12122219e-02 6.16023027e+01] [-2.23098202e-01 9.74793091e-01 -2.37093865e-03 -5.64483539e+00] [-1.14585783e-02 -1.90404784e-04 9.99934330e-01 -7.67673381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:-5.66, Z:-0.77 [[ 9.75525330e-01 2.19601070e-01 1.12116306e-02 6.16609733e+01] [-2.19588290e-01 9.75589744e-01 -2.37373176e-03 -5.66142758e+00] [-1.14592258e-02 -1.46307328e-04 9.99934330e-01 -7.70999318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:-5.68, Z:-0.78 [[ 9.75865696e-01 2.18083597e-01 1.12110895e-02 6.17215043e+01] [-2.18070687e-01 9.75930084e-01 -2.37628433e-03 -5.67605789e+00] [-1.14594682e-02 -1.25875638e-04 9.99934330e-01 -7.76854663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:-5.69, Z:-0.78 [[ 9.75427511e-01 2.20035217e-01 1.12104928e-02 6.17822704e+01] [-2.20022403e-01 9.75491918e-01 -2.37909626e-03 -5.68793268e+00] [-1.14592301e-02 -1.45923621e-04 9.99934330e-01 -7.80690271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:-5.70, Z:-0.78 [[ 9.74632948e-01 2.23528420e-01 1.12099025e-02 6.18442525e+01] [-2.23515806e-01 9.74697395e-01 -2.38187445e-03 -5.69713855e+00] [-1.14586794e-02 -1.84137070e-04 9.99934330e-01 -7.83469156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-5.71, Z:-0.78 [[ 9.74447247e-01 2.24336589e-01 1.12096940e-02 6.19047919e+01] [-2.24324016e-01 9.74511702e-01 -2.38285541e-03 -5.70924350e+00] [-1.14585396e-02 -1.92636678e-04 9.99934330e-01 -7.80662559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:-5.72, Z:-0.78 [[ 9.75028736e-01 2.21795671e-01 1.12090992e-02 6.19636723e+01] [-2.21782898e-01 9.75093152e-01 -2.38564979e-03 -5.72470367e+00] [-1.14590427e-02 -1.59909408e-04 9.99934330e-01 -7.75950497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:-5.74, Z:-0.78 [[ 9.76142173e-01 2.16842861e-01 1.12085548e-02 6.20233407e+01] [-2.16829732e-01 9.76206517e-01 -2.38820520e-03 -5.73916450e+00] [-1.14597294e-02 -9.91201094e-05 9.99934330e-01 -7.75817801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:-5.75, Z:-0.78 [[ 9.76688466e-01 2.14368888e-01 1.12080192e-02 6.20848283e+01] [-2.14355567e-01 9.76752771e-01 -2.39071572e-03 -5.75426976e+00] [-1.14599589e-02 -6.75168457e-05 9.99934330e-01 -7.75244496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.15, Y:-5.77, Z:-0.78 [[ 9.76833905e-01 2.13705210e-01 1.12073352e-02 6.21462967e+01] [-2.13691809e-01 9.76898193e-01 -2.39391797e-03 -5.76851844e+00] [-1.14600183e-02 -5.64554930e-05 9.99934330e-01 -7.75639653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.78, Z:-0.78 [[ 9.76772840e-01 2.13984180e-01 1.12066535e-02 6.22073622e+01] [-2.13970761e-01 9.76837124e-01 -2.39710503e-03 -5.78236186e+00] [-1.14600178e-02 -5.64690978e-05 9.99934330e-01 -7.76078155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.79, Z:-0.78 [[ 9.76454407e-01 2.15432605e-01 1.12064391e-02 6.22674610e+01] [-2.15419269e-01 9.76518708e-01 -2.39810714e-03 -5.79360963e+00] [-1.14599279e-02 -7.24406280e-05 9.99934330e-01 -7.79350499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.33, Y:-5.80, Z:-0.78 [[ 9.76508871e-01 2.15185611e-01 1.12061015e-02 6.23288533e+01] [-2.15172242e-01 9.76573166e-01 -2.39968357e-03 -5.80491719e+00] [-1.14599554e-02 -6.79296861e-05 9.99934330e-01 -7.83037564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:-5.82, Z:-0.78 [[ 9.77793899e-01 2.09269034e-01 1.12054965e-02 6.23896671e+01] [-2.09255243e-01 9.77858104e-01 -2.40250519e-03 -5.81841052e+00] [-1.14601555e-02 4.34601702e-06 9.99934330e-01 -7.84931882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117627999999996 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:-5.83, Z:-0.79 [[ 9.79724598e-01 2.00035407e-01 1.12048577e-02 6.24505069e+01] [-2.00020976e-01 9.79788662e-01 -2.40548094e-03 -5.83122717e+00] [-1.14595739e-02 1.15502272e-04 9.99934330e-01 -7.85093173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:-5.84, Z:-0.78 [[ 9.80368818e-01 1.96853868e-01 1.12042617e-02 6.25107353e+01] [-1.96839198e-01 9.80432828e-01 -2.40825399e-03 -5.84442114e+00] [-1.14591001e-02 1.55539235e-04 9.99934330e-01 -7.82937398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:-5.85, Z:-0.78 [[ 9.80692077e-01 1.95237108e-01 1.12036675e-02 6.25719052e+01] [-1.95222301e-01 9.80756055e-01 -2.41101508e-03 -5.85400955e+00] [-1.14587843e-02 1.77257641e-04 9.99934330e-01 -7.80897420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.63, Y:-5.87, Z:-0.78 [[ 9.79415048e-01 2.01545664e-01 1.12030505e-02 6.26307356e+01] [-2.01531236e-01 9.79479114e-01 -2.41387872e-03 -5.86994449e+00] [-1.14596607e-02 1.06424533e-04 9.99934330e-01 -7.82687585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.69, Y:-5.88, Z:-0.78 [[ 9.79199623e-01 2.02589741e-01 1.12024868e-02 6.26920001e+01] [-2.02575351e-01 9.79263697e-01 -2.41649172e-03 -5.88062166e+00] [-1.14597451e-02 9.68800760e-05 9.99934330e-01 -7.83947816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:-5.89, Z:-0.79 [[ 9.77615335e-01 2.10101822e-01 1.12018586e-02 6.27513339e+01] [-2.10087892e-01 9.77679510e-01 -2.41940035e-03 -5.89464072e+00] [-1.14601480e-02 1.18680288e-05 9.99934330e-01 -7.89646219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:-5.91, Z:-0.79 [[ 9.76436373e-01 2.15514595e-01 1.12012875e-02 6.28120422e+01] [-2.15500990e-01 9.76500618e-01 -2.42204147e-03 -5.90947452e+00] [-1.14600495e-02 -4.89191574e-05 9.99934330e-01 -7.88858034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:-5.92, Z:-0.79 [[ 9.76024535e-01 2.17372151e-01 1.12006930e-02 6.28723503e+01] [-2.17358637e-01 9.76088799e-01 -2.42478767e-03 -5.92343006e+00] [-1.14599523e-02 -6.79151096e-05 9.99934330e-01 -7.88114583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.93, Y:-5.94, Z:-0.78 [[ 9.75800297e-01 2.18376598e-01 1.12001010e-02 6.29323217e+01] [-2.18363119e-01 9.75864568e-01 -2.42751910e-03 -5.93964259e+00] [-1.14598951e-02 -7.69151237e-05 9.99934330e-01 -7.84883710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.99, Y:-5.96, Z:-0.78 [[ 9.75845856e-01 2.18172952e-01 1.11995083e-02 6.29922294e+01] [-2.18159428e-01 9.75910118e-01 -2.43025039e-03 -5.95514387e+00] [-1.14599284e-02 -7.17285461e-05 9.99934330e-01 -7.82529958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.05, Y:-5.97, Z:-0.78 [[ 9.76241864e-01 2.16394101e-01 1.11989111e-02 6.30532572e+01] [-2.16380428e-01 9.76306095e-01 -2.43299922e-03 -5.97018207e+00] [-1.14600518e-02 -4.80294833e-05 9.99934330e-01 -7.84492344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:-5.98, Z:-0.79 [[ 9.76481025e-01 2.15312348e-01 1.11982357e-02 6.31143527e+01] [-2.15298569e-01 9.76545233e-01 -2.43610379e-03 -5.98457021e+00] [-1.14601069e-02 -3.21550020e-05 9.99934330e-01 -7.85993927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:-6.00, Z:-0.79 [[ 9.76254301e-01 2.16338058e-01 1.11975451e-02 6.31741726e+01] [-2.16324310e-01 9.76318515e-01 -2.43927417e-03 -5.99715586e+00] [-1.14600784e-02 -4.09493221e-05 9.99934330e-01 -7.87860583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.23, Y:-6.01, Z:-0.79 [[ 9.76161353e-01 2.16757101e-01 1.11969931e-02 6.32346125e+01] [-2.16743351e-01 9.76225567e-01 -2.44180554e-03 -6.00678289e+00] [-1.14600696e-02 -4.32775957e-05 9.99934330e-01 -7.89942130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:-6.02, Z:-0.79 [[ 9.75921075e-01 2.17836383e-01 1.11966639e-02 6.32956025e+01] [-2.17822687e-01 9.75985301e-01 -2.44331378e-03 -6.01892223e+00] [-1.14600221e-02 -5.44060116e-05 9.99934330e-01 -7.89352493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:-6.03, Z:-0.79 [[ 9.75907284e-01 2.17898187e-01 1.11960846e-02 6.33566223e+01] [-2.17884465e-01 9.75971504e-01 -2.44596543e-03 -6.03122943e+00] [-1.14600310e-02 -5.24174295e-05 9.99934330e-01 -7.89398399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:-6.04, Z:-0.79 [[ 9.76217021e-01 2.16506325e-01 1.11954742e-02 6.34179506e+01] [-2.16492479e-01 9.76281215e-01 -2.44875642e-03 -6.04482744e+00] [-1.14601024e-02 -3.32182579e-05 9.99934330e-01 -7.90425009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:-6.06, Z:-0.79 [[ 9.76205558e-01 2.16558042e-01 1.11947797e-02 6.34776555e+01] [-2.16544163e-01 9.76269744e-01 -2.45192718e-03 -6.05970229e+00] [-1.14601093e-02 -3.05792612e-05 9.99934330e-01 -7.87481823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.54, Y:-6.07, Z:-0.79 [[ 9.75891582e-01 2.17968596e-01 1.11942247e-02 6.35380290e+01] [-2.17954781e-01 9.75955782e-01 -2.45445845e-03 -6.07215993e+00] [-1.14600632e-02 -4.45494550e-05 9.99934330e-01 -7.86519196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:-6.09, Z:-0.79 [[ 9.74992662e-01 2.21954962e-01 1.11938898e-02 6.35984862e+01] [-2.21941392e-01 9.75056915e-01 -2.45598496e-03 -6.08558501e+00] [-1.14597977e-02 -8.98201606e-05 9.99934330e-01 -7.88779238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:-6.10, Z:-0.79 [[ 9.74222901e-01 2.25309673e-01 1.11932838e-02 6.36588212e+01] [-2.25296292e-01 9.74287193e-01 -2.45874349e-03 -6.09993340e+00] [-1.14594518e-02 -1.26441125e-04 9.99934330e-01 -7.90892546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-6.11, Z:-0.79 [[ 9.73596881e-01 2.27999642e-01 1.11926821e-02 6.37192143e+01] [-2.27986407e-01 9.73661203e-01 -2.46147980e-03 -6.11443316e+00] [-1.14590968e-02 -1.55290318e-04 9.99934330e-01 -7.91887240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:-6.13, Z:-0.79 [[ 9.74418716e-01 2.24461363e-01 1.11920739e-02 6.37794030e+01] [-2.24447863e-01 9.74482983e-01 -2.46424175e-03 -6.13010149e+00] [-1.14596127e-02 -1.10833801e-04 9.99934330e-01 -7.92661245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:-6.15, Z:-0.79 [[ 9.75789246e-01 2.18426403e-01 1.11916439e-02 6.38390796e+01] [-2.18412484e-01 9.75853424e-01 -2.46619322e-03 -6.14708882e+00] [-1.14600857e-02 -3.79099193e-05 9.99934330e-01 -7.91090625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.90, Y:-6.16, Z:-0.79 [[ 9.78122621e-01 2.07727946e-01 1.11910631e-02 6.38991803e+01] [-2.07713294e-01 9.78186635e-01 -2.46882611e-03 -6.16477790e+00] [-1.14597925e-02 9.02820884e-05 9.99934330e-01 -7.88439639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617627999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:-6.18, Z:-0.79 [[ 9.79374346e-01 2.01744055e-01 1.11904494e-02 6.39587118e+01] [-2.01728980e-01 9.79438262e-01 -2.47160450e-03 -6.17739340e+00] [-1.14589859e-02 1.63188093e-04 9.99934330e-01 -7.88874061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:-6.19, Z:-0.79 [[ 9.80973594e-01 1.93818456e-01 1.11898890e-02 6.40203067e+01] [-1.93802836e-01 9.81037379e-01 -2.47413920e-03 -6.18666850e+00] [-1.14572332e-02 2.58433006e-04 9.99934330e-01 -7.88525437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:-6.20, Z:-0.79 [[ 9.81218741e-01 1.92573579e-01 1.11892257e-02 6.40793389e+01] [-1.92557844e-01 9.81282498e-01 -2.47713511e-03 -6.20078872e+00] [-1.14568222e-02 2.76038202e-04 9.99934330e-01 -7.90708751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:-6.21, Z:-0.79 [[ 9.81424246e-01 1.91523533e-01 1.11886235e-02 6.41399960e+01] [-1.91507699e-01 9.81487978e-01 -2.47985230e-03 -6.21276531e+00] [-1.14564495e-02 2.91079640e-04 9.99934330e-01 -7.93080022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:-6.22, Z:-0.79 [[ 9.81439503e-01 1.91445371e-01 1.11880199e-02 6.42022738e+01] [-1.91429501e-01 9.81503226e-01 -2.48257235e-03 -6.22073521e+00] [-1.14563546e-02 2.94777508e-04 9.99934330e-01 -7.90972077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:-6.23, Z:-0.79 [[ 9.81063079e-01 1.93365145e-01 1.11873148e-02 6.42636631e+01] [-1.93349363e-01 9.81126824e-01 -2.48574608e-03 -6.23022583e+00] [-1.14568312e-02 2.75613517e-04 9.99934330e-01 -7.91935776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:-6.24, Z:-0.79 [[ 9.80218050e-01 1.97604236e-01 1.11866628e-02 6.43266185e+01] [-1.97588696e-01 9.80281854e-01 -2.48867666e-03 -6.23591187e+00] [-1.14578556e-02 2.29087668e-04 9.99934330e-01 -7.90713719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:-6.24, Z:-0.79 [[ 9.79016540e-01 2.03473557e-01 1.11859547e-02 6.43895076e+01] [-2.03458364e-01 9.79080428e-01 -2.49185546e-03 -6.24305652e+00] [-1.14589760e-02 1.63691679e-04 9.99934330e-01 -7.90428843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:-6.25, Z:-0.79 [[ 9.78159732e-01 2.07553435e-01 1.11852563e-02 6.44523436e+01] [-2.07538472e-01 9.78223675e-01 -2.49498619e-03 -6.25192109e+00] [-1.14595255e-02 1.19124021e-04 9.99934330e-01 -7.90904648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.25, Z:-0.80 [[ 9.78154337e-01 2.07578895e-01 1.11845602e-02 6.45159175e+01] [-2.07563899e-01 9.78218272e-01 -2.49810271e-03 -6.25200972e+00] [-1.14594946e-02 1.22019076e-04 9.99934330e-01 -7.97642876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.27, Z:-0.79 [[ 9.76207811e-01 2.16548447e-01 1.11839338e-02 6.45769114e+01] [-2.16534006e-01 9.76271873e-01 -2.50090415e-03 -6.26820059e+00] [-1.14601269e-02 1.97001716e-05 9.99934330e-01 -7.89377048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.28, Z:-0.79 [[ 9.75950316e-01 2.17706032e-01 1.11832287e-02 6.46391252e+01] [-2.17691631e-01 9.76014387e-01 -2.50405304e-03 -6.27672232e+00] [-1.14601396e-02 9.33605645e-06 9.99934330e-01 -7.91276296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.29, Z:-0.80 [[ 9.76156600e-01 2.16779249e-01 1.11825181e-02 6.47008262e+01] [-2.16764751e-01 9.76220650e-01 -2.50722226e-03 -6.28845137e+00] [-1.14601189e-02 2.34657978e-05 9.99934330e-01 -7.95733305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.30, Z:-0.79 [[ 9.76711537e-01 2.14265116e-01 1.11818136e-02 6.47626765e+01] [-2.14250417e-01 9.76775541e-01 -2.51036042e-03 -6.29995984e+00] [-1.14600047e-02 5.61897490e-05 9.99934330e-01 -7.94435909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.457628 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.31, Z:-0.80 [[ 9.77429949e-01 2.10963688e-01 1.11810868e-02 6.48233555e+01] [-2.10948736e-01 9.77493894e-01 -2.51359369e-03 -6.31300225e+00] [-1.14597210e-02 9.82256329e-05 9.99934330e-01 -7.98874418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:-6.32, Z:-0.80 [[ 9.78705461e-01 2.04964921e-01 1.11804464e-02 6.48845937e+01] [-2.04949545e-01 9.78769305e-01 -2.51643899e-03 -6.32454033e+00] [-1.14588594e-02 1.71425190e-04 9.99934330e-01 -7.99227066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:-6.34, Z:-0.80 [[ 9.80642531e-01 1.95487182e-01 1.11797698e-02 6.49455965e+01] [-1.95471154e-01 9.80706215e-01 -2.51944127e-03 -6.33726396e+00] [-1.14565882e-02 2.85348764e-04 9.99934330e-01 -8.00863947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-6.35, Z:-0.81 [[ 9.82919229e-01 1.83697620e-01 1.11791426e-02 6.50056439e+01] [-1.83680798e-01 9.82982707e-01 -2.52222125e-03 -6.35057263e+00] [-1.14522299e-02 4.25745944e-04 9.99934330e-01 -8.05121993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-6.36, Z:-0.80 [[ 9.84162947e-01 1.76913354e-01 1.11785262e-02 6.50662166e+01] [-1.76896062e-01 9.84226299e-01 -2.52494985e-03 -6.36236335e+00] [-1.14488968e-02 5.07524809e-04 9.99934330e-01 -8.03193609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:-6.37, Z:-0.80 [[ 9.85607519e-01 1.68679795e-01 1.11779148e-02 6.51273108e+01] [-1.68661945e-01 9.85670716e-01 -2.52765368e-03 -6.37239479e+00] [-1.14441074e-02 6.05985629e-04 9.99934330e-01 -8.00700985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.38, Z:-0.80 [[ 9.85897329e-01 1.66977616e-01 1.11772847e-02 6.51887047e+01] [-1.66959624e-01 9.85960486e-01 -2.53043698e-03 -6.38431630e+00] [-1.14428874e-02 6.28595804e-04 9.99934330e-01 -7.98653661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.39, Z:-0.80 [[ 9.84996803e-01 1.72210288e-01 1.11765525e-02 6.52496830e+01] [-1.72192595e-01 9.85060044e-01 -2.53366698e-03 -6.39178287e+00] [-1.14458988e-02 5.71134295e-04 9.99934330e-01 -7.97199195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:-6.40, Z:-0.80 [[ 9.83829286e-01 1.78759710e-01 1.11759673e-02 6.53116716e+01] [-1.78742409e-01 9.83892636e-01 -2.53624552e-03 -6.40016102e+00] [-1.14493304e-02 4.97613292e-04 9.99934330e-01 -7.96180211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.38, Y:-6.41, Z:-0.80 [[ 9.81846051e-01 1.89350060e-01 1.11753011e-02 6.53752817e+01] [-1.89333410e-01 9.81909574e-01 -2.53917772e-03 -6.40605199e+00] [-1.14539286e-02 3.77223755e-04 9.99934330e-01 -7.95921798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.41, Z:-0.80 [[ 9.79925748e-01 1.99049383e-01 1.11745933e-02 6.54380628e+01] [-1.99033326e-01 9.79989424e-01 -2.54228884e-03 -6.41240177e+00] [-1.14570243e-02 2.67137823e-04 9.99934330e-01 -7.97665484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.50, Y:-6.42, Z:-0.80 [[ 9.77879498e-01 2.08870346e-01 1.11743711e-02 6.55005314e+01] [-2.08854917e-01 9.77943329e-01 -2.54326490e-03 -6.41929340e+00] [-1.14591143e-02 1.53184249e-04 9.99934330e-01 -7.99620117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.43, Z:-0.80 [[ 9.76601960e-01 2.14764431e-01 1.11736333e-02 6.55618185e+01] [-2.14749351e-01 9.76665875e-01 -2.54650250e-03 -6.42975089e+00] [-1.14598045e-02 8.73888421e-05 9.99934330e-01 -8.01199045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:-6.44, Z:-0.80 [[ 9.74476369e-01 2.24211879e-01 1.11731773e-02 6.56235981e+01] [-2.24197396e-01 9.74540421e-01 -2.54850135e-03 -6.44183825e+00] [-1.14601172e-02 -2.15429289e-05 9.99934330e-01 -8.01439561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.46, Z:-0.80 [[ 9.73407868e-01 2.28806246e-01 1.11724556e-02 6.56848204e+01] [-2.28792029e-01 9.73471980e-01 -2.55166151e-03 -6.45530520e+00] [-1.14599086e-02 -7.23613963e-05 9.99934330e-01 -8.01986967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.47, Z:-0.80 [[ 9.72974537e-01 2.30642023e-01 1.11717403e-02 6.57453262e+01] [-2.30627891e-01 9.73038668e-01 -2.55478958e-03 -6.47115521e+00] [-1.14597771e-02 -9.07696885e-05 9.99934330e-01 -8.04024049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:-6.49, Z:-0.80 [[ 9.72935666e-01 2.30805969e-01 1.11711115e-02 6.58057957e+01] [-2.30791816e-01 9.72999793e-01 -2.55753587e-03 -6.48973951e+00] [-1.14597837e-02 -8.98832486e-05 9.99934330e-01 -8.04427191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:-6.51, Z:-0.81 [[ 9.72406838e-01 2.33023954e-01 1.11703996e-02 6.58651272e+01] [-2.33009912e-01 9.72470989e-01 -2.56064169e-03 -6.50866190e+00] [-1.14595804e-02 -1.12828327e-04 9.99934330e-01 -8.05241164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:-6.53, Z:-0.81 [[ 9.71891298e-01 2.35164924e-01 1.11697412e-02 6.59248005e+01] [-2.35150991e-01 9.71955472e-01 -2.56351044e-03 -6.52539156e+00] [-1.14593388e-02 -1.35122215e-04 9.99934330e-01 -8.07316029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:-6.55, Z:-0.81 [[ 9.71473031e-01 2.36886895e-01 1.11691372e-02 6.59841802e+01] [-2.36873045e-01 9.71537223e-01 -2.56613928e-03 -6.54676830e+00] [-1.14591173e-02 -1.52732431e-04 9.99934330e-01 -8.07098957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:-6.56, Z:-0.81 [[ 9.71398791e-01 2.37191155e-01 1.11689112e-02 6.60437901e+01] [-2.37177313e-01 9.71462985e-01 -2.56712234e-03 -6.56310165e+00] [-1.14590826e-02 -1.55312821e-04 9.99934330e-01 -8.08827885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.10, Y:-6.58, Z:-0.81 [[ 9.71602111e-01 2.36356952e-01 1.11682430e-02 6.61019797e+01] [-2.36343022e-01 9.71666286e-01 -2.57002621e-03 -6.58489542e+00] [-1.14592488e-02 -1.42493408e-04 9.99934331e-01 -8.10301998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.16, Y:-6.61, Z:-0.81 [[ 9.72641712e-01 2.32041771e-01 1.11676530e-02 6.61612164e+01] [-2.32027527e-01 9.72705818e-01 -2.57258728e-03 -6.60692320e+00] [-1.14597888e-02 -8.89972111e-05 9.99934331e-01 -8.08124144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:-6.63, Z:-0.81 [[ 9.74809915e-01 2.22757559e-01 1.11668859e-02 6.62178609e+01] [-2.22742666e-01 9.74873874e-01 -2.57591287e-03 -6.63254678e+00] [-1.14601094e-02 2.36834724e-05 9.99934331e-01 -8.09342780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.65, Z:-0.81 [[ 9.76365892e-01 2.15835491e-01 1.11662743e-02 6.62773760e+01] [-2.15820114e-01 9.76429736e-01 -2.57856155e-03 -6.65313736e+00] [-1.14596273e-02 1.07712966e-04 9.99934331e-01 -8.07770330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:-6.68, Z:-0.81 [[ 9.78031355e-01 2.08158593e-01 1.11655514e-02 6.63366489e+01] [-2.08142679e-01 9.78095067e-01 -2.58168789e-03 -6.67775241e+00] [-1.14583713e-02 2.00943920e-04 9.99934331e-01 -8.08508227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:-6.69, Z:-0.81 [[ 9.79896156e-01 1.99195559e-01 1.11648168e-02 6.63968856e+01] [-1.99179027e-01 9.79959710e-01 -2.58486067e-03 -6.69426196e+00] [-1.14559634e-02 3.09097687e-04 9.99934331e-01 -8.12381498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:-6.72, Z:-0.81 [[ 9.78485340e-01 2.06014079e-01 1.11641234e-02 6.64538104e+01] [-2.05997956e-01 9.78549000e-01 -2.58785205e-03 -6.72010683e+00] [-1.14577758e-02 2.32388692e-04 9.99934331e-01 -8.05354934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:-6.74, Z:-0.81 [[ 9.77458989e-01 2.10830030e-01 1.11634940e-02 6.65115456e+01] [-2.10814190e-01 9.77522719e-01 -2.59056435e-03 -6.73996933e+00] [-1.14587378e-02 1.78747465e-04 9.99934331e-01 -8.07838334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:-6.76, Z:-0.81 [[ 9.76291861e-01 2.16170286e-01 1.11628949e-02 6.65710389e+01] [-2.16154765e-01 9.76355669e-01 -2.59314337e-03 -6.76156818e+00] [-1.14595163e-02 1.18751835e-04 9.99934331e-01 -8.09512786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:-6.78, Z:-0.81 [[ 9.75288085e-01 2.20654837e-01 1.11621571e-02 6.66305746e+01] [-2.20639573e-01 9.75351956e-01 -2.59631540e-03 -6.78268989e+00] [-1.14599213e-02 6.93418997e-05 9.99934331e-01 -8.12777598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:-6.80, Z:-0.81 [[ 9.74348973e-01 2.24765438e-01 1.11614160e-02 6.66893349e+01] [-2.24750407e-01 9.74412899e-01 -2.59949744e-03 -6.80152647e+00] [-1.14601049e-02 2.42848673e-05 9.99934331e-01 -8.11401450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:-6.82, Z:-0.81 [[ 9.73253332e-01 2.29463266e-01 1.11607303e-02 6.67477841e+01] [-2.29448509e-01 9.73317322e-01 -2.60243830e-03 -6.82263338e+00] [-1.14600961e-02 -2.79811736e-05 9.99934331e-01 -8.12031212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:-6.84, Z:-0.81 [[ 9.72656428e-01 2.31980444e-01 1.11600565e-02 6.68059419e+01] [-2.31965820e-01 9.72720448e-01 -2.60532456e-03 -6.84461532e+00] [-1.14599995e-02 -5.46659664e-05 9.99934331e-01 -8.10371176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-6.86, Z:-0.81 [[ 9.71736273e-01 2.35805178e-01 1.11594260e-02 6.68669421e+01] [-2.35790775e-01 9.71800344e-01 -2.60802215e-03 -6.86127438e+00] [-1.14597192e-02 -9.69799862e-05 9.99934331e-01 -8.10535958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:-6.87, Z:-0.81 [[ 9.69999629e-01 2.42850167e-01 1.11586984e-02 6.69288330e+01] [-2.42836193e-01 9.70063794e-01 -2.61113146e-03 -6.87380729e+00] [-1.14587631e-02 -1.76939298e-04 9.99934331e-01 -8.12069281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:-6.88, Z:-0.82 [[ 9.70336412e-01 2.41501028e-01 1.11579740e-02 6.69906872e+01] [-2.41486929e-01 9.70400551e-01 -2.61422337e-03 -6.88270459e+00] [-1.14590418e-02 -1.57828764e-04 9.99934331e-01 -8.17438974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:-6.90, Z:-0.82 [[ 9.70986415e-01 2.38874226e-01 1.11573255e-02 6.70504503e+01] [-2.38859922e-01 9.71050508e-01 -2.61698853e-03 -6.89573559e+00] [-1.14594577e-02 -1.23977584e-04 9.99934331e-01 -8.21963736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-6.91, Z:-0.82 [[ 9.71834431e-01 2.35400438e-01 1.11567314e-02 6.71103602e+01] [-2.35385876e-01 9.71898466e-01 -2.61951856e-03 -6.91456776e+00] [-1.14598460e-02 -8.03986700e-05 9.99934331e-01 -8.19624688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:-6.93, Z:-0.82 [[ 9.71826674e-01 2.35432476e-01 1.11563829e-02 6.71721701e+01] [-2.35417899e-01 9.71890705e-01 -2.62100197e-03 -6.92844727e+00] [-1.14598538e-02 -7.92526054e-05 9.99934331e-01 -8.19647236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:67.23, Y:-6.94, Z:-0.82 [[ 9.72777777e-01 2.31471271e-01 1.11556376e-02 6.72323359e+01] [-2.31456397e-01 9.72841739e-01 -2.62417021e-03 -6.94170621e+00] [-1.14600899e-02 -2.93092335e-05 9.99934331e-01 -8.24420790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.29, Y:-6.96, Z:-0.82 [[ 9.73480621e-01 2.28497367e-01 1.11549897e-02 6.72926527e+01] [-2.28482267e-01 9.73544531e-01 -2.62692178e-03 -6.95781986e+00] [-1.14601239e-02 8.54011964e-06 9.99934331e-01 -8.18121125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.35, Y:-6.97, Z:-0.81 [[ 9.74863935e-01 2.22521658e-01 1.11543363e-02 6.73523502e+01] [-2.22506134e-01 9.74927744e-01 -2.62969307e-03 -6.97394108e+00] [-1.14598356e-02 8.16846897e-05 9.99934331e-01 -8.12629234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:-6.99, Z:-0.81 [[ 9.76110565e-01 2.16987929e-01 1.11536836e-02 6.74140861e+01] [-2.16972011e-01 9.76174276e-01 -2.63245859e-03 -6.98795303e+00] [-1.14591508e-02 1.49533473e-04 9.99934331e-01 -8.13187739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:-7.00, Z:-0.81 [[ 9.76287444e-01 2.16190746e-01 1.11529346e-02 6.74753391e+01] [-2.16174740e-01 9.76351133e-01 -2.63562800e-03 -7.00246955e+00] [-1.14589787e-02 1.62147778e-04 9.99934331e-01 -8.14907887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:-7.02, Z:-0.82 [[ 9.75640974e-01 2.19089749e-01 1.11521858e-02 6.75351208e+01] [-2.19073897e-01 9.75704701e-01 -2.63879290e-03 -7.01538450e+00] [-1.14593726e-02 1.31361688e-04 9.99934331e-01 -8.18950117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:-7.03, Z:-0.82 [[ 9.74324099e-01 2.24873723e-01 1.11515870e-02 6.75958869e+01] [-2.24858220e-01 9.74387913e-01 -2.64132073e-03 -7.02718951e+00] [-1.14599352e-02 6.59764304e-05 9.99934331e-01 -8.20597697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27762799999999 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:-7.04, Z:-0.82 [[ 9.73876026e-01 2.26806399e-01 1.11509451e-02 6.76562598e+01] [-2.26790992e-01 9.73939862e-01 -2.64402818e-03 -7.04125319e+00] [-1.14600324e-02 4.60217603e-05 9.99934331e-01 -8.22749981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337628 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:-7.06, Z:-0.82 [[ 9.73891551e-01 2.26739758e-01 1.11502657e-02 6.77170268e+01] [-2.26724313e-01 9.73955379e-01 -2.64689014e-03 -7.05565028e+00] [-1.14600165e-02 4.97476150e-05 9.99934331e-01 -8.23086866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397628 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:-7.07, Z:-0.82 [[ 9.74553767e-01 2.23876403e-01 1.11495479e-02 6.77778771e+01] [-2.23860736e-01 9.74617540e-01 -2.64990998e-03 -7.07007341e+00] [-1.14597973e-02 8.65337409e-05 9.99934331e-01 -8.21710736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.457628 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:-7.09, Z:-0.82 [[ 9.75330194e-01 2.20469307e-01 1.11488911e-02 6.78376196e+01] [-2.20453386e-01 9.75393904e-01 -2.65267058e-03 -7.08687089e+00] [-1.14593929e-02 1.29418913e-04 9.99934331e-01 -8.22670219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:-7.10, Z:-0.82 [[ 9.75025748e-01 2.21811876e-01 1.11482409e-02 6.78973834e+01] [-2.21796012e-01 9.75089472e-01 -2.65540026e-03 -7.10228070e+00] [-1.14595317e-02 1.16448250e-04 9.99934331e-01 -8.19587805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:-7.12, Z:-0.82 [[ 9.74690445e-01 2.23280693e-01 1.11475927e-02 6.79571753e+01] [-2.23264894e-01 9.74754185e-01 -2.65811889e-03 -7.11635766e+00] [-1.14596693e-02 1.01976988e-04 9.99934331e-01 -8.20653483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:-7.13, Z:-0.82 [[ 9.73956171e-01 2.26462191e-01 1.11469053e-02 6.80179448e+01] [-2.26446566e-01 9.74019954e-01 -2.66099815e-03 -7.13134367e+00] [-1.14599237e-02 6.75171283e-05 9.99934331e-01 -8.23478582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697628 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:-7.14, Z:-0.83 [[ 9.72973870e-01 2.30646074e-01 1.11461768e-02 6.80781565e+01] [-2.30630689e-01 9.73037712e-01 -2.66404645e-03 -7.14490191e+00] [-1.14601022e-02 2.13971557e-05 9.99934331e-01 -8.25773613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757628 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:-7.16, Z:-0.83 [[ 9.72246485e-01 2.33693280e-01 1.11455301e-02 6.81382582e+01] [-2.33678064e-01 9.72310368e-01 -2.66674900e-03 -7.15767885e+00] [-1.14601158e-02 -1.17285617e-05 9.99934331e-01 -8.28813162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.817628 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:68.20, Y:-7.17, Z:-0.83 [[ 9.72038765e-01 2.34555815e-01 1.11449377e-02 6.81989468e+01] [-2.34540627e-01 9.72102654e-01 -2.66922260e-03 -7.17029627e+00] [-1.14601052e-02 -1.93528418e-05 9.99934331e-01 -8.32214012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:68.26, Y:-7.18, Z:-0.83 [[ 9.73173780e-01 2.29801216e-01 1.11443022e-02 6.82599616e+01] [-2.29785686e-01 9.73237587e-01 -2.67187340e-03 -7.18458178e+00] [-1.14600535e-02 3.93960215e-05 9.99934331e-01 -8.33859335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:-7.20, Z:-0.83 [[ 9.74640343e-01 2.23499493e-01 1.11435854e-02 6.83205813e+01] [-2.23483516e-01 9.74704039e-01 -2.67485933e-03 -7.19798598e+00] [-1.14595274e-02 1.16618154e-04 9.99934331e-01 -8.31147362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:-7.21, Z:-0.83 [[ 9.76154413e-01 2.16791134e-01 1.11429657e-02 6.83814632e+01] [-2.16774690e-01 9.76217990e-01 -2.67743840e-03 -7.21429237e+00] [-1.14584085e-02 1.98080361e-04 9.99934331e-01 -8.29051887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057628 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:-7.23, Z:-0.83 [[ 9.78549008e-01 2.05712638e-01 1.11422648e-02 6.84403213e+01] [-2.05695442e-01 9.78612385e-01 -2.68035228e-03 -7.22974412e+00] [-1.14553407e-02 3.30942981e-04 9.99934331e-01 -8.27113951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117628 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:-7.24, Z:-0.83 [[ 9.79724708e-01 2.00038381e-01 1.11419310e-02 6.85015082e+01] [-2.00020802e-01 9.79787981e-01 -2.68173894e-03 -7.24400142e+00] [-1.14531808e-02 3.98747920e-04 9.99934331e-01 -8.27100861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177628 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:-7.26, Z:-0.83 [[ 9.79621926e-01 2.00541161e-01 1.11411675e-02 6.85635184e+01] [-2.00523578e-01 9.79685197e-01 -2.68490737e-03 -7.25670206e+00] [-1.14532713e-02 3.96127366e-04 9.99934331e-01 -8.29468657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:-7.27, Z:-0.83 [[ 9.79135396e-01 2.02903345e-01 1.11404111e-02 6.86244586e+01] [-2.02885879e-01 9.79198700e-01 -2.68804231e-03 -7.27051189e+00] [-1.14540888e-02 3.71725287e-04 9.99934331e-01 -8.30256343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:68.69, Y:-7.28, Z:-0.83 [[ 9.78026860e-01 2.08181100e-01 1.11396497e-02 6.86854485e+01] [-2.08163940e-01 9.78090247e-01 -2.69119398e-03 -7.28198153e+00] [-1.14558384e-02 3.13186636e-04 9.99934331e-01 -8.29858767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:68.75, Y:-7.29, Z:-0.83 [[ 9.76859178e-01 2.13593234e-01 1.11389456e-02 6.87478617e+01] [-2.13576392e-01 9.76922651e-01 -2.69410497e-03 -7.29318838e+00] [-1.14573309e-02 2.52745361e-04 9.99934331e-01 -8.29024571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417628 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:68.81, Y:-7.31, Z:-0.83 [[ 9.75679103e-01 2.18920600e-01 1.11381851e-02 6.88093062e+01] [-2.18904069e-01 9.75742657e-01 -2.69724541e-03 -7.30609986e+00] [-1.14584849e-02 1.93451937e-04 9.99934331e-01 -8.29983357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:68.87, Y:-7.32, Z:-0.83 [[ 9.75051341e-01 2.21699887e-01 1.11374347e-02 6.88708283e+01] [-2.21683501e-01 9.75114933e-01 -2.70034056e-03 -7.31951194e+00] [-1.14589441e-02 1.63985174e-04 9.99934331e-01 -8.31338315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:-7.33, Z:-0.84 [[ 9.75643717e-01 2.19078324e-01 1.11366569e-02 6.89331426e+01] [-2.19061731e-01 9.75707256e-01 -2.70354447e-03 -7.32838645e+00] [-1.14584049e-02 1.98080843e-04 9.99934331e-01 -8.35602635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:-7.35, Z:-0.83 [[ 9.74809846e-01 2.22759414e-01 1.11358393e-02 6.89921305e+01] [-2.22743023e-01 9.74873437e-01 -2.70690776e-03 -7.34991297e+00] [-1.14590231e-02 1.58289820e-04 9.99934331e-01 -8.30692486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:-7.36, Z:-0.83 [[ 9.74524176e-01 2.24005892e-01 1.11350892e-02 6.90534572e+01] [-2.23989547e-01 9.74587779e-01 -2.70999005e-03 -7.36346235e+00] [-1.14591756e-02 1.46807239e-04 9.99934331e-01 -8.32920720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:-7.38, Z:-0.83 [[ 9.73916716e-01 2.26632427e-01 1.11343093e-02 6.91132831e+01] [-2.26616217e-01 9.73980353e-01 -2.71319050e-03 -7.37744124e+00] [-1.14594954e-02 1.19206527e-04 9.99934331e-01 -8.34918836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77762799999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:-7.39, Z:-0.83 [[ 9.73528740e-01 2.28293310e-01 1.11335897e-02 6.91742400e+01] [-2.28277175e-01 9.73592396e-01 -2.71614004e-03 -7.39309658e+00] [-1.14596549e-02 1.02695987e-04 9.99934331e-01 -8.34040934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:-7.41, Z:-0.83 [[ 9.73438304e-01 2.28678659e-01 1.11328225e-02 6.92345893e+01] [-2.28662513e-01 9.73501957e-01 -2.71928129e-03 -7.40876590e+00] [-1.14596660e-02 1.01393408e-04 9.99934331e-01 -8.34689934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:69.30, Y:-7.42, Z:-0.84 [[ 9.73116302e-01 2.30045081e-01 1.11321139e-02 6.92957999e+01] [-2.30028991e-01 9.73179969e-01 -2.72217893e-03 -7.42450698e+00] [-1.14597741e-02 8.82877668e-05 9.99934331e-01 -8.36868398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.957628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:69.36, Y:-7.44, Z:-0.84 [[ 9.72446399e-01 2.32860674e-01 1.11313436e-02 6.93561415e+01] [-2.32844733e-01 9.72510104e-01 -2.72532513e-03 -7.44133472e+00] [-1.14599652e-02 5.83578846e-05 9.99934331e-01 -8.42279966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.42, Y:-7.46, Z:-0.84 [[ 9.70926489e-01 2.39118906e-01 1.11311049e-02 6.94166364e+01] [-2.39103364e-01 9.70990293e-01 -2.72629961e-03 -7.45694313e+00] [-1.14601046e-02 -1.44481125e-05 9.99934331e-01 -8.42202468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:69.48, Y:-7.47, Z:-0.84 [[ 9.69322477e-01 2.45540321e-01 1.11304397e-02 6.94771897e+01] [-2.45525171e-01 9.69386374e-01 -2.72901286e-03 -7.47444490e+00] [-1.14597792e-02 -8.75095905e-05 9.99934331e-01 -8.44389260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:-7.49, Z:-0.84 [[ 9.68757396e-01 2.47760446e-01 1.11296741e-02 6.95369124e+01] [-2.47745407e-01 9.68821319e-01 -2.73213144e-03 -7.49195964e+00] [-1.14595797e-02 -1.10553094e-04 9.99934331e-01 -8.41199805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:-7.51, Z:-0.84 [[ 9.69640079e-01 2.44283160e-01 1.11290030e-02 6.95959348e+01] [-2.44267860e-01 9.69703941e-01 -2.73486251e-03 -7.51180861e+00] [-1.14599189e-02 -6.66254359e-05 9.99934331e-01 -8.38915219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:-7.53, Z:-0.84 [[ 9.70587315e-01 2.40492045e-01 1.11283254e-02 6.96556927e+01] [-2.40476464e-01 9.70651109e-01 -2.73761676e-03 -7.52976761e+00] [-1.14600965e-02 -1.90042436e-05 9.99934331e-01 -8.38586241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:-7.55, Z:-0.84 [[ 9.71571322e-01 2.36485386e-01 1.11278471e-02 6.97158375e+01] [-2.36469519e-01 9.71635045e-01 -2.73955970e-03 -7.54691307e+00] [-1.14600720e-02 3.02809847e-05 9.99934331e-01 -8.38507235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:-7.56, Z:-0.84 [[ 9.72106085e-01 2.34277501e-01 1.11270742e-02 6.97778394e+01] [-2.34261454e-01 9.72169763e-01 -2.74269510e-03 -7.55817480e+00] [-1.14599569e-02 5.95460050e-05 9.99934331e-01 -8.40890509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:-7.57, Z:-0.84 [[ 9.73785382e-01 2.27196467e-01 1.11262980e-02 6.98396726e+01] [-2.27179921e-01 9.73848933e-01 -2.74584065e-03 -7.56958457e+00] [-1.14591787e-02 1.46187996e-04 9.99934331e-01 -8.44027815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:-7.58, Z:-0.84 [[ 9.74493292e-01 2.24140685e-01 1.11255168e-02 6.99005952e+01] [-2.24123904e-01 9.74556781e-01 -2.74900227e-03 -7.58450528e+00] [-1.14586110e-02 1.85390024e-04 9.99934331e-01 -8.44945717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:-7.60, Z:-0.85 [[ 9.77220086e-01 2.11936650e-01 1.11247441e-02 6.99616251e+01] [-2.11919040e-01 9.77283350e-01 -2.75212553e-03 -7.60021255e+00] [-1.14553034e-02 3.31887250e-04 9.99934331e-01 -8.48579717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:-7.61, Z:-0.85 [[ 9.78760456e-01 2.04705220e-01 1.11239468e-02 7.00221605e+01] [-2.04687107e-01 9.78823578e-01 -2.75534428e-03 -7.61449768e+00] [-1.14524148e-02 4.19893530e-04 9.99934331e-01 -8.48235505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:-7.63, Z:-0.85 [[ 9.80030372e-01 1.98536504e-01 1.11232111e-02 7.00827139e+01] [-1.98517959e-01 9.80093369e-01 -2.75831108e-03 -7.62549394e+00] [-1.14494109e-02 4.95071465e-04 9.99934331e-01 -8.50171004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:-7.64, Z:-0.85 [[ 9.80111663e-01 1.98134841e-01 1.11225908e-02 7.01433351e+01] [-1.98116242e-01 9.80174644e-01 -2.76081007e-03 -7.63828915e+00] [-1.14490942e-02 5.02336245e-04 9.99934331e-01 -8.47508900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:-7.65, Z:-0.84 [[ 9.79192295e-01 2.02629597e-01 1.11219013e-02 7.02062798e+01] [-2.02611256e-01 9.79255350e-01 -2.76358521e-03 -7.64796235e+00] [-1.14511655e-02 4.52658959e-04 9.99934331e-01 -8.44348931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:-7.65, Z:-0.85 [[ 9.77820674e-01 2.09148393e-01 1.11211138e-02 7.02685596e+01] [-2.09130436e-01 9.77883841e-01 -2.76675066e-03 -7.65255407e+00] [-1.14538189e-02 3.79622627e-04 9.99934331e-01 -8.45808156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:-7.66, Z:-0.85 [[ 9.77000546e-01 2.12946624e-01 1.11206277e-02 7.03303228e+01] [-2.12928891e-01 9.77063776e-01 -2.76870276e-03 -7.66304294e+00] [-1.14551484e-02 3.37121169e-04 9.99934331e-01 -8.46449200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:-7.67, Z:-0.85 [[ 9.76334346e-01 2.15980540e-01 1.11198619e-02 7.03930315e+01] [-2.15962969e-01 9.76397621e-01 -2.77177522e-03 -7.67324659e+00] [-1.14560562e-02 3.04700965e-04 9.99934331e-01 -8.47268031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.46, Y:-7.68, Z:-0.85 [[ 9.75977281e-01 2.17588403e-01 1.11190800e-02 7.04551993e+01] [-2.17570900e-01 9.76040575e-01 -2.77490837e-03 -7.68234616e+00] [-1.14564611e-02 2.89059287e-04 9.99934331e-01 -8.50867158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-7.69, Z:-0.86 [[ 9.75866683e-01 2.18083930e-01 1.11182862e-02 7.05175009e+01] [-2.18066423e-01 9.75929976e-01 -2.77808518e-03 -7.69347096e+00] [-1.14565245e-02 2.86515867e-04 9.99934331e-01 -8.55216428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:-7.71, Z:-0.86 [[ 9.76637921e-01 2.14603756e-01 1.11175022e-02 7.05771854e+01] [-2.14585988e-01 9.76701141e-01 -2.78121901e-03 -7.70679896e+00] [-1.14553371e-02 3.30583752e-04 9.99934331e-01 -8.56400100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:-7.72, Z:-0.86 [[ 9.77706296e-01 2.09682652e-01 1.11168762e-02 7.06384279e+01] [-2.09664537e-01 9.77769417e-01 -2.78371898e-03 -7.72254212e+00] [-1.14534391e-02 3.90844873e-04 9.99934331e-01 -8.55546269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-7.73, Z:-0.86 [[ 9.79840700e-01 1.99470885e-01 1.11161123e-02 7.06995353e+01] [-1.99452078e-01 9.79903619e-01 -2.78676629e-03 -7.73305275e+00] [-1.14485974e-02 5.13455344e-04 9.99934331e-01 -8.55175223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:-7.75, Z:-0.85 [[ 9.80144206e-01 1.97974198e-01 1.11154069e-02 7.07594638e+01] [-1.97955263e-01 9.80207086e-01 -2.78957696e-03 -7.74991875e+00] [-1.14476649e-02 5.33834401e-04 9.99934331e-01 -8.54812914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:-7.76, Z:-0.86 [[ 9.80750685e-01 1.94947560e-01 1.11149465e-02 7.08210089e+01] [-1.94928411e-01 9.80813500e-01 -2.79141007e-03 -7.76255827e+00] [-1.14458682e-02 5.71058478e-04 9.99934331e-01 -8.55347304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:-7.77, Z:-0.86 [[ 9.79988114e-01 1.98745490e-01 1.11142210e-02 7.08820839e+01] [-1.98726552e-01 9.80050993e-01 -2.79429583e-03 -7.77247259e+00] [-1.14478570e-02 5.29685883e-04 9.99934331e-01 -8.56586033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:-7.78, Z:-0.86 [[ 9.77966541e-01 2.08465663e-01 1.11135509e-02 7.09441655e+01] [-2.08447320e-01 9.78029597e-01 -2.79695857e-03 -7.77979317e+00] [-1.14524515e-02 4.18742013e-04 9.99934331e-01 -8.61768157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.01, Y:-7.79, Z:-0.86 [[ 9.76444524e-01 2.15482235e-01 1.11129361e-02 7.10056898e+01] [-2.15464317e-01 9.76507702e-01 -2.79939918e-03 -7.79176251e+00] [-1.14550884e-02 3.39016817e-04 9.99934331e-01 -8.64317587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.07, Y:-7.80, Z:-0.86 [[ 9.74045799e-01 2.26078066e-01 1.11126060e-02 7.10677425e+01] [-2.26060821e-01 9.74109163e-01 -2.80070888e-03 -7.80108738e+00] [-1.14580701e-02 2.15893891e-04 9.99934331e-01 -8.62529342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:-7.82, Z:-0.86 [[ 9.72476118e-01 2.32737468e-01 1.11117844e-02 7.11281479e+01] [-2.32720619e-01 9.72539589e-01 -2.80396459e-03 -7.81502513e+00] [-1.14592379e-02 1.40847252e-04 9.99934331e-01 -8.63728316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:-7.83, Z:-0.86 [[ 9.70438843e-01 2.41091263e-01 1.11110235e-02 7.11883019e+01] [-2.41074926e-01 9.70502448e-01 -2.80697653e-03 -7.83148186e+00] [-1.14600130e-02 4.54098784e-05 9.99934331e-01 -8.62116914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:-7.85, Z:-0.86 [[ 9.68891051e-01 2.47238129e-01 1.11103284e-02 7.12477587e+01] [-2.47222164e-01 9.68954750e-01 -2.80972509e-03 -7.84828502e+00] [-1.14600767e-02 -2.44019377e-05 9.99934331e-01 -8.61236618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:-7.86, Z:-0.87 [[ 9.69546910e-01 2.44653561e-01 1.11096379e-02 7.13090185e+01] [-2.44637395e-01 9.69610559e-01 -2.81245261e-03 -7.86034931e+00] [-1.14600988e-02 8.97186065e-06 9.99934331e-01 -8.67300412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:-7.89, Z:-0.86 [[ 9.68010644e-01 2.50663090e-01 1.11088928e-02 7.13648033e+01] [-2.50647286e-01 9.68074383e-01 -2.81539264e-03 -7.88975051e+00] [-1.14599496e-02 -5.90837860e-05 9.99934331e-01 -8.60987340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.42, Y:-7.91, Z:-0.86 [[ 9.68297234e-01 2.49553749e-01 1.11082140e-02 7.14246541e+01] [-2.49537841e-01 9.68360947e-01 -2.81806858e-03 -7.90988651e+00] [-1.14600202e-02 -4.31917162e-05 9.99934331e-01 -8.63231304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.48, Y:-7.93, Z:-0.87 [[ 9.69238090e-01 2.45874258e-01 1.11074169e-02 7.14828609e+01] [-2.45858072e-01 9.69301733e-01 -2.82120689e-03 -7.93445413e+00] [-1.14601006e-02 3.57308588e-06 9.99934331e-01 -8.67257572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:-7.96, Z:-0.87 [[ 9.71024073e-01 2.38723462e-01 1.11067167e-02 7.15398143e+01] [-2.38706776e-01 9.71087586e-01 -2.82396076e-03 -7.96292299e+00] [-1.14597404e-02 9.08853521e-05 9.99934331e-01 -8.68914606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:-7.99, Z:-0.87 [[ 9.72567801e-01 2.32354319e-01 1.11060227e-02 7.15989353e+01] [-2.32337185e-01 9.72631195e-01 -2.82668740e-03 -7.98669428e+00] [-1.14588571e-02 1.68803094e-04 9.99934331e-01 -8.68855105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.66, Y:-8.01, Z:-0.87 [[ 9.74932430e-01 2.22223830e-01 1.11052179e-02 7.16560314e+01] [-2.22206002e-01 9.74995633e-01 -2.82984560e-03 -8.01314062e+00] [-1.14563981e-02 2.91262177e-04 9.99934331e-01 -8.69083716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.71, Y:-8.04, Z:-0.87 [[ 9.76588424e-01 2.14829560e-01 1.11044759e-02 7.17134930e+01] [-2.14811221e-01 9.76651481e-01 -2.83275436e-03 -8.03958799e+00] [-1.14537622e-02 3.81069089e-04 9.99934331e-01 -8.67716541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.77, Y:-8.06, Z:-0.87 [[ 9.77246270e-01 2.11816984e-01 1.11037847e-02 7.17710395e+01] [-2.11798419e-01 9.77309260e-01 -2.83546111e-03 -8.06026139e+00] [-1.14524304e-02 4.19179744e-04 9.99934331e-01 -8.67228705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.83, Y:-8.08, Z:-0.87 [[ 9.77284242e-01 2.11641748e-01 1.11031530e-02 7.18314957e+01] [-2.11623144e-01 9.77347221e-01 -2.83793238e-03 -8.07781862e+00] [-1.14522607e-02 4.23782436e-04 9.99934331e-01 -8.66614331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.89, Y:-8.09, Z:-0.87 [[ 9.76096192e-01 2.17055201e-01 1.11023793e-02 7.18912989e+01] [-2.17036913e-01 9.76159263e-01 -2.84095614e-03 -8.09391482e+00] [-1.14543347e-02 3.63420339e-04 9.99934331e-01 -8.67242434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:-8.11, Z:-0.87 [[ 9.75469526e-01 2.19854399e-01 1.11016627e-02 7.19518624e+01] [-2.19836259e-01 9.75532640e-01 -2.84375378e-03 -8.10928566e+00] [-1.14552461e-02 3.33447163e-04 9.99934331e-01 -8.65312204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:-8.12, Z:-0.87 [[ 9.74721735e-01 2.23146389e-01 1.11008573e-02 7.20129292e+01] [-2.23128427e-01 9.74784899e-01 -2.84689427e-03 -8.12260106e+00] [-1.14562222e-02 2.98012898e-04 9.99934331e-01 -8.66815415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:-8.14, Z:-0.87 [[ 9.74541996e-01 2.23930095e-01 1.11000597e-02 7.20748854e+01] [-2.23912149e-01 9.74605165e-01 -2.85000039e-03 -8.13542373e+00] [-1.14563764e-02 2.92006841e-04 9.99934331e-01 -8.68878680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:-8.15, Z:-0.87 [[ 9.74604832e-01 2.23656496e-01 1.10992630e-02 7.21362325e+01] [-2.23638497e-01 9.74667986e-01 -2.85309988e-03 -8.15078950e+00] [-1.14562107e-02 2.98422435e-04 9.99934331e-01 -8.66967307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-8.16, Z:-0.87 [[ 9.74794710e-01 2.22827507e-01 1.10984701e-02 7.21975460e+01] [-2.22809419e-01 9.74857838e-01 -2.85618086e-03 -8.16362107e+00] [-1.14558663e-02 3.11346320e-04 9.99934331e-01 -8.66958584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-8.18, Z:-0.87 [[ 9.75164696e-01 2.21202751e-01 1.10976596e-02 7.22581039e+01] [-2.21184521e-01 9.75227785e-01 -2.85932681e-03 -8.17769970e+00] [-1.14552369e-02 3.33684043e-04 9.99934331e-01 -8.69715734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-8.19, Z:-0.87 [[ 9.76067054e-01 2.17186472e-01 1.10969106e-02 7.23193825e+01] [-2.17167950e-01 9.76130057e-01 -2.86223069e-03 -8.19256507e+00] [-1.14536657e-02 3.83835754e-04 9.99934331e-01 -8.70676070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-8.21, Z:-0.87 [[ 9.76504611e-01 2.15210645e-01 1.10960935e-02 7.23800294e+01] [-2.15191960e-01 9.76567565e-01 -2.86539489e-03 -8.20676724e+00] [-1.14527485e-02 4.10281222e-04 9.99934331e-01 -8.72058517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-8.22, Z:-0.87 [[ 9.75825288e-01 2.18270247e-01 1.10953390e-02 7.24408765e+01] [-2.18251726e-01 9.75888291e-01 -2.86831324e-03 -8.22086396e+00] [-1.14538789e-02 3.77395699e-04 9.99934331e-01 -8.74367115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-8.24, Z:-0.88 [[ 9.75084894e-01 2.21554420e-01 1.10945554e-02 7.25018751e+01] [-2.21536077e-01 9.75147949e-01 -2.87134096e-03 -8.23719305e+00] [-1.14549913e-02 3.41956912e-04 9.99934331e-01 -8.75105641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:-8.25, Z:-0.88 [[ 9.73713934e-01 2.27504071e-01 1.10937813e-02 7.25616142e+01] [-2.27486080e-01 9.73777090e-01 -2.87432883e-03 -8.25387646e+00] [-1.14567916e-02 2.75093221e-04 9.99934331e-01 -8.77007065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:-8.27, Z:-0.88 [[ 9.72493368e-01 2.32666269e-01 1.10930692e-02 7.26206115e+01] [-2.32648581e-01 9.72556610e-01 -2.87707436e-03 -8.27076741e+00] [-1.14580360e-02 2.17148919e-04 9.99934331e-01 -8.78609124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:-8.29, Z:-0.88 [[ 9.70234089e-01 2.41914801e-01 1.10924181e-02 7.26803069e+01] [-2.41897688e-01 9.70297489e-01 -2.87958261e-03 -8.28982741e+00] [-1.14595591e-02 1.10638918e-04 9.99934331e-01 -8.77500440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:-8.31, Z:-0.88 [[ 9.67931168e-01 2.50970577e-01 1.10915969e-02 7.27394445e+01] [-2.50954021e-01 9.67994716e-01 -2.88274201e-03 -8.30834640e+00] [-1.14600907e-02 6.81499580e-06 9.99934331e-01 -8.79399862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:-8.33, Z:-0.88 [[ 9.66807661e-01 2.55264450e-01 1.10908367e-02 7.27992636e+01] [-2.55248142e-01 9.66871273e-01 -2.88566377e-03 -8.32719186e+00] [-1.14600188e-02 -4.10336295e-05 9.99934331e-01 -8.80687042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.86, Y:-8.35, Z:-0.88 [[ 9.66538274e-01 2.56282611e-01 1.10900336e-02 7.28572339e+01] [-2.56266335e-01 9.66601894e-01 -2.88874725e-03 -8.34892723e+00] [-1.14599831e-02 -4.99174761e-05 9.99934331e-01 -8.78599850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.92, Y:-8.36, Z:-0.88 [[ 9.66310182e-01 2.57141320e-01 1.10893619e-02 7.29174345e+01] [-2.57125071e-01 9.66373809e-01 -2.89132327e-03 -8.36425589e+00] [-1.14599476e-02 -5.74378555e-05 9.99934331e-01 -8.78053290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.98, Y:-8.38, Z:-0.88 [[ 9.66862498e-01 2.55056762e-01 1.10885974e-02 7.29780634e+01] [-2.55040342e-01 9.66926081e-01 -2.89425230e-03 -8.37908303e+00] [-1.14600527e-02 -2.96956717e-05 9.99934331e-01 -8.78395938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.04, Y:-8.39, Z:-0.88 [[ 9.68071107e-01 2.50430414e-01 1.10877727e-02 7.30378855e+01] [-2.50413654e-01 9.68134602e-01 -2.89740826e-03 -8.39350720e+00] [-1.14600556e-02 2.83675431e-05 9.99934331e-01 -8.81891234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:-8.41, Z:-0.88 [[ 9.70416799e-01 2.41181080e-01 1.10870105e-02 7.30986227e+01] [-2.41163682e-01 9.70480122e-01 -2.90032187e-03 -8.40889039e+00] [-1.14592261e-02 1.40736794e-04 9.99934331e-01 -8.82589690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.16, Y:-8.42, Z:-0.88 [[ 9.72884849e-01 2.31024169e-01 1.10861888e-02 7.31598121e+01] [-2.31006074e-01 9.72947976e-01 -2.90345954e-03 -8.42384816e+00] [-1.14570542e-02 2.63754858e-04 9.99934331e-01 -8.81611252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.22, Y:-8.44, Z:-0.88 [[ 9.74895628e-01 2.22386214e-01 1.10853675e-02 7.32211181e+01] [-2.22367524e-01 9.74958582e-01 -2.90659162e-03 -8.43923509e+00] [-1.14541601e-02 3.68597729e-04 9.99934331e-01 -8.81820553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.28, Y:-8.45, Z:-0.88 [[ 9.77596662e-01 2.10194906e-01 1.10845524e-02 7.32818852e+01] [-2.10175396e-01 9.77659366e-01 -2.90969680e-03 -8.45315109e+00] [-1.14485199e-02 5.14809680e-04 9.99934331e-01 -8.82118610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.34, Y:-8.47, Z:-0.88 [[ 9.78754961e-01 2.04733669e-01 1.10838011e-02 7.33427453e+01] [-2.04713777e-01 9.78817545e-01 -2.91255599e-03 -8.46789948e+00] [-1.14453172e-02 5.81671839e-04 9.99934331e-01 -8.81449223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.40, Y:-8.48, Z:-0.88 [[ 9.79644209e-01 2.00435503e-01 1.10829725e-02 7.34033097e+01] [-2.00415301e-01 9.79706694e-01 -2.91570552e-03 -8.47991771e+00] [-1.14424733e-02 6.35156763e-04 9.99934331e-01 -8.82093270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-8.49, Z:-0.88 [[ 9.79436433e-01 2.01448403e-01 1.10822094e-02 7.34655391e+01] [-2.01428233e-01 9.79498927e-01 -2.91860304e-03 -8.48937743e+00] [-1.14429602e-02 6.26316289e-04 9.99934331e-01 -8.84520126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:-8.50, Z:-0.89 [[ 9.79018281e-01 2.03470903e-01 1.10814077e-02 7.35263241e+01] [-2.03450828e-01 9.79080806e-01 -2.92164376e-03 -8.50066983e+00] [-1.14440631e-02 6.05821067e-04 9.99934331e-01 -8.85303187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:-8.51, Z:-0.89 [[ 9.78465386e-01 2.06113336e-01 1.10806670e-02 7.35893582e+01] [-2.06093398e-01 9.78527955e-01 -2.92445052e-03 -8.50922422e+00] [-1.14455106e-02 5.77821296e-04 9.99934331e-01 -8.85878047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.65, Y:-8.52, Z:-0.88 [[ 9.77584064e-01 2.10253739e-01 1.10798755e-02 7.36518400e+01] [-2.10234032e-01 9.77646706e-01 -2.92744620e-03 -8.51872106e+00] [-1.14477103e-02 5.32457856e-04 9.99934331e-01 -8.83225524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.71, Y:-8.53, Z:-0.88 [[ 9.77150634e-01 2.12259022e-01 1.10790445e-02 7.37130238e+01] [-2.12239408e-01 9.77213306e-01 -2.93058765e-03 -8.53233199e+00] [-1.14486334e-02 5.12215734e-04 9.99934331e-01 -8.83110744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.77, Y:-8.54, Z:-0.88 [[ 9.76049517e-01 2.17266227e-01 1.10782158e-02 7.37740054e+01] [-2.17246899e-01 9.76112277e-01 -2.93371693e-03 -8.54306828e+00] [-1.14509801e-02 4.56744965e-04 9.99934331e-01 -8.82962326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-8.55, Z:-0.89 [[ 9.73279782e-01 2.29355087e-01 1.10774490e-02 7.38374222e+01] [-2.29336506e-01 9.73342768e-01 -2.93660936e-03 -8.54975783e+00] [-1.14556812e-02 3.17679056e-04 9.99934331e-01 -8.86213386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:-8.56, Z:-0.89 [[ 9.69612676e-01 2.44394286e-01 1.10766364e-02 7.39002522e+01] [-2.44376648e-01 9.69675932e-01 -2.93967136e-03 -8.55823367e+00] [-1.14591866e-02 1.43471343e-04 9.99934331e-01 -8.89898549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:-8.57, Z:-0.89 [[ 9.66085326e-01 2.57985403e-01 1.10758111e-02 7.39626519e+01] [-2.57968619e-01 9.66148814e-01 -2.94277748e-03 -8.56890500e+00] [-1.14600754e-02 -1.42375605e-05 9.99934331e-01 -8.92565640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:-8.58, Z:-0.89 [[ 9.63422144e-01 2.67759438e-01 1.10749781e-02 7.40236098e+01] [-2.67743262e-01 9.63485790e-01 -2.94590930e-03 -8.58337395e+00] [-1.14593790e-02 -1.27096499e-04 9.99934331e-01 -8.94354699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:-8.60, Z:-0.89 [[ 9.62662841e-01 2.70476648e-01 1.10741359e-02 7.40834771e+01] [-2.70460616e-01 9.62726523e-01 -2.94907155e-03 -8.60095199e+00] [-1.14590194e-02 -1.56156031e-04 9.99934331e-01 -8.94438017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:-8.62, Z:-0.90 [[ 9.63635578e-01 2.66990362e-01 1.10733558e-02 7.41432486e+01] [-2.66974065e-01 9.63699193e-01 -2.95199792e-03 -8.62257381e+00] [-1.14595391e-02 -1.11648591e-04 9.99934331e-01 -8.95247743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:-8.64, Z:-0.90 [[ 9.65158548e-01 2.61431400e-01 1.10725165e-02 7.42026359e+01] [-2.61414701e-01 9.65222058e-01 -2.95514256e-03 -8.64397831e+00] [-1.14600043e-02 -4.23375021e-05 9.99934331e-01 -8.95515280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:-8.67, Z:-0.90 [[ 9.67331308e-01 2.53273684e-01 1.10716863e-02 7.42604014e+01] [-2.53256414e-01 9.67394665e-01 -2.95824981e-03 -8.66982664e+00] [-1.14599371e-02 5.76320867e-05 9.99934331e-01 -8.95277574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:-8.69, Z:-0.90 [[ 9.68816943e-01 2.47530135e-01 1.10708428e-02 7.43181992e+01] [-2.47512453e-01 9.68880186e-01 -2.96140331e-03 -8.69415610e+00] [-1.14593568e-02 1.28886245e-04 9.99934331e-01 -8.98493799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:-8.72, Z:-0.90 [[ 9.69510086e-01 2.44801239e-01 1.10701077e-02 7.43755038e+01] [-2.44783348e-01 9.69573270e-01 -2.96414872e-03 -8.71647128e+00] [-1.14589078e-02 1.63994069e-04 9.99934331e-01 -9.01194119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:-8.74, Z:-0.90 [[ 9.71045186e-01 2.38639299e-01 1.10694377e-02 7.44333708e+01] [-2.38620978e-01 9.71108247e-01 -2.96664845e-03 -8.74159250e+00] [-1.14575812e-02 2.39349643e-04 9.99934331e-01 -9.02744572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:-8.77, Z:-0.90 [[ 9.73353589e-01 2.29042081e-01 1.10687090e-02 7.44903771e+01] [-2.29023108e-01 9.73416457e-01 -2.96936472e-03 -8.76729549e+00] [-1.14545730e-02 3.55251659e-04 9.99934331e-01 -9.01700460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:-8.79, Z:-0.90 [[ 9.75035650e-01 2.21772364e-01 1.10679866e-02 7.45496869e+01] [-2.21752892e-01 9.75098365e-01 -2.97205499e-03 -8.78990560e+00] [-1.14514953e-02 4.43501533e-04 9.99934331e-01 -9.00553891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:-8.81, Z:-0.90 [[ 9.76244011e-01 2.16391194e-01 1.10671342e-02 7.46084303e+01] [-2.16371340e-01 9.76306607e-01 -2.97522584e-03 -8.80897008e+00] [-1.14487289e-02 5.09935747e-04 9.99934331e-01 -8.97264689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:-8.82, Z:-0.90 [[ 9.76288269e-01 2.16191468e-01 1.10663846e-02 7.46680513e+01] [-2.16171570e-01 9.76350851e-01 -2.97801116e-03 -8.82372708e+00] [-1.14484947e-02 5.15159614e-04 9.99934331e-01 -8.98022624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:-8.84, Z:-0.90 [[ 9.76039503e-01 2.17311851e-01 1.10655937e-02 7.47287726e+01] [-2.17291992e-01 9.76102097e-01 -2.98094734e-03 -8.83811542e+00] [-1.14489444e-02 5.05057473e-04 9.99934331e-01 -9.00660747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.79, Y:-8.85, Z:-0.90 [[ 9.75534843e-01 2.19566257e-01 1.10647416e-02 7.47894379e+01] [-2.19546506e-01 9.75597472e-01 -2.98410691e-03 -8.84995834e+00] [-1.14499431e-02 4.81874917e-04 9.99934331e-01 -9.03727479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:-8.86, Z:-0.91 [[ 9.74629602e-01 2.23550280e-01 1.10639548e-02 7.48528063e+01] [-2.23530753e-01 9.74692300e-01 -2.98702090e-03 -8.85808085e+00] [-1.14517010e-02 4.38104839e-04 9.99934331e-01 -9.05064340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:-8.87, Z:-0.90 [[ 9.73814929e-01 2.27072876e-01 1.10631210e-02 7.49142913e+01] [-2.27053541e-01 9.73877687e-01 -2.99010618e-03 -8.87239480e+00] [-1.14530987e-02 3.99889255e-04 9.99934331e-01 -9.04665291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:-8.88, Z:-0.90 [[ 9.72576506e-01 2.32319963e-01 1.10622865e-02 7.49750592e+01] [-2.32300931e-01 9.72639357e-01 -2.99319013e-03 -8.88357116e+00] [-1.14549931e-02 3.41326944e-04 9.99934331e-01 -9.03623779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:-8.89, Z:-0.91 [[ 9.70813159e-01 2.39581817e-01 1.10617711e-02 7.50374006e+01] [-2.39563234e-01 9.70876144e-01 -2.99509361e-03 -8.89332278e+00] [-1.14571797e-02 2.57682626e-04 9.99934331e-01 -9.05655618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.10, Y:-8.91, Z:-0.91 [[ 9.68951025e-01 2.47005196e-01 1.10609542e-02 7.50982661e+01] [-2.46987061e-01 9.69014140e-01 -2.99810752e-03 -8.90744623e+00] [-1.14587692e-02 1.73106782e-04 9.99934331e-01 -9.06849985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.16, Y:-8.92, Z:-0.91 [[ 9.65420524e-01 2.60462827e-01 1.10601449e-02 7.51599354e+01] [-2.60445537e-01 9.65483876e-01 -3.00109016e-03 -8.92036891e+00] [-1.14600640e-02 1.67486617e-05 9.99934331e-01 -9.08987529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:-8.93, Z:-0.91 [[ 9.62115761e-01 2.72416874e-01 1.10593461e-02 7.52211065e+01] [-2.72400338e-01 9.62179314e-01 -3.00403094e-03 -8.93364291e+00] [-1.14594227e-02 -1.22344093e-04 9.99934331e-01 -9.14377917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:-8.95, Z:-0.92 [[ 9.60791134e-01 2.77052531e-01 1.10585534e-02 7.52815123e+01] [-2.77036268e-01 9.60854757e-01 -3.00694628e-03 -8.95107116e+00] [-1.14587457e-02 -1.74573029e-04 9.99934331e-01 -9.16021087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-8.97, Z:-0.92 [[ 9.60343464e-01 2.78600356e-01 1.10576814e-02 7.53399759e+01] [-2.78584158e-01 9.60407104e-01 -3.01014947e-03 -8.97235258e+00] [-1.14585045e-02 -1.89717496e-04 9.99934331e-01 -9.17213442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.40, Y:-8.99, Z:-0.92 [[ 9.60956598e-01 2.76478139e-01 1.10569229e-02 7.53978688e+01] [-2.76461769e-01 9.61020194e-01 -3.01293305e-03 -8.99379417e+00] [-1.14589363e-02 -1.61518566e-04 9.99934331e-01 -9.20304484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:-9.02, Z:-0.92 [[ 9.61886003e-01 2.73227142e-01 1.10565003e-02 7.54550826e+01] [-2.73210539e-01 9.61949538e-01 -3.01448312e-03 -9.01844296e+00] [-1.14594339e-02 -1.21163270e-04 9.99934331e-01 -9.22295899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.51, Y:-9.04, Z:-0.92 [[ 9.62281690e-01 2.71830314e-01 1.10557641e-02 7.55135968e+01] [-2.71813588e-01 9.62345193e-01 -3.01718057e-03 -9.04180734e+00] [-1.14596226e-02 -1.01729302e-04 9.99934331e-01 -9.22313984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.57, Y:-9.07, Z:-0.92 [[ 9.62632482e-01 2.70585465e-01 1.10549158e-02 7.55708800e+01] [-2.70568621e-01 9.62695954e-01 -3.02028575e-03 -9.06602170e+00] [-1.14597681e-02 -8.36881451e-05 9.99934331e-01 -9.23119517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.63, Y:-9.09, Z:-0.92 [[ 9.62438086e-01 2.71276126e-01 1.10541597e-02 7.56289809e+01] [-2.71259296e-01 9.62501561e-01 -3.02305027e-03 -9.08728991e+00] [-1.14597274e-02 -8.90448714e-05 9.99934331e-01 -9.23869142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.69, Y:-9.11, Z:-0.92 [[ 9.61313243e-01 2.75235654e-01 1.10536273e-02 7.56890910e+01] [-2.75219063e-01 9.61376782e-01 -3.02499582e-03 -9.10549753e+00] [-1.14592873e-02 -1.34200402e-04 9.99934331e-01 -9.22355515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:-9.12, Z:-0.92 [[ 9.60332070e-01 2.78639825e-01 1.10527656e-02 7.57501784e+01] [-2.78623423e-01 9.60395657e-01 -3.02814104e-03 -9.11736953e+00] [-1.14587888e-02 -1.71538435e-04 9.99934331e-01 -9.23616998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:-9.13, Z:-0.92 [[ 9.60527782e-01 2.77964445e-01 1.10520228e-02 7.58114365e+01] [-2.77947967e-01 9.60591350e-01 -3.03084958e-03 -9.13001887e+00] [-1.14589459e-02 -1.60672048e-04 9.99934331e-01 -9.24665209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:-9.15, Z:-0.92 [[ 9.61297368e-01 2.75291196e-01 1.10511706e-02 7.58700782e+01] [-2.75274505e-01 9.61360880e-01 -3.03395371e-03 -9.14654077e+00] [-1.14593839e-02 -1.25573812e-04 9.99934331e-01 -9.22258478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:-9.17, Z:-0.92 [[ 9.61794717e-01 2.73548539e-01 1.10507720e-02 7.59302406e+01] [-2.73531717e-01 9.61858194e-01 -3.03540512e-03 -9.16517848e+00] [-1.14596062e-02 -1.03300025e-04 9.99934331e-01 -9.20723406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:-9.18, Z:-0.92 [[ 9.62243099e-01 2.71967126e-01 1.10498990e-02 7.59902259e+01] [-2.71950163e-01 9.62306540e-01 -3.03857971e-03 -9.18202964e+00] [-1.14597838e-02 -8.11694731e-05 9.99934331e-01 -9.24062548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:-9.20, Z:-0.93 [[ 9.62641882e-01 2.70552258e-01 1.10491464e-02 7.60490886e+01] [-2.70535170e-01 9.62705288e-01 -3.04131375e-03 -9.19977065e+00] [-1.14599060e-02 -6.14867245e-05 9.99934331e-01 -9.25941304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:-9.22, Z:-0.92 [[ 9.63150238e-01 2.68736954e-01 1.10484589e-02 7.61090742e+01] [-2.68719718e-01 9.63213605e-01 -3.04380925e-03 -9.21700728e+00] [-1.14600100e-02 -3.72931594e-05 9.99934331e-01 -9.23106573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.17, Y:-9.23, Z:-0.92 [[ 9.63169088e-01 2.68669418e-01 1.10477035e-02 7.61691744e+01] [-2.68652146e-01 9.63232445e-01 -3.04654849e-03 -9.23304860e+00] [-1.14600209e-02 -3.36479315e-05 9.99934331e-01 -9.22072492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.23, Y:-9.25, Z:-0.92 [[ 9.63076565e-01 2.69000920e-01 1.10469465e-02 7.62301682e+01] [-2.68983639e-01 9.63139919e-01 -3.04929126e-03 -9.24947263e+00] [-1.14600173e-02 -3.47469075e-05 9.99934331e-01 -9.21282285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:-9.27, Z:-0.92 [[ 9.63730266e-01 2.66649507e-01 1.10460748e-02 7.62896844e+01] [-2.66632035e-01 9.63793567e-01 -3.05244549e-03 -9.26582232e+00] [-1.14600690e-02 -3.50330454e-06 9.99934331e-01 -9.24600782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:-9.28, Z:-0.93 [[ 9.64628950e-01 2.63379934e-01 1.10453222e-02 7.63489415e+01] [-2.63362216e-01 9.64692184e-01 -3.05516635e-03 -9.28288305e+00] [-1.14600055e-02 3.81813654e-05 9.99934331e-01 -9.25749105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.41, Y:-9.30, Z:-0.93 [[ 9.64892276e-01 2.62413631e-01 1.10445630e-02 7.64093956e+01] [-2.62395818e-01 9.64955483e-01 -3.05790852e-03 -9.29856406e+00] [-1.14599485e-02 5.25051610e-05 9.99934331e-01 -9.27172067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:-9.31, Z:-0.93 [[ 9.65043111e-01 2.61858414e-01 1.10438139e-02 7.64682349e+01] [-2.61840534e-01 9.65106298e-01 -3.06061144e-03 -9.31345139e+00] [-1.14599012e-02 6.19038429e-05 9.99934331e-01 -9.29656366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:-9.33, Z:-0.93 [[ 9.65025221e-01 2.61924351e-01 1.10433922e-02 7.65286290e+01] [-2.61906458e-01 9.65088405e-01 -3.06213229e-03 -9.32895756e+00] [-1.14598968e-02 6.26991393e-05 9.99934331e-01 -9.29651954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:-9.34, Z:-0.93 [[ 9.64809516e-01 2.62717830e-01 1.10426296e-02 7.65878131e+01] [-2.62699957e-01 9.64872706e-01 -3.06488017e-03 -9.34406170e+00] [-1.14599305e-02 5.61272386e-05 9.99934331e-01 -9.31765056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:-9.36, Z:-0.93 [[ 9.63897068e-01 2.66046072e-01 1.10422071e-02 7.66479679e+01] [-2.66028400e-01 9.63960314e-01 -3.06640153e-03 -9.35955934e+00] [-1.14600535e-02 1.81547577e-05 9.99934331e-01 -9.30564020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-9.37, Z:-0.93 [[ 9.63285792e-01 2.68250944e-01 1.10414569e-02 7.67085100e+01] [-2.68233386e-01 9.63349070e-01 -3.06910027e-03 -9.37498077e+00] [-1.14600663e-02 -5.26669933e-06 9.99934331e-01 -9.29451883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-9.39, Z:-0.93 [[ 9.63131734e-01 2.68803584e-01 1.10406939e-02 7.67684752e+01] [-2.68786032e-01 9.63195013e-01 -3.07184271e-03 -9.39314922e+00] [-1.14600636e-02 -8.99510484e-06 9.99934331e-01 -9.30022817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-9.41, Z:-0.93 [[ 9.63222061e-01 2.68479765e-01 1.10398239e-02 7.68289081e+01] [-2.68462155e-01 9.63285324e-01 -3.07496613e-03 -9.41171922e+00] [-1.14600666e-02 -1.89970416e-06 9.99934331e-01 -9.30448501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-9.43, Z:-0.93 [[ 9.64166882e-01 2.65066719e-01 1.10389464e-02 7.68876759e+01] [-2.65048849e-01 9.64230072e-01 -3.07811326e-03 -9.42671437e+00] [-1.14599895e-02 4.19548240e-05 9.99934331e-01 -9.34410978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:-9.45, Z:-0.93 [[ 9.64198493e-01 2.64951723e-01 1.10385687e-02 7.69446749e+01] [-2.64933830e-01 9.64261677e-01 -3.07946721e-03 -9.44957565e+00] [-1.14599789e-02 4.47273719e-05 9.99934331e-01 -9.31664691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:-9.47, Z:-0.93 [[ 9.63777652e-01 2.66478523e-01 1.10378942e-02 7.70047671e+01] [-2.66460702e-01 9.63840856e-01 -3.08188288e-03 -9.46679544e+00] [-1.14600290e-02 2.90848115e-05 9.99934331e-01 -9.30885114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-9.48, Z:-0.93 [[ 9.63097645e-01 2.68925839e-01 1.10371751e-02 7.70641239e+01] [-2.68908149e-01 9.63160887e-01 -3.08445589e-03 -9.48358033e+00] [-1.14600653e-02 2.64586740e-06 9.99934331e-01 -9.31411123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:-9.50, Z:-0.93 [[ 9.61897237e-01 2.73188403e-01 1.10364292e-02 7.71241023e+01] [-2.73170964e-01 9.61960547e-01 -3.08712257e-03 -9.49976166e+00] [-1.14599756e-02 -4.53373299e-05 9.99934331e-01 -9.33829534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:-9.52, Z:-0.94 [[ 9.60976225e-01 2.76410761e-01 1.10356646e-02 7.71839981e+01] [-2.76393502e-01 9.61039585e-01 -3.08985328e-03 -9.51522684e+00] [-1.14597793e-02 -8.09104644e-05 9.99934331e-01 -9.35859265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:-9.53, Z:-0.94 [[ 9.60623520e-01 2.77634081e-01 1.10349066e-02 7.72446653e+01] [-2.77616872e-01 9.60686894e-01 -3.09255822e-03 -9.53063499e+00] [-1.14596897e-02 -9.26920728e-05 9.99934331e-01 -9.36639076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:-9.55, Z:-0.94 [[ 9.60763374e-01 2.77149759e-01 1.10340314e-02 7.73048857e+01] [-2.77132483e-01 9.60826729e-01 -3.09567769e-03 -9.54752328e+00] [-1.14597586e-02 -8.36747672e-05 9.99934331e-01 -9.35435896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.36, Y:-9.57, Z:-0.93 [[ 9.61805092e-01 2.73512762e-01 1.10332704e-02 7.73641361e+01] [-2.73495215e-01 9.61868373e-01 -3.09838769e-03 -9.56549658e+00] [-1.14600024e-02 -3.75015918e-05 9.99934331e-01 -9.33547935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:-9.59, Z:-0.93 [[ 9.63656548e-01 2.66916356e-01 1.10324990e-02 7.74226343e+01] [-2.66898344e-01 9.63719698e-01 -3.10113181e-03 -9.58589354e+00] [-1.14599794e-02 4.38702603e-05 9.99934331e-01 -9.30496290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:-9.60, Z:-0.93 [[ 9.64442736e-01 2.64061564e-01 1.10317303e-02 7.74820256e+01] [-2.64043334e-01 9.64505824e-01 -3.10386401e-03 -9.60397928e+00] [-1.14597793e-02 8.06442573e-05 9.99934331e-01 -9.29481853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:-9.62, Z:-0.93 [[ 9.64495178e-01 2.63869987e-01 1.10309676e-02 7.75419812e+01] [-2.63851713e-01 9.64558253e-01 -3.10657222e-03 -9.62115695e+00] [-1.14597420e-02 8.57342301e-05 9.99934331e-01 -9.29878068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:-9.64, Z:-0.93 [[ 9.63630197e-01 2.67011571e-01 1.10301623e-02 7.76011339e+01] [-2.66993470e-01 9.63693322e-01 -3.10942884e-03 -9.63770204e+00] [-1.14599472e-02 5.13582125e-05 9.99934331e-01 -9.30974929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:-9.65, Z:-0.94 [[ 9.62998721e-01 2.69280183e-01 1.10293692e-02 7.76613269e+01] [-2.69262199e-01 9.63061879e-01 -3.11223947e-03 -9.65225675e+00] [-1.14600294e-02 2.72904191e-05 9.99934331e-01 -9.35254182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:-9.67, Z:-0.94 [[ 9.62667410e-01 2.70462246e-01 1.10286296e-02 7.77216205e+01] [-2.70444309e-01 9.62730582e-01 -3.11485823e-03 -9.66759621e+00] [-1.14600505e-02 1.59424015e-05 9.99934331e-01 -9.36699107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:-9.68, Z:-0.94 [[ 9.63336187e-01 2.68070472e-01 1.10278585e-02 7.77820098e+01] [-2.68052347e-01 9.63399305e-01 -3.11758578e-03 -9.68333766e+00] [-1.14599639e-02 4.72398457e-05 9.99934331e-01 -9.36125234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:-9.70, Z:-0.94 [[ 9.64505545e-01 2.63832255e-01 1.10270239e-02 7.78421945e+01] [-2.63813819e-01 9.64568573e-01 -3.12053484e-03 -9.69952300e+00] [-1.14596185e-02 1.00691862e-04 9.99934331e-01 -9.36048943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.90, Y:-9.72, Z:-0.94 [[ 9.65382424e-01 2.60605443e-01 1.10262511e-02 7.79025691e+01] [-2.60586766e-01 9.65445381e-01 -3.12326322e-03 -9.71704144e+00] [-1.14591826e-02 1.41848304e-04 9.99934331e-01 -9.35875388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.537628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:77.96, Y:-9.73, Z:-0.94 [[ 9.66426714e-01 2.56705761e-01 1.10253769e-02 7.79625193e+01] [-2.56686794e-01 9.66489584e-01 -3.12634618e-03 -9.73443519e+00] [-1.14584630e-02 1.91315815e-04 9.99934331e-01 -9.37223625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:-9.75, Z:-0.94 [[ 9.66456647e-01 2.56593082e-01 1.10244983e-02 7.80229000e+01] [-2.56574072e-01 9.66519504e-01 -3.12944130e-03 -9.75060401e+00] [-1.14583856e-02 1.95868916e-04 9.99934331e-01 -9.35786929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:78.08, Y:-9.77, Z:-0.94 [[ 9.66258893e-01 2.57336807e-01 1.10236194e-02 7.80828146e+01] [-2.57317811e-01 9.66321754e-01 -3.13253430e-03 -9.76672629e+00] [-1.14584796e-02 1.90265516e-04 9.99934331e-01 -9.39419545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.14, Y:-9.78, Z:-0.94 [[ 9.65562210e-01 2.59938678e-01 1.10228452e-02 7.81427762e+01] [-2.59919820e-01 9.65625112e-01 -3.13525633e-03 -9.78450216e+00] [-1.14589105e-02 1.62229102e-04 9.99934331e-01 -9.36745978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:-9.80, Z:-0.94 [[ 9.64917859e-01 2.62320494e-01 1.10219672e-02 7.82035607e+01] [-2.62301756e-01 9.64980798e-01 -3.13833985e-03 -9.80046727e+00] [-1.14592375e-02 1.37158828e-04 9.99934331e-01 -9.36400030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.26, Y:-9.82, Z:-0.94 [[ 9.64315683e-01 2.64525612e-01 1.10210750e-02 7.82632622e+01] [-2.64506982e-01 9.64378654e-01 -3.14146988e-03 -9.81630554e+00] [-1.14594887e-02 1.14217390e-04 9.99934331e-01 -9.38481257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:-9.83, Z:-0.94 [[ 9.63296343e-01 2.68213924e-01 1.10203013e-02 7.83240142e+01] [-2.68195505e-01 9.63359375e-01 -3.14418153e-03 -9.83390246e+00] [-1.14598239e-02 7.31832884e-05 9.99934331e-01 -9.37627371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:-9.85, Z:-0.94 [[ 9.61897433e-01 2.73188398e-01 1.10194192e-02 7.83832143e+01] [-2.73170269e-01 9.61960550e-01 -3.14726997e-03 -9.85095777e+00] [-1.14600442e-02 1.71731891e-05 9.99934331e-01 -9.37965979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:-9.87, Z:-0.94 [[ 9.60003555e-01 2.79770914e-01 1.10186036e-02 7.84437149e+01] [-2.79753185e-01 9.60066785e-01 -3.15012294e-03 -9.86724764e+00] [-1.14599081e-02 -5.83602338e-05 9.99934331e-01 -9.38052544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.50, Y:-9.88, Z:-0.94 [[ 9.58671165e-01 2.84303020e-01 1.10177418e-02 7.85038342e+01] [-2.84285556e-01 9.58734468e-01 -3.15313434e-03 -9.88445492e+00] [-1.14595344e-02 -1.09365867e-04 9.99934331e-01 -9.38672956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.56, Y:-9.90, Z:-0.94 [[ 9.58030624e-01 2.86454101e-01 1.10168814e-02 7.85646713e+01] [-2.86436744e-01 9.58093957e-01 -3.15613768e-03 -9.90127102e+00] [-1.14592961e-02 -1.31963085e-04 9.99934331e-01 -9.40161851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.62, Y:-9.92, Z:-0.94 [[ 9.58323899e-01 2.85471458e-01 1.10159882e-02 7.86248042e+01] [-2.85454000e-01 9.58387204e-01 -3.15925204e-03 -9.91848133e+00] [-1.14594584e-02 -1.16971169e-04 9.99934331e-01 -9.41727668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:-9.94, Z:-0.94 [[ 9.59601627e-01 2.81146556e-01 1.10150886e-02 7.86845593e+01] [-2.81128777e-01 9.59664843e-01 -3.16238540e-03 -9.93828307e+00] [-1.14598871e-02 -6.20282237e-05 9.99934331e-01 -9.41269003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.74, Y:-9.96, Z:-0.94 [[ 9.60922123e-01 2.76599640e-01 1.10141927e-02 7.87446691e+01] [-2.76581526e-01 9.60985244e-01 -3.16550269e-03 -9.95701208e+00] [-1.14600536e-02 -4.52066747e-06 9.99934331e-01 -9.41836666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.80, Y:-9.98, Z:-0.94 [[ 9.63587835e-01 2.67165104e-01 1.10132746e-02 7.88031196e+01] [-2.67146335e-01 9.63650764e-01 -3.16869383e-03 -9.97710865e+00] [-1.14595149e-02 1.11158879e-04 9.99934331e-01 -9.43182443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:-10.00, Z:-0.95 [[ 9.66646569e-01 2.55877192e-01 1.10124279e-02 7.88629626e+01] [-2.55857655e-01 9.66709264e-01 -3.17163368e-03 -9.99717574e+00] [-1.14573648e-02 2.48234842e-04 9.99934331e-01 -9.45463206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.92, Y:-10.02, Z:-0.95 [[ 9.68769760e-01 2.47717377e-01 1.10115342e-02 7.89227511e+01] [-2.47697277e-01 9.68832277e-01 -3.17473347e-03 -1.00160419e+01] [-1.14547664e-02 3.48058746e-04 9.99934331e-01 -9.45626827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.98, Y:-10.03, Z:-0.94 [[ 9.71715374e-01 2.35898277e-01 1.10106501e-02 7.89824556e+01] [-2.35877383e-01 9.71777630e-01 -3.17779670e-03 -1.00342161e+01] [-1.14495402e-02 4.90750587e-04 9.99934331e-01 -9.43505509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:-10.05, Z:-0.94 [[ 9.73102756e-01 2.30108257e-01 1.10098672e-02 7.90431872e+01] [-2.30086961e-01 9.73164875e-01 -3.18050699e-03 -1.00506726e+01] [-1.14462769e-02 5.61733239e-04 9.99934331e-01 -9.43541505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:-10.06, Z:-0.94 [[ 9.73793008e-01 2.27169498e-01 1.10089775e-02 7.91044520e+01] [-2.27147981e-01 9.73855051e-01 -3.18358352e-03 -1.00642675e+01] [-1.14443614e-02 5.99484368e-04 9.99934331e-01 -9.43381987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.17, Y:-10.07, Z:-0.94 [[ 9.72719249e-01 2.31724157e-01 1.10080980e-02 7.91666159e+01] [-2.31702896e-01 9.72781380e-01 -3.18662183e-03 -1.00743615e+01] [-1.14468900e-02 5.49080224e-04 9.99934331e-01 -9.43811567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:-10.08, Z:-0.94 [[ 9.70493369e-01 2.40876444e-01 1.10072307e-02 7.92297576e+01] [-2.40855735e-01 9.70555687e-01 -3.18961475e-03 -1.00820499e+01] [-1.14514334e-02 4.44345324e-04 9.99934331e-01 -9.43932750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.29, Y:-10.09, Z:-0.94 [[ 9.68335907e-01 2.49408162e-01 1.10063743e-02 7.92928080e+01] [-2.49387969e-01 9.68398394e-01 -3.19256699e-03 -1.00904596e+01] [-1.14548075e-02 3.46619909e-04 9.99934331e-01 -9.44864880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:-10.10, Z:-0.95 [[ 9.66903203e-01 2.54906015e-01 1.10054709e-02 7.93557859e+01] [-2.54886142e-01 9.66965792e-01 -3.19567838e-03 -1.01003127e+01] [-1.14565115e-02 2.84769648e-04 9.99934331e-01 -9.47817201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:-10.11, Z:-0.95 [[ 9.66114791e-01 2.57878094e-01 1.10045352e-02 7.94160801e+01] [-2.57858377e-01 9.66177429e-01 -3.19889734e-03 -1.01146691e+01] [-1.14572591e-02 2.52890454e-04 9.99934331e-01 -9.49606320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:-10.12, Z:-0.95 [[ 9.64456287e-01 2.64013238e-01 1.10036708e-02 7.94788840e+01] [-2.63993885e-01 9.64519039e-01 -3.20186787e-03 -1.01246193e+01] [-1.14585855e-02 1.83159796e-04 9.99934331e-01 -9.48428524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:-10.13, Z:-0.95 [[ 9.63764435e-01 2.66527773e-01 1.10027523e-02 7.95403630e+01] [-2.66508548e-01 9.63827226e-01 -3.20502106e-03 -1.01332787e+01] [-1.14589794e-02 1.56557773e-04 9.99934331e-01 -9.48654699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.60, Y:-10.14, Z:-0.95 [[ 9.63992072e-01 2.65703298e-01 1.10019025e-02 7.96016212e+01] [-2.65683986e-01 9.64054837e-01 -3.20793551e-03 -1.01445684e+01] [-1.14587964e-02 1.69395090e-04 9.99934331e-01 -9.49183665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.66, Y:-10.16, Z:-0.95 [[ 9.64253454e-01 2.64753191e-01 1.10010666e-02 7.96631111e+01] [-2.64733785e-01 9.64316190e-01 -3.21079971e-03 -1.01593228e+01] [-1.14585761e-02 1.83670725e-04 9.99934331e-01 -9.49244902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:-10.17, Z:-0.95 [[ 9.64568021e-01 2.63604871e-01 1.10001818e-02 7.97241175e+01] [-2.63585355e-01 9.64630723e-01 -3.21382786e-03 -1.01713031e+01] [-1.14582940e-02 2.00468737e-04 9.99934331e-01 -9.49675515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:-10.19, Z:-0.95 [[ 9.64093903e-01 2.65333676e-01 1.09993643e-02 7.97858808e+01] [-2.65314241e-01 9.64156630e-01 -3.21662358e-03 -1.01854200e+01] [-1.14585885e-02 1.82839201e-04 9.99934332e-01 -9.50931875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.397628 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:-10.20, Z:-0.96 [[ 9.65178747e-01 2.61359941e-01 1.09985064e-02 7.98487921e+01] [-2.61340214e-01 9.65241383e-01 -3.21955426e-03 -1.01951808e+01] [-1.14576760e-02 2.33093339e-04 9.99934332e-01 -9.60281068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:-10.21, Z:-0.96 [[ 9.64021990e-01 2.65594912e-01 1.09975341e-02 7.99072636e+01] [-2.65575422e-01 9.64084700e-01 -3.22287187e-03 -1.02143788e+01] [-1.14585328e-02 1.86244581e-04 9.99934332e-01 -9.56413428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.97, Y:-10.23, Z:-0.96 [[ 9.64175792e-01 2.65036062e-01 1.09967484e-02 7.99665016e+01] [-2.65016506e-01 9.64238481e-01 -3.22555071e-03 -1.02318330e+01] [-1.14583752e-02 1.95678080e-04 9.99934332e-01 -9.57085861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:-10.25, Z:-0.96 [[ 9.63863347e-01 2.66170129e-01 1.09959523e-02 8.00253578e+01] [-2.66150615e-01 9.63926049e-01 -3.22826244e-03 -1.02492499e+01] [-1.14585519e-02 1.85024383e-04 9.99934332e-01 -9.55853895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:-10.27, Z:-0.95 [[ 9.62841176e-01 2.69844341e-01 1.09955239e-02 8.00852068e+01] [-2.69825050e-01 9.62903947e-01 -3.22972073e-03 -1.02658052e+01] [-1.14591552e-02 1.42840308e-04 9.99934332e-01 -9.53689020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.15, Y:-10.28, Z:-0.95 [[ 9.62169143e-01 2.72230887e-01 1.09947164e-02 8.01452712e+01] [-2.72211721e-01 9.62231952e-01 -3.23246726e-03 -1.02830784e+01] [-1.14594449e-02 1.17289570e-04 9.99934332e-01 -9.53287488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.21, Y:-10.30, Z:-0.95 [[ 9.62238695e-01 2.71984976e-01 1.09939077e-02 8.02055884e+01] [-2.71965762e-01 9.62301490e-01 -3.23521547e-03 -1.03016153e+01] [-1.14593838e-02 1.23083019e-04 9.99934332e-01 -9.53082574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:-10.32, Z:-0.95 [[ 9.63082709e-01 2.68981133e-01 1.09929704e-02 8.02645695e+01] [-2.68961687e-01 9.63145432e-01 -3.23839712e-03 -1.03221917e+01] [-1.14588970e-02 1.62156408e-04 9.99934332e-01 -9.53015053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:-10.34, Z:-0.95 [[ 9.63816424e-01 2.66340148e-01 1.09921040e-02 8.03244064e+01] [-2.66320496e-01 9.63879083e-01 -3.24133555e-03 -1.03428528e+01] [-1.14583569e-02 1.96629855e-04 9.99934332e-01 -9.54382590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:-10.36, Z:-0.96 [[ 9.64959389e-01 2.62168975e-01 1.09911875e-02 8.03824608e+01] [-2.62149018e-01 9.65021951e-01 -3.24444025e-03 -1.03647137e+01] [-1.14573288e-02 2.49424076e-04 9.99934332e-01 -9.58140234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:-10.39, Z:-0.96 [[ 9.65608649e-01 2.59767488e-01 1.09903906e-02 8.04406184e+01] [-2.59747344e-01 9.65671152e-01 -3.24713729e-03 -1.03866535e+01] [-1.14566039e-02 2.80739076e-04 9.99934332e-01 -9.62500773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:-10.41, Z:-0.97 [[ 9.66534886e-01 2.56299711e-01 1.09896023e-02 8.04999807e+01] [-2.56279313e-01 9.66597306e-01 -3.24980320e-03 -1.04056536e+01] [-1.14554436e-02 3.24640444e-04 9.99934332e-01 -9.72024671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-10.43, Z:-0.96 [[ 9.65221845e-01 2.61201144e-01 1.09887695e-02 8.05572085e+01] [-2.61181030e-01 9.65284357e-01 -3.25261664e-03 -1.04291006e+01] [-1.14568745e-02 2.69438491e-04 9.99934332e-01 -9.63794416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-10.45, Z:-0.96 [[ 9.63592558e-01 2.67149109e-01 1.09880094e-02 8.06154490e+01] [-2.67129352e-01 9.63655184e-01 -3.25518259e-03 -1.04514425e+01] [-1.14582713e-02 2.01449889e-04 9.99934332e-01 -9.62588019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:-10.47, Z:-0.96 [[ 9.60762113e-01 2.77155991e-01 1.09871869e-02 8.06736768e+01] [-2.77136855e-01 9.60824932e-01 -3.25795623e-03 -1.04739463e+01] [-1.14597252e-02 8.51664875e-05 9.99934332e-01 -9.62880826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:-10.50, Z:-0.96 [[ 9.57320545e-01 2.88819439e-01 1.09866054e-02 8.07319133e+01] [-2.88801046e-01 9.57383585e-01 -3.25991624e-03 -1.04972615e+01] [-1.14599228e-02 -5.21583300e-05 9.99934332e-01 -9.63694899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:-10.52, Z:-0.96 [[ 9.55549524e-01 2.94625903e-01 1.09856789e-02 8.07908068e+01] [-2.94607857e-01 9.55612664e-01 -3.26303544e-03 -1.05207563e+01] [-1.14594286e-02 -1.18475346e-04 9.99934332e-01 -9.63447718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-10.55, Z:-0.96 [[ 9.54455737e-01 2.98150265e-01 1.09847523e-02 8.08485015e+01] [-2.98132416e-01 9.54518934e-01 -3.26615170e-03 -1.05476844e+01] [-1.14589580e-02 -1.57513516e-04 9.99934332e-01 -9.64855383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:-10.58, Z:-0.97 [[ 9.54841573e-01 2.96912321e-01 1.09838338e-02 8.09059538e+01] [-2.96894355e-01 9.54904736e-01 -3.26923767e-03 -1.05751471e+01] [-1.14591918e-02 -1.39434209e-04 9.99934332e-01 -9.67522308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:-10.60, Z:-0.97 [[ 9.55587683e-01 2.94502217e-01 1.09829029e-02 8.09637822e+01] [-2.94484055e-01 9.55650790e-01 -3.27236187e-03 -1.06009087e+01] [-1.14595377e-02 -1.07261095e-04 9.99934332e-01 -9.68811157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.02, Y:-10.63, Z:-0.97 [[ 9.57087948e-01 2.89589462e-01 1.09819670e-02 8.10210663e+01] [-2.89570941e-01 9.57150950e-01 -3.27549973e-03 -1.06302810e+01] [-1.14599504e-02 -4.51172126e-05 9.99934332e-01 -9.71433146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-10.66, Z:-0.97 [[ 9.57979043e-01 2.86627930e-01 1.09810366e-02 8.10784743e+01] [-2.86609178e-01 9.58041977e-01 -3.27861606e-03 -1.06582474e+01] [-1.14600369e-02 -6.42039786e-06 9.99934332e-01 -9.72695502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:-10.68, Z:-0.97 [[ 9.55853537e-01 2.93638302e-01 1.09801100e-02 8.11386304e+01] [-2.93619976e-01 9.55916597e-01 -3.28171610e-03 -1.06767623e+01] [-1.14597070e-02 -8.71397053e-05 9.99934332e-01 -9.72486707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:-10.69, Z:-0.98 [[ 9.55384471e-01 2.95160923e-01 1.09791791e-02 8.11981051e+01] [-2.95142662e-01 9.55447549e-01 -3.28482769e-03 -1.06934797e+01] [-1.14595825e-02 -1.02150786e-04 9.99934332e-01 -9.75026881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:-10.71, Z:-0.98 [[ 9.57005016e-01 2.89863544e-01 1.09783756e-02 8.12579949e+01] [-2.89844903e-01 9.57067983e-01 -3.28751101e-03 -1.07122724e+01] [-1.14599814e-02 -3.58616810e-05 9.99934332e-01 -9.76507949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:-10.73, Z:-0.97 [[ 9.58600542e-01 2.84542610e-01 1.09774570e-02 8.13173223e+01] [-2.84523585e-01 9.58663393e-01 -3.29057539e-03 -1.07296576e+01] [-1.14599951e-02 3.10019323e-05 9.99934332e-01 -9.74244207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:-10.75, Z:-0.97 [[ 9.60792488e-01 2.77051095e-01 1.09766313e-02 8.13771700e+01] [-2.77031548e-01 9.60855179e-01 -3.29332741e-03 -1.07482398e+01] [-1.14593730e-02 1.23331071e-04 9.99934332e-01 -9.72115848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:-10.76, Z:-0.97 [[ 9.63830973e-01 2.66288170e-01 1.09756881e-02 8.14387380e+01] [-2.66267887e-01 9.63893431e-01 -3.29646776e-03 -1.07631287e+01] [-1.14572040e-02 2.54764441e-04 9.99934332e-01 -9.73808908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:-10.78, Z:-0.97 [[ 9.66239218e-01 2.57412758e-01 1.09747603e-02 8.14991872e+01] [-2.57391866e-01 9.66301475e-01 -3.29955380e-03 -1.07802243e+01] [-1.14542743e-02 3.63344252e-04 9.99934332e-01 -9.74715550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:-10.80, Z:-0.98 [[ 9.66375705e-01 2.56899927e-01 1.09738401e-02 8.15598376e+01] [-2.56878968e-01 9.66437938e-01 -3.30261161e-03 -1.07952792e+01] [-1.14539760e-02 3.72614912e-04 9.99934332e-01 -9.75675188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:-10.81, Z:-0.98 [[ 9.64728660e-01 2.63017506e-01 1.09729048e-02 8.16212364e+01] [-2.62996906e-01 9.64791013e-01 -3.30571609e-03 -1.08101065e+01] [-1.14560211e-02 3.03279046e-04 9.99934332e-01 -9.76400779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.257628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:81.68, Y:-10.82, Z:-0.98 [[ 9.60015864e-01 2.79730507e-01 1.09719696e-02 8.16834387e+01] [-2.79710958e-01 9.60078555e-01 -3.30881725e-03 -1.08225582e+01] [-1.14595298e-02 1.07536933e-04 9.99934332e-01 -9.80007056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.74, Y:-10.84, Z:-0.98 [[ 9.55619819e-01 2.94398366e-01 1.09710341e-02 8.17441750e+01] [-2.94379744e-01 9.55682791e-01 -3.31191625e-03 -1.08388548e+01] [-1.14598512e-02 -6.47173822e-05 9.99934332e-01 -9.78816295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.80, Y:-10.86, Z:-0.98 [[ 9.53441317e-01 3.01379018e-01 1.09701066e-02 8.18043597e+01] [-3.01360821e-01 9.53504413e-01 -3.31498526e-03 -1.08559546e+01] [-1.14591121e-02 -1.45316436e-04 9.99934332e-01 -9.79461192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.86, Y:-10.88, Z:-0.98 [[ 9.53235530e-01 3.02029308e-01 1.09691568e-02 8.18637474e+01] [-3.02011118e-01 9.53298628e-01 -3.31812531e-03 -1.08758877e+01] [-1.14590532e-02 -1.49852365e-04 9.99934332e-01 -9.79296962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-10.90, Z:-0.98 [[ 9.54448304e-01 2.98174668e-01 1.09682171e-02 8.19224326e+01] [-2.98156188e-01 9.54511318e-01 -3.32122848e-03 -1.08989388e+01] [-1.14595936e-02 -1.00300925e-04 9.99934332e-01 -9.81271358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:-10.92, Z:-0.98 [[ 9.56800623e-01 2.90537928e-01 1.09672585e-02 8.19802543e+01] [-2.90518908e-01 9.56863476e-01 -3.32439118e-03 -1.09225730e+01] [-1.14600308e-02 -5.41640734e-06 9.99934332e-01 -9.80147331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:-10.95, Z:-0.98 [[ 9.59529107e-01 2.81395852e-01 1.09666682e-02 8.20377451e+01] [-2.81376211e-01 9.59591769e-01 -3.32633712e-03 -1.09471546e+01] [-1.14595420e-02 1.05957730e-04 9.99934332e-01 -9.83095079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:-10.97, Z:-0.98 [[ 9.60089348e-01 2.79478435e-01 1.09658017e-02 8.20976365e+01] [-2.79458636e-01 9.60151960e-01 -3.32919148e-03 -1.09672945e+01] [-1.14592732e-02 1.31833296e-04 9.99934332e-01 -9.84229963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:-10.98, Z:-0.99 [[ 9.59311696e-01 2.82136210e-01 1.09648721e-02 8.21585875e+01] [-2.82116550e-01 9.59374352e-01 -3.33225010e-03 -1.09843345e+01] [-1.14595655e-02 1.03294597e-04 9.99934332e-01 -9.85960280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:-11.00, Z:-0.99 [[ 9.59882528e-01 2.80188017e-01 1.09639277e-02 8.22177048e+01] [-2.80168195e-01 9.59945133e-01 -3.33535471e-03 -1.10016074e+01] [-1.14592954e-02 1.29804885e-04 9.99934332e-01 -9.88640775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.28, Y:-11.02, Z:-0.99 [[ 9.61086428e-01 2.76030230e-01 1.09631083e-02 8.22776959e+01] [-2.76010106e-01 9.61148937e-01 -3.33804566e-03 -1.10197679e+01] [-1.14585814e-02 1.82221687e-04 9.99934332e-01 -9.89004826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.34, Y:-11.04, Z:-0.99 [[ 9.64240791e-01 2.64800922e-01 1.09621633e-02 8.23379256e+01] [-2.64780035e-01 9.64303049e-01 -3.34114634e-03 -1.10372986e+01] [-1.14555861e-02 3.19107613e-04 9.99934332e-01 -9.87846750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:-11.06, Z:-0.99 [[ 9.67202736e-01 2.53769029e-01 1.09612049e-02 8.23985678e+01] [-2.53747397e-01 9.67264738e-01 -3.34428762e-03 -1.10553180e+01] [-1.14510636e-02 4.53226931e-04 9.99934332e-01 -9.86341121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:-11.07, Z:-0.99 [[ 9.68757966e-01 2.47765768e-01 1.09602522e-02 8.24594765e+01] [-2.47743716e-01 9.68819821e-01 -3.34740708e-03 -1.10711269e+01] [-1.14478824e-02 5.27493673e-04 9.99934332e-01 -9.85403373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:-11.08, Z:-0.99 [[ 9.68316030e-01 2.49487395e-01 1.09593113e-02 8.25211675e+01] [-2.49465418e-01 9.68377911e-01 -3.35048465e-03 -1.10847743e+01] [-1.14486587e-02 5.10358822e-04 9.99934332e-01 -9.86822101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-11.10, Z:-0.99 [[ 9.66999834e-01 2.54541224e-01 1.09583621e-02 8.25816858e+01] [-2.54519536e-01 9.67061818e-01 -3.35358614e-03 -1.10998429e+01] [-1.14510395e-02 4.53800005e-04 9.99934332e-01 -9.88518638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-11.11, Z:-0.99 [[ 9.64056014e-01 2.65473042e-01 1.09574848e-02 8.26430849e+01] [-2.65452024e-01 9.64118228e-01 -3.35645039e-03 -1.11125238e+01] [-1.14553579e-02 3.27119668e-04 9.99934332e-01 -9.91696633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-11.13, Z:-1.00 [[ 9.60905045e-01 2.76661252e-01 1.09565343e-02 8.27043708e+01] [-2.76640924e-01 9.60967488e-01 -3.35955024e-03 -1.11269277e+01] [-1.14583306e-02 1.97183017e-04 9.99934332e-01 -9.95245974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-11.14, Z:-1.00 [[ 9.58445229e-01 2.85066163e-01 1.09555887e-02 8.27649074e+01] [-2.85046347e-01 9.58507837e-01 -3.36263090e-03 -1.11442083e+01] [-1.14595899e-02 1.00047000e-04 9.99934332e-01 -9.97079968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-11.16, Z:-1.00 [[ 9.57775487e-01 2.87308394e-01 1.09546283e-02 8.28243588e+01] [-2.87288689e-01 9.57838129e-01 -3.36575668e-03 -1.11640349e+01] [-1.14597709e-02 7.64984263e-05 9.99934332e-01 -9.98019582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-11.18, Z:-1.00 [[ 9.58104142e-01 2.86210533e-01 1.09536765e-02 8.28833884e+01] [-2.86190721e-01 9.58166751e-01 -3.36885155e-03 -1.11844400e+01] [-1.14596494e-02 9.28700476e-05 9.99934332e-01 -9.98682360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-11.21, Z:-0.99 [[ 9.59576180e-01 2.81235830e-01 1.09527327e-02 8.29411264e+01] [-2.81215658e-01 9.59638674e-01 -3.37191720e-03 -1.12086794e+01] [-1.14589698e-02 1.55531489e-04 9.99934332e-01 -9.94488959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-11.23, Z:-0.99 [[ 9.61048126e-01 2.76164003e-01 1.09518603e-02 8.30000680e+01] [-2.76143469e-01 9.61110501e-01 -3.37474850e-03 -1.12316610e+01] [-1.14579320e-02 2.19011034e-04 9.99934332e-01 -9.94074751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:-11.25, Z:-1.00 [[ 9.61741918e-01 2.73738125e-01 1.09509142e-02 8.30596464e+01] [-2.73717399e-01 9.61804230e-01 -3.37781549e-03 -1.12528766e+01] [-1.14572725e-02 2.51130983e-04 9.99934332e-01 -9.99102730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:-11.27, Z:-1.00 [[ 9.61812806e-01 2.73488984e-01 1.09499419e-02 8.31178760e+01] [-2.73468206e-01 9.61875101e-01 -3.38096452e-03 -1.12743460e+01] [-1.14571330e-02 2.57394006e-04 9.99934332e-01 -1.00236709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.757628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:83.18, Y:-11.29, Z:-1.01 [[ 9.61311554e-01 2.75245733e-01 1.09490938e-02 8.31765621e+01] [-2.75225038e-01 9.61373876e-01 -3.38370902e-03 -1.12933008e+01] [-1.14575242e-02 2.39333832e-04 9.99934332e-01 -1.00842091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.24, Y:-11.31, Z:-1.01 [[ 9.60931931e-01 2.76568184e-01 1.09482568e-02 8.32369899e+01] [-2.76547543e-01 9.60994271e-01 -3.38641505e-03 -1.13119031e+01] [-1.14577867e-02 2.26400840e-04 9.99934332e-01 -1.00696344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:-11.33, Z:-1.01 [[ 9.60867310e-01 2.76792646e-01 1.09473110e-02 8.32966186e+01] [-2.76771985e-01 9.60929643e-01 -3.38946952e-03 -1.13321738e+01] [-1.14577759e-02 2.26921452e-04 9.99934332e-01 -1.00616981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-11.35, Z:-1.00 [[ 9.61399327e-01 2.74939105e-01 1.09463722e-02 8.33557648e+01] [-2.74918289e-01 9.61461609e-01 -3.39249878e-03 -1.13504551e+01] [-1.14572472e-02 2.52188119e-04 9.99934332e-01 -1.00358773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:-11.37, Z:-1.00 [[ 9.62201554e-01 2.72118293e-01 1.09455493e-02 8.34163366e+01] [-2.72097265e-01 9.62263764e-01 -3.39515167e-03 -1.13659782e+01] [-1.14563884e-02 2.88566184e-04 9.99934332e-01 -1.00264522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:-11.38, Z:-1.00 [[ 9.62782315e-01 2.70056341e-01 1.09447084e-02 8.34767317e+01] [-2.70035149e-01 9.62844470e-01 -3.39786048e-03 -1.13841141e+01] [-1.14556657e-02 3.15944026e-04 9.99934332e-01 -1.00220996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.54, Y:-11.40, Z:-1.00 [[ 9.63680260e-01 2.66834389e-01 1.09437482e-02 8.35377665e+01] [-2.66812954e-01 9.63742331e-01 -3.40095025e-03 -1.14007216e+01] [-1.14544439e-02 3.57494842e-04 9.99934332e-01 -1.00332339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:-11.41, Z:-1.01 [[ 9.63077957e-01 2.69000192e-01 1.09427933e-02 8.35991039e+01] [-2.68978862e-01 9.63140065e-01 -3.40401982e-03 -1.14147067e+01] [-1.14551246e-02 3.34956368e-04 9.99934332e-01 -1.00581048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:-11.43, Z:-1.01 [[ 9.62198938e-01 2.72127691e-01 1.09418373e-02 8.36599257e+01] [-2.72106527e-01 9.62261103e-01 -3.40708988e-03 -1.14290298e+01] [-1.14560680e-02 3.00952898e-04 9.99934332e-01 -1.01007964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.72, Y:-11.44, Z:-1.01 [[ 9.61537477e-01 2.74455779e-01 1.09409957e-02 8.37198324e+01] [-2.74434735e-01 9.61599683e-01 -3.40979047e-03 -1.14449329e+01] [-1.14566947e-02 2.76052066e-04 9.99934332e-01 -1.01114207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:83.78, Y:-11.46, Z:-1.01 [[ 9.61214971e-01 2.75583178e-01 1.09404016e-02 8.37801743e+01] [-2.75562186e-01 9.61277193e-01 -3.41169560e-03 -1.14638134e+01] [-1.14569644e-02 2.64611901e-04 9.99934332e-01 -1.01390813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.84, Y:-11.48, Z:-1.01 [[ 9.59844501e-01 2.80319214e-01 1.09394323e-02 8.38393390e+01] [-2.80298494e-01 9.59906815e-01 -3.41480089e-03 -1.14831082e+01] [-1.14580699e-02 2.11371472e-04 9.99934332e-01 -1.01039243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:-11.50, Z:-1.01 [[ 9.58010757e-01 2.86523535e-01 1.09385981e-02 8.38980204e+01] [-2.86503188e-01 9.58073194e-01 -3.41747093e-03 -1.15027344e+01] [-1.14591634e-02 1.40030694e-04 9.99934332e-01 -1.01023918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:-11.52, Z:-1.01 [[ 9.56174591e-01 2.92592751e-01 1.09377144e-02 8.39569651e+01] [-2.92572767e-01 9.56237145e-01 -3.42029680e-03 -1.15233344e+01] [-1.14598028e-02 7.03235244e-05 9.99934332e-01 -1.01231778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:-11.54, Z:-1.01 [[ 9.55918883e-01 2.93427124e-01 1.09367626e-02 8.40158597e+01] [-2.93407161e-01 9.55981443e-01 -3.42333766e-03 -1.15444116e+01] [-1.14598422e-02 6.35086581e-05 9.99934332e-01 -1.01400938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.07, Y:-11.57, Z:-1.02 [[ 9.57830543e-01 2.87125511e-01 1.09358032e-02 8.40732698e+01] [-2.87105101e-01 9.57892959e-01 -3.42639967e-03 -1.15673157e+01] [-1.14591356e-02 1.42185376e-04 9.99934332e-01 -1.01695103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:-11.59, Z:-1.01 [[ 9.60757217e-01 2.77175030e-01 1.09349178e-02 8.41317989e+01] [-2.77153941e-01 9.60819407e-01 -3.42922287e-03 -1.15922078e+01] [-1.14569762e-02 2.63995051e-04 9.99934332e-01 -1.01454630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:-11.61, Z:-1.01 [[ 9.60936908e-01 2.76551455e-01 1.09339355e-02 8.41926663e+01] [-2.76530290e-01 9.60999073e-01 -3.43235206e-03 -1.16097734e+01] [-1.14567239e-02 2.74709408e-04 9.99934332e-01 -1.01491689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.25, Y:-11.63, Z:-1.02 [[ 9.60484272e-01 2.78119460e-01 1.09329627e-02 8.42528547e+01] [-2.78098362e-01 9.60546459e-01 -3.43544789e-03 -1.16274461e+01] [-1.14570835e-02 2.59254647e-04 9.99934332e-01 -1.01735431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.31, Y:-11.64, Z:-1.02 [[ 9.60113910e-01 2.79395366e-01 1.09319880e-02 8.43133368e+01] [-2.79374315e-01 9.60176113e-01 -3.43854688e-03 -1.16449310e+01] [-1.14573478e-02 2.47280034e-04 9.99934332e-01 -1.01952198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.957628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:-11.66, Z:-1.02 [[ 9.59627931e-01 2.81060043e-01 1.09310123e-02 8.43743093e+01] [-2.81039065e-01 9.59690158e-01 -3.44164559e-03 -1.16596330e+01] [-1.14576940e-02 2.30657743e-04 9.99934332e-01 -1.02251872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:-11.68, Z:-1.02 [[ 9.58617495e-01 2.84487296e-01 1.09305454e-02 8.44338878e+01] [-2.84466524e-01 9.58679791e-01 -3.44312793e-03 -1.16766767e+01] [-1.14584191e-02 1.91268419e-04 9.99934332e-01 -1.02232829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:-11.69, Z:-1.02 [[ 9.57259497e-01 2.89023861e-01 1.09299407e-02 8.44943477e+01] [-2.89003362e-01 9.57321884e-01 -3.44504655e-03 -1.16931549e+01] [-1.14591720e-02 1.39013935e-04 9.99934332e-01 -1.02325271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:-11.71, Z:-1.02 [[ 9.56319233e-01 2.92119978e-01 1.09289927e-02 8.45532322e+01] [-2.92099646e-01 9.56381675e-01 -3.44805115e-03 -1.17102420e+01] [-1.14595330e-02 1.05082722e-04 9.99934332e-01 -1.02387555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:-11.73, Z:-1.02 [[ 9.54929193e-01 2.96632438e-01 1.09285415e-02 8.46134500e+01] [-2.96612385e-01 9.54991725e-01 -3.44948085e-03 -1.17297025e+01] [-1.14598946e-02 5.24692166e-05 9.99934332e-01 -1.02297644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:-11.75, Z:-1.02 [[ 9.53676985e-01 3.00633990e-01 1.09276104e-02 8.46724806e+01] [-3.00614166e-01 9.53739589e-01 -3.45242776e-03 -1.17496985e+01] [-1.14600118e-02 7.50640280e-06 9.99934332e-01 -1.02440958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:-11.77, Z:-1.03 [[ 9.52430731e-01 3.04559204e-01 1.09267488e-02 8.47317679e+01] [-3.04539606e-01 9.52493407e-01 -3.45515273e-03 -1.17702683e+01] [-1.14599547e-02 -3.68341195e-05 9.99934332e-01 -1.02507863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:-11.79, Z:-1.03 [[ 9.51560071e-01 3.07268708e-01 1.09257386e-02 8.47895793e+01] [-3.07249252e-01 9.51622791e-01 -3.45834419e-03 -1.17911268e+01] [-1.14598228e-02 -6.61027614e-05 9.99934332e-01 -1.02841715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:-11.81, Z:-1.03 [[ 9.50756248e-01 3.09747002e-01 1.09248052e-02 8.48490603e+01] [-3.09727677e-01 9.50819008e-01 -3.46129009e-03 -1.18119743e+01] [-1.14596367e-02 -9.28713580e-05 9.99934332e-01 -1.03025177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:-11.83, Z:-1.03 [[ 9.50393718e-01 3.10857607e-01 1.09238094e-02 8.49079079e+01] [-3.10838319e-01 9.50456489e-01 -3.46443003e-03 -1.18332169e+01] [-1.14595500e-02 -1.02966012e-04 9.99934332e-01 -1.03155717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:-11.86, Z:-1.03 [[ 9.52571828e-01 3.04117748e-01 1.09228143e-02 8.49655160e+01] [-3.04097980e-01 9.52634450e-01 -3.46756460e-03 -1.18578624e+01] [-1.14599971e-02 -1.85014106e-05 9.99934332e-01 -1.03042975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:-11.88, Z:-1.03 [[ 9.55802556e-01 2.93806376e-01 1.09218951e-02 8.50242942e+01] [-2.93785898e-01 9.55864950e-01 -3.47045737e-03 -1.18813411e+01] [-1.14594992e-02 1.08373264e-04 9.99934332e-01 -1.02638169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:-11.90, Z:-1.03 [[ 9.56541930e-01 2.91390236e-01 1.09208974e-02 8.50847964e+01] [-2.91369565e-01 9.56604260e-01 -3.47359404e-03 -1.19002227e+01] [-1.14591484e-02 1.40621208e-04 9.99934332e-01 -1.02587476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:-11.92, Z:-1.03 [[ 9.59004484e-01 2.83180428e-01 1.09199040e-02 8.51459058e+01] [-2.83159188e-01 9.59066623e-01 -3.47671416e-03 -1.19166956e+01] [-1.14574529e-02 2.42113308e-04 9.99934332e-01 -1.02865442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:-11.93, Z:-1.03 [[ 9.61247215e-01 2.75471539e-01 1.09189024e-02 8.52056081e+01] [-2.75449765e-01 9.61309168e-01 -3.47985701e-03 -1.19343425e+01] [-1.14550426e-02 3.37393749e-04 9.99934332e-01 -1.03046000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:-11.95, Z:-1.03 [[ 9.61964281e-01 2.72956993e-01 1.09179783e-02 8.52660283e+01] [-2.72935025e-01 9.62026165e-01 -3.48275402e-03 -1.19513397e+01] [-1.14540228e-02 3.70386294e-04 9.99934332e-01 -1.02979858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:-11.96, Z:-1.03 [[ 9.61503905e-01 2.74574325e-01 1.09169869e-02 8.53279885e+01] [-2.74552425e-01 9.61565814e-01 -3.48585870e-03 -1.19635043e+01] [-1.14545287e-02 3.54381508e-04 9.99934332e-01 -1.03142901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:-11.98, Z:-1.03 [[ 9.59432821e-01 2.81725935e-01 1.09160106e-02 8.53888982e+01] [-2.81704462e-01 9.59494879e-01 -3.48891332e-03 -1.19770173e+01] [-1.14567737e-02 2.72289043e-04 9.99934332e-01 -1.03087302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:-11.99, Z:-1.03 [[ 9.56593185e-01 2.91222135e-01 1.09154084e-02 8.54495862e+01] [-2.91201257e-01 9.56655446e-01 -3.49079656e-03 -1.19902639e+01] [-1.14588821e-02 1.60691562e-04 9.99934332e-01 -1.03137402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.51, Y:-12.00, Z:-1.03 [[ 9.52949868e-01 3.02931381e-01 1.09145200e-02 8.55117912e+01] [-3.02911236e-01 9.53012370e-01 -3.49357198e-03 -1.20033831e+01] [-1.14599852e-02 2.30682110e-05 9.99934332e-01 -1.03200359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.57, Y:-12.02, Z:-1.03 [[ 9.49591047e-01 3.13301353e-01 1.09135381e-02 8.55725786e+01] [-3.13281855e-01 9.49653754e-01 -3.49663670e-03 -1.20190616e+01] [-1.14595834e-02 -9.86385581e-05 9.99934332e-01 -1.03148777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.63, Y:-12.04, Z:-1.03 [[ 9.47932102e-01 3.18285480e-01 1.09125579e-02 8.56329277e+01] [-3.18266277e-01 9.47994899e-01 -3.49969294e-03 -1.20362448e+01] [-1.14589507e-02 -1.55627897e-04 9.99934332e-01 -1.03205070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.69, Y:-12.06, Z:-1.03 [[ 9.47763193e-01 3.18788123e-01 1.09115609e-02 8.56933677e+01] [-3.18768918e-01 9.47825990e-01 -3.50279875e-03 -1.20552742e+01] [-1.14589117e-02 -1.58442742e-04 9.99934332e-01 -1.03254720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.75, Y:-12.07, Z:-1.04 [[ 9.48486843e-01 3.16628598e-01 1.09105709e-02 8.57531331e+01] [-3.16609214e-01 9.48549585e-01 -3.50587991e-03 -1.20732316e+01] [-1.14592793e-02 -1.29106296e-04 9.99934332e-01 -1.03597588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:-12.09, Z:-1.04 [[ 9.50377285e-01 3.10908337e-01 1.09097123e-02 8.58116886e+01] [-3.10888545e-01 9.50439899e-01 -3.50854942e-03 -1.20939647e+01] [-1.14598632e-02 -5.72589292e-05 9.99934332e-01 -1.04152179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:-12.12, Z:-1.04 [[ 9.53580359e-01 3.00941016e-01 1.09088619e-02 8.58689948e+01] [-3.00920540e-01 9.53642753e-01 -3.51119166e-03 -1.21185901e+01] [-1.14598187e-02 6.55028015e-05 9.99934332e-01 -1.04218308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:-12.14, Z:-1.04 [[ 9.57245724e-01 2.89070302e-01 1.09079961e-02 8.59254839e+01] [-2.89049021e-01 9.57307848e-01 -3.51387929e-03 -1.21426527e+01] [-1.14580684e-02 2.10700331e-04 9.99934332e-01 -1.04365440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:-12.16, Z:-1.04 [[ 9.59717781e-01 2.80754009e-01 1.09072064e-02 8.59836986e+01] [-2.80732162e-01 9.59779709e-01 -3.51632888e-03 -1.21648205e+01] [-1.14557388e-02 3.12679722e-04 9.99934332e-01 -1.04204544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:-12.19, Z:-1.04 [[ 9.63256166e-01 2.68362834e-01 1.09063241e-02 8.60408041e+01] [-2.68340160e-01 9.63317795e-01 -3.51906328e-03 -1.21886967e+01] [-1.14506419e-02 4.63154647e-04 9.99934332e-01 -1.04098622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.10, Y:-12.21, Z:-1.04 [[ 9.66012348e-01 2.58265782e-01 1.09054505e-02 8.60990001e+01] [-2.58242434e-01 9.66073725e-01 -3.52176846e-03 -1.22099059e+01] [-1.14450215e-02 5.85821740e-04 9.99934332e-01 -1.03961419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.757628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:86.16, Y:-12.23, Z:-1.04 [[ 9.67393633e-01 2.53042781e-01 1.09045749e-02 8.61578688e+01] [-2.53019071e-01 9.67454871e-01 -3.52447770e-03 -1.22279612e+01] [-1.14415277e-02 6.50491891e-04 9.99934332e-01 -1.04020326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:-12.24, Z:-1.04 [[ 9.66865362e-01 2.55053879e-01 1.09036506e-02 8.62182779e+01] [-2.55030264e-01 9.66926637e-01 -3.52733481e-03 -1.22431321e+01] [-1.14426906e-02 6.29696964e-04 9.99934332e-01 -1.03764297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.28, Y:-12.26, Z:-1.04 [[ 9.65561559e-01 2.59946158e-01 1.09027990e-02 8.62790795e+01] [-2.59922824e-01 9.65622941e-01 -3.52996516e-03 -1.22572385e+01] [-1.14455937e-02 5.74512368e-04 9.99934332e-01 -1.03926605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:-12.27, Z:-1.04 [[ 9.62699753e-01 2.70352243e-01 1.09018975e-02 8.63402896e+01] [-2.70329541e-01 9.62761372e-01 -3.53274692e-03 -1.22678360e+01] [-1.14510119e-02 4.53869627e-04 9.99934332e-01 -1.03959416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:-12.28, Z:-1.04 [[ 9.59613524e-01 2.81110392e-01 1.09010166e-02 8.64022547e+01] [-2.81088351e-01 9.59675382e-01 -3.53546323e-03 -1.22779009e+01] [-1.14552927e-02 3.28529563e-04 9.99934332e-01 -1.03984732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:-12.29, Z:-1.04 [[ 9.57437075e-01 2.88436178e-01 1.09004376e-02 8.64645375e+01] [-2.88414590e-01 9.57499093e-01 -3.53724747e-03 -1.22882112e+01] [-1.14574292e-02 2.42846641e-04 9.99934332e-01 -1.04177345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:-12.30, Z:-1.04 [[ 9.56494360e-01 2.91547148e-01 1.08995259e-02 8.65280875e+01] [-2.91525730e-01 9.56556437e-01 -3.54005440e-03 -1.22976847e+01] [-1.14581044e-02 2.08549827e-04 9.99934332e-01 -1.04010425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.59, Y:-12.31, Z:-1.04 [[ 9.55125543e-01 2.96000706e-01 1.08986210e-02 8.65883521e+01] [-2.95979545e-01 9.55187708e-01 -3.54283805e-03 -1.23149925e+01] [-1.14589114e-02 1.58086225e-04 9.99934332e-01 -1.04220573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.65, Y:-12.33, Z:-1.04 [[ 9.53665753e-01 3.00670704e-01 1.08977300e-02 8.66490456e+01] [-3.00649816e-01 9.53728010e-01 -3.54557656e-03 -1.23290123e+01] [-1.14595214e-02 1.04894403e-04 9.99934332e-01 -1.04087295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.71, Y:-12.34, Z:-1.04 [[ 9.50869429e-01 3.09400368e-01 1.08968614e-02 8.67102630e+01] [-3.09380022e-01 9.50931865e-01 -3.54824410e-03 -1.23431469e+01] [-1.14600008e-02 2.64561305e-06 9.99934332e-01 -1.04256966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.77, Y:-12.36, Z:-1.04 [[ 9.49048378e-01 3.14941988e-01 1.08958639e-02 8.67707385e+01] [-3.14921971e-01 9.49110921e-01 -3.55130461e-03 -1.23570011e+01] [-1.14598384e-02 -6.09870679e-05 9.99934332e-01 -1.04489720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:-12.38, Z:-1.04 [[ 9.47028195e-01 3.20965570e-01 1.08949590e-02 8.68281139e+01] [-3.20945919e-01 9.47090854e-01 -3.55407853e-03 -1.23812819e+01] [-1.14592529e-02 -1.30880065e-04 9.99934332e-01 -1.04321854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:-12.40, Z:-1.05 [[ 9.47071348e-01 3.20838247e-01 1.08940683e-02 8.68862900e+01] [-3.20818556e-01 9.47133994e-01 -3.55680674e-03 -1.24021532e+01] [-1.14593021e-02 -1.26469507e-04 9.99934332e-01 -1.04543228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.94, Y:-12.42, Z:-1.05 [[ 9.47714548e-01 3.18933339e-01 1.08931781e-02 8.69434137e+01] [-3.18913491e-01 9.47777144e-01 -3.55953100e-03 -1.24248323e+01] [-1.14595583e-02 -1.00562147e-04 9.99934332e-01 -1.04873548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.00, Y:-12.45, Z:-1.05 [[ 9.48063862e-01 3.17893490e-01 1.08923647e-02 8.70026001e+01] [-3.17873544e-01 9.48126427e-01 -3.56201817e-03 -1.24464721e+01] [-1.14596813e-02 -8.53738848e-05 9.99934332e-01 -1.04946753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.06, Y:-12.47, Z:-1.05 [[ 9.50856137e-01 3.09441408e-01 1.08913756e-02 8.70584115e+01] [-3.09420872e-01 9.50918511e-01 -3.56504020e-03 -1.24742701e+01] [-1.14599817e-02 1.98214272e-05 9.99934332e-01 -1.04678265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:-12.50, Z:-1.04 [[ 9.54028913e-01 2.99516662e-01 1.08905032e-02 8.71153617e+01] [-2.99495447e-01 9.54091059e-01 -3.56770322e-03 -1.25005307e+01] [-1.14591183e-02 1.42035910e-04 9.99934332e-01 -1.04330840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:-12.52, Z:-1.05 [[ 9.57255386e-01 2.89038999e-01 1.08895916e-02 8.71738969e+01] [-2.89017072e-01 9.57317285e-01 -3.57048350e-03 -1.25207377e+01] [-1.14568032e-02 2.70586693e-04 9.99934332e-01 -1.04577357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:-12.55, Z:-1.04 [[ 9.57492072e-01 2.88254000e-01 1.08886522e-02 8.72291989e+01] [-2.88231990e-01 9.57553942e-01 -3.57334596e-03 -1.25488552e+01] [-1.14565031e-02 2.82992547e-04 9.99934332e-01 -1.04233134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:-12.57, Z:-1.04 [[ 9.58224108e-01 2.85811152e-01 1.08877996e-02 8.72866444e+01] [-2.85788954e-01 9.58285910e-01 -3.57594194e-03 -1.25711272e+01] [-1.14556690e-02 3.14940926e-04 9.99934332e-01 -1.04471108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.34, Y:-12.59, Z:-1.05 [[ 9.58022937e-01 2.86484773e-01 1.08870203e-02 8.73442840e+01] [-2.86462592e-01 9.58084745e-01 -3.57831287e-03 -1.25940884e+01] [-1.14558202e-02 3.09381757e-04 9.99934332e-01 -1.04736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:87.40, Y:-12.62, Z:-1.05 [[ 9.57549795e-01 2.88062288e-01 1.08861419e-02 8.74019952e+01] [-2.88040178e-01 9.57611629e-01 -3.58098315e-03 -1.26173091e+01] [-1.14562423e-02 2.93323426e-04 9.99934332e-01 -1.04916566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.46, Y:-12.64, Z:-1.05 [[ 9.56509678e-01 2.91497420e-01 1.08852718e-02 8.74602219e+01] [-2.91475503e-01 9.56571581e-01 -3.58362609e-03 -1.26378942e+01] [-1.14571594e-02 2.54982963e-04 9.99934332e-01 -1.04623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.52, Y:-12.66, Z:-1.05 [[ 9.55502373e-01 2.94782540e-01 1.08843716e-02 8.75195027e+01] [-2.94760805e-01 9.55564339e-01 -3.58635810e-03 -1.26581682e+01] [-1.14579131e-02 2.18487536e-04 9.99934332e-01 -1.04672357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:-12.68, Z:-1.05 [[ 9.53698658e-01 3.00566837e-01 1.08833424e-02 8.75774440e+01] [-3.00545441e-01 9.53760742e-01 -3.58947863e-03 -1.26788056e+01] [-1.14589830e-02 1.52341994e-04 9.99934332e-01 -1.04754472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:-12.70, Z:-1.05 [[ 9.51188995e-01 3.08417038e-01 1.08823937e-02 8.76367496e+01] [-3.08396122e-01 9.51251243e-01 -3.59235251e-03 -1.26995252e+01] [-1.14598333e-02 6.09181502e-05 9.99934332e-01 -1.04849819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-12.72, Z:-1.05 [[ 9.48565024e-01 3.16395307e-01 1.08813734e-02 8.76943498e+01] [-3.16374879e-01 9.48627434e-01 -3.59544056e-03 -1.27224227e+01] [-1.14599498e-02 -3.20840204e-05 9.99934332e-01 -1.04816405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-12.74, Z:-1.05 [[ 9.47679994e-01 3.19036432e-01 1.08804295e-02 8.77523658e+01] [-3.19016145e-01 9.47742450e-01 -3.59829473e-03 -1.27443466e+01] [-1.14598320e-02 -6.10007395e-05 9.99934332e-01 -1.05006144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.81, Y:-12.77, Z:-1.05 [[ 9.48353996e-01 3.17027341e-01 1.08795293e-02 8.78089706e+01] [-3.17006891e-01 9.48416398e-01 -3.60101435e-03 -1.27693270e+01] [-1.14599440e-02 -3.38494101e-05 9.99934332e-01 -1.05270195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.87, Y:-12.80, Z:-1.05 [[ 9.50304827e-01 3.11130818e-01 1.08788943e-02 8.78653849e+01] [-3.11109959e-01 9.50367093e-01 -3.60293173e-03 -1.27977919e+01] [-1.14599263e-02 3.93510496e-05 9.99934332e-01 -1.05023675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.92, Y:-12.82, Z:-1.05 [[ 9.52014451e-01 3.05859697e-01 1.08780144e-02 8.79222372e+01] [-3.05838462e-01 9.52076591e-01 -3.60558639e-03 -1.28241682e+01] [-1.14595064e-02 1.05655148e-04 9.99934332e-01 -1.04885065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:-12.85, Z:-1.05 [[ 9.51953696e-01 3.06048767e-01 1.08771449e-02 8.79814983e+01] [-3.06027515e-01 9.52015830e-01 -3.60820767e-03 -1.28467619e+01] [-1.14595016e-02 1.06141017e-04 9.99934332e-01 -1.04730038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:-12.86, Z:-1.05 [[ 9.50487376e-01 3.10572790e-01 1.08761294e-02 8.80394318e+01] [-3.10551799e-01 9.50549599e-01 -3.61126598e-03 -1.28647769e+01] [-1.14598614e-02 5.48611826e-05 9.99934332e-01 -1.05053512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:-12.88, Z:-1.05 [[ 9.50058090e-01 3.11883545e-01 1.08756282e-02 8.80984868e+01] [-3.11862623e-01 9.50120336e-01 -3.61277479e-03 -1.28825903e+01] [-1.14599205e-02 4.06439952e-05 9.99934332e-01 -1.05409439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:-12.90, Z:-1.06 [[ 9.50981255e-01 3.09057266e-01 1.08747293e-02 8.81575287e+01] [-3.09036127e-01 9.51043427e-01 -3.61547846e-03 -1.29013890e+01] [-1.14597297e-02 7.75680139e-05 9.99934332e-01 -1.05623447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:-12.92, Z:-1.05 [[ 9.54732530e-01 2.97266810e-01 1.08738398e-02 8.82166956e+01] [-2.97244873e-01 9.54794425e-01 -3.61815167e-03 -1.29208314e+01] [-1.14578380e-02 2.22173966e-04 9.99934332e-01 -1.05283539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:-12.94, Z:-1.05 [[ 9.57615417e-01 2.87844562e-01 1.08729367e-02 8.82757785e+01] [-2.87821986e-01 9.57677082e-01 -3.62086347e-03 -1.29413540e+01] [-1.14550082e-02 3.37924443e-04 9.99934332e-01 -1.05083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:-12.96, Z:-1.05 [[ 9.60797535e-01 2.77037716e-01 1.08720403e-02 8.83337855e+01] [-2.77014416e-01 9.60858930e-01 -3.62355309e-03 -1.29600023e+01] [-1.14503579e-02 4.69788978e-04 9.99934332e-01 -1.04946325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-12.98, Z:-1.05 [[ 9.62099728e-01 2.72481064e-01 1.08712206e-02 8.83931537e+01] [-2.72457446e-01 9.62161001e-01 -3.62601081e-03 -1.29763086e+01] [-1.14478837e-02 5.26639028e-04 9.99934332e-01 -1.05128565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:-12.99, Z:-1.05 [[ 9.60933933e-01 2.76564289e-01 1.08706012e-02 8.84541857e+01] [-2.76540910e-01 9.60995298e-01 -3.62786675e-03 -1.29919450e+01] [-1.14499350e-02 4.79974325e-04 9.99934332e-01 -1.05369232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:-13.01, Z:-1.06 [[ 9.57762798e-01 2.87353918e-01 1.08695946e-02 8.85150585e+01] [-2.87331196e-01 9.57824410e-01 -3.63088021e-03 -1.30066663e+01] [-1.14545106e-02 3.54348378e-04 9.99934332e-01 -1.05889530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:-13.02, Z:-1.06 [[ 9.54673023e-01 2.97458048e-01 1.08687027e-02 8.85758331e+01] [-2.97435948e-01 9.54734861e-01 -3.63354798e-03 -1.30234868e+01] [-1.14575574e-02 2.36107345e-04 9.99934332e-01 -1.05749242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:-13.04, Z:-1.06 [[ 9.50302885e-01 3.11137140e-01 1.08676821e-02 8.86370289e+01] [-3.11115896e-01 9.50365022e-01 -3.63659798e-03 -1.30395867e+01] [-1.14597456e-02 7.47609101e-05 9.99934332e-01 -1.05964328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:-13.06, Z:-1.06 [[ 9.46448637e-01 3.22671495e-01 1.08666554e-02 8.86970654e+01] [-3.22650973e-01 9.46511015e-01 -3.63966337e-03 -1.30570870e+01] [-1.14598246e-02 -6.13824948e-05 9.99934332e-01 -1.06019997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:-13.08, Z:-1.06 [[ 9.44167308e-01 3.29287157e-01 1.08656143e-02 8.87555197e+01] [-3.29267037e-01 9.44229818e-01 -3.64276876e-03 -1.30784349e+01] [-1.14591539e-02 -1.38305439e-04 9.99934332e-01 -1.06095485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:-13.10, Z:-1.06 [[ 9.43472328e-01 3.31273188e-01 1.08646508e-02 8.88142167e+01] [-3.31253166e-01 9.43534869e-01 -3.64563998e-03 -1.31026318e+01] [-1.14588797e-02 -1.59389540e-04 9.99934332e-01 -1.06254084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.87, Y:-13.12, Z:-1.06 [[ 9.43379269e-01 3.31538136e-01 1.08636260e-02 8.88742843e+01] [-3.31518097e-01 9.43441805e-01 -3.64869143e-03 -1.31228917e+01] [-1.14588792e-02 -1.59388743e-04 9.99934332e-01 -1.06326875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:-13.15, Z:-1.06 [[ 9.43708768e-01 3.30599100e-01 1.08626005e-02 8.89309267e+01] [-3.30578962e-01 9.43771272e-01 -3.65174184e-03 -1.31479484e+01] [-1.14590728e-02 -1.44766400e-04 9.99934332e-01 -1.06464490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:-13.17, Z:-1.07 [[ 9.44401669e-01 3.28614533e-01 1.08616817e-02 8.89891467e+01] [-3.28594233e-01 9.44464121e-01 -3.65447252e-03 -1.31729147e+01] [-1.14593815e-02 -1.17796030e-04 9.99934332e-01 -1.06550648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:-13.20, Z:-1.07 [[ 9.46105560e-01 3.23676250e-01 1.08606381e-02 8.90453763e+01] [-3.23655589e-01 9.46167893e-01 -3.65757148e-03 -1.31999471e+01] [-1.14598561e-02 -5.46575016e-05 9.99934332e-01 -1.06652821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-13.22, Z:-1.07 [[ 9.47008871e-01 3.21023779e-01 1.08596738e-02 8.91038285e+01] [-3.21002910e-01 9.47071134e-01 -3.66043234e-03 -1.32234474e+01] [-1.14599694e-02 -1.95249869e-05 9.99934332e-01 -1.06648543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:-13.24, Z:-1.07 [[ 9.47479224e-01 3.19632932e-01 1.08586296e-02 8.91636670e+01] [-3.19611936e-01 9.47541444e-01 -3.66352728e-03 -1.32439374e+01] [-1.14599855e-02 5.68358884e-07 9.99934332e-01 -1.06643158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:-13.26, Z:-1.07 [[ 9.48826112e-01 3.15612297e-01 1.08575958e-02 8.92227478e+01] [-3.15591002e-01 9.48888231e-01 -3.66658860e-03 -1.32641660e+01] [-1.14598653e-02 5.23954680e-05 9.99934332e-01 -1.06682226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:-13.28, Z:-1.07 [[ 9.51197188e-01 3.08392679e-01 1.08565714e-02 8.92813314e+01] [-3.08370879e-01 9.51259131e-01 -3.66961924e-03 -1.32835704e+01] [-1.14590964e-02 1.42681033e-04 9.99934332e-01 -1.06768027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:-13.30, Z:-1.07 [[ 9.54030305e-01 2.99513495e-01 1.08556263e-02 8.93420960e+01] [-2.99491086e-01 9.54092031e-01 -3.67241288e-03 -1.33008762e+01] [-1.14572038e-02 2.52429857e-04 9.99934332e-01 -1.06881654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:-13.32, Z:-1.07 [[ 9.57598032e-01 2.87903086e-01 1.08545912e-02 8.94022012e+01] [-2.87879895e-01 9.57659468e-01 -3.67546999e-03 -1.33197409e+01] [-1.14531812e-02 3.94804263e-04 9.99934332e-01 -1.06798746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.46, Y:-13.34, Z:-1.07 [[ 9.60439279e-01 2.78277904e-01 1.08535493e-02 8.94620232e+01] [-2.78254063e-01 9.60500466e-01 -3.67854410e-03 -1.33373655e+01] [-1.14484967e-02 5.12974062e-04 9.99934332e-01 -1.06777551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.52, Y:-13.36, Z:-1.07 [[ 9.61482094e-01 2.74653242e-01 1.08525887e-02 8.95227046e+01] [-2.74629138e-01 9.61543178e-01 -3.68137584e-03 -1.33553760e+01] [-1.14463344e-02 5.59139869e-04 9.99934332e-01 -1.06733302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.58, Y:-13.37, Z:-1.07 [[ 9.61349630e-01 2.75116579e-01 1.08515524e-02 8.95844922e+01] [-2.75092470e-01 9.61410712e-01 -3.68442799e-03 -1.33690617e+01] [-1.14464460e-02 5.56843128e-04 9.99934332e-01 -1.06943590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:-13.38, Z:-1.07 [[ 9.59608734e-01 2.81128696e-01 1.08505119e-02 8.96464745e+01] [-2.81104935e-01 9.59669953e-01 -3.68748958e-03 -1.33813177e+01] [-1.14495694e-02 4.88414750e-04 9.99934332e-01 -1.07066608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.71, Y:-13.39, Z:-1.07 [[ 9.57570239e-01 2.87995705e-01 1.08494438e-02 8.97075674e+01] [-2.87972348e-01 9.57631613e-01 -3.69062969e-03 -1.33924982e+01] [-1.14526558e-02 4.09697360e-04 9.99934332e-01 -1.06992707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:-13.40, Z:-1.07 [[ 9.55437941e-01 2.94992631e-01 1.08484575e-02 8.97697098e+01] [-2.94969691e-01 9.55499471e-01 -3.69352646e-03 -1.34041465e+01] [-1.14552585e-02 3.28969153e-04 9.99934332e-01 -1.06939040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:-13.42, Z:-1.07 [[ 9.53940968e-01 2.99798204e-01 1.08474266e-02 8.98318281e+01] [-2.99775539e-01 9.54002600e-01 -3.69655159e-03 -1.34182105e+01] [-1.14566927e-02 2.74498839e-04 9.99934332e-01 -1.07048016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:-13.43, Z:-1.07 [[ 9.51262350e-01 3.08191981e-01 1.08463847e-02 8.98944141e+01] [-3.08169825e-01 9.51324168e-01 -3.69960639e-03 -1.34305530e+01] [-1.14586169e-02 1.76767806e-04 9.99934332e-01 -1.07270100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:-13.44, Z:-1.08 [[ 9.47650156e-01 3.19126245e-01 1.08453521e-02 8.99563583e+01] [-3.19104768e-01 9.47712212e-01 -3.70263094e-03 -1.34444332e+01] [-1.14598793e-02 4.79952262e-05 9.99934332e-01 -1.07545703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:-13.46, Z:-1.08 [[ 9.45479401e-01 3.25501309e-01 1.08443176e-02 9.00175231e+01] [-3.25480216e-01 9.45541589e-01 -3.70565816e-03 -1.34609632e+01] [-1.14599499e-02 -2.59873926e-05 9.99934332e-01 -1.07735891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:-13.48, Z:-1.08 [[ 9.43819377e-01 3.30283827e-01 1.08432875e-02 9.00777471e+01] [-3.30263014e-01 9.43881660e-01 -3.70867010e-03 -1.34789444e+01] [-1.14596939e-02 -8.08221023e-05 9.99934332e-01 -1.07702213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:-13.50, Z:-1.08 [[ 9.44610502e-01 3.28014400e-01 1.08422276e-02 9.01361638e+01] [-3.27993402e-01 9.44672722e-01 -3.71176613e-03 -1.35006382e+01] [-1.14598694e-02 -5.00058443e-05 9.99934332e-01 -1.07602483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:-13.52, Z:-1.08 [[ 9.46646121e-01 3.22092515e-01 1.08412472e-02 9.01943884e+01] [-3.22071095e-01 9.46708197e-01 -3.71462731e-03 -1.35218878e+01] [-1.14599513e-02 2.47851735e-05 9.99934332e-01 -1.07737353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:-13.55, Z:-1.08 [[ 9.49006472e-01 3.15070157e-01 1.08403121e-02 9.02524580e+01] [-3.15048247e-01 9.49068377e-01 -3.71735437e-03 -1.35452060e+01] [-1.14594248e-02 1.12572049e-04 9.99934332e-01 -1.08073029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:-13.57, Z:-1.08 [[ 9.51399417e-01 3.07768836e-01 1.08394523e-02 9.03112376e+01] [-3.07746422e-01 9.51461141e-01 -3.71985951e-03 -1.35664737e+01] [-1.14581745e-02 2.03269494e-04 9.99934332e-01 -1.08203236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:-13.59, Z:-1.08 [[ 9.53415015e-01 3.01466979e-01 1.08383255e-02 9.03669127e+01] [-3.01444120e-01 9.53476576e-01 -3.72313981e-03 -1.35940420e+01] [-1.14564932e-02 2.82547903e-04 9.99934332e-01 -1.08251294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:-13.62, Z:-1.08 [[ 9.56651034e-01 2.91034963e-01 1.08373576e-02 9.04245110e+01] [-2.91011402e-01 9.56712330e-01 -3.72595512e-03 -1.36212936e+01] [-1.14526168e-02 4.10644197e-04 9.99934332e-01 -1.08290067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:-13.65, Z:-1.08 [[ 9.59106522e-01 2.82837859e-01 1.08362869e-02 9.04801353e+01] [-2.82813739e-01 9.59167599e-01 -3.72906642e-03 -1.36471118e+01] [-1.14485365e-02 5.11921107e-04 9.99934332e-01 -1.07950921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.54, Y:-13.67, Z:-1.08 [[ 9.59849960e-01 2.80304564e-01 1.08354326e-02 9.05392186e+01] [-2.80280254e-01 9.59910962e-01 -3.73154725e-03 -1.36695475e+01] [-1.14470202e-02 5.44767683e-04 9.99934332e-01 -1.07972843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.60, Y:-13.69, Z:-1.08 [[ 9.58978137e-01 2.83272923e-01 1.08343736e-02 9.05990352e+01] [-2.83248767e-01 9.59039201e-01 -3.73461932e-03 -1.36904219e+01] [-1.14485055e-02 5.12595310e-04 9.99934332e-01 -1.08043699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:-13.71, Z:-1.08 [[ 9.56281569e-01 2.92246813e-01 1.08333063e-02 9.06582722e+01] [-2.92223195e-01 9.56342843e-01 -3.73771280e-03 -1.37097316e+01] [-1.14526896e-02 4.08562480e-04 9.99934332e-01 -1.08202094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:-13.73, Z:-1.08 [[ 9.53256819e-01 3.01967046e-01 1.08323874e-02 9.07186470e+01] [-3.01944024e-01 9.53318318e-01 -3.74037404e-03 -1.37283291e+01] [-1.14561830e-02 2.94762429e-04 9.99934332e-01 -1.08273139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:-13.75, Z:-1.08 [[ 9.51033543e-01 3.08897851e-01 1.08313024e-02 9.07790255e+01] [-3.08875241e-01 9.51095196e-01 -3.74351325e-03 -1.37472702e+01] [-1.14579629e-02 2.14685528e-04 9.99934332e-01 -1.08426632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:-13.77, Z:-1.08 [[ 9.48002775e-01 3.18077733e-01 1.08302272e-02 9.08390575e+01] [-3.18055684e-01 9.48064631e-01 -3.74662124e-03 -1.37674833e+01] [-1.14594722e-02 1.07192007e-04 9.99934332e-01 -1.08454409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:-13.79, Z:-1.09 [[ 9.46563347e-01 3.22336098e-01 1.08291675e-02 9.08982910e+01] [-3.22314293e-01 9.46625288e-01 -3.74968174e-03 -1.37886643e+01] [-1.14598216e-02 5.89158289e-05 9.99934332e-01 -1.08502749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:-13.81, Z:-1.09 [[ 9.45791496e-01 3.24593897e-01 1.08281125e-02 9.09571695e+01] [-3.24572205e-01 9.45853478e-01 -3.75272580e-03 -1.38110079e+01] [-1.14599198e-02 3.47917948e-05 9.99934332e-01 -1.08603560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.01, Y:-13.83, Z:-1.09 [[ 9.45788171e-01 3.24603621e-01 1.08270423e-02 9.10147383e+01] [-3.24581894e-01 9.45850140e-01 -3.75581097e-03 -1.38343443e+01] [-1.14599093e-02 3.79396942e-05 9.99934332e-01 -1.08608544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.07, Y:-13.86, Z:-1.09 [[ 9.45980253e-01 3.24043451e-01 1.08260532e-02 9.10725278e+01] [-3.24021655e-01 9.46042198e-01 -3.75865982e-03 -1.38595966e+01] [-1.14598723e-02 4.77422917e-05 9.99934332e-01 -1.08724199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.13, Y:-13.88, Z:-1.09 [[ 9.45696835e-01 3.24869688e-01 1.08250489e-02 9.11306707e+01] [-3.24847913e-01 9.45758788e-01 -3.76154998e-03 -1.38844310e+01] [-1.14598987e-02 4.07913623e-05 9.99934332e-01 -1.08981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.19, Y:-13.91, Z:-1.09 [[ 9.45371425e-01 3.25815454e-01 1.08240115e-02 9.11884533e+01] [-3.25793707e-01 9.45433387e-01 -3.76453283e-03 -1.39110352e+01] [-1.14599248e-02 3.24869367e-05 9.99934332e-01 -1.09123528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.25, Y:-13.94, Z:-1.09 [[ 9.44871336e-01 3.27262924e-01 1.08229636e-02 9.12462271e+01] [-3.27241237e-01 9.44933319e-01 -3.76754312e-03 -1.39370822e+01] [-1.14599561e-02 1.81234972e-05 9.99934332e-01 -1.09154227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.30, Y:-13.96, Z:-1.09 [[ 9.44175221e-01 3.29265909e-01 1.08218896e-02 9.13039854e+01] [-3.29244319e-01 9.44237238e-01 -3.77062570e-03 -1.39610230e+01] [-1.14599696e-02 -2.91429734e-06 9.99934332e-01 -1.09306026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.36, Y:-13.99, Z:-1.10 [[ 9.43486552e-01 3.31234111e-01 1.08208157e-02 9.13606187e+01] [-3.31212615e-01 9.43548601e-01 -3.77370491e-03 -1.39880555e+01] [-1.14599453e-02 -2.35508276e-05 9.99934332e-01 -1.09556156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.42, Y:-14.01, Z:-1.10 [[ 9.43343482e-01 3.31641385e-01 1.08197572e-02 9.14159971e+01] [-3.31619880e-01 9.43405528e-01 -3.77673739e-03 -1.40148128e+01] [-1.14599412e-02 -2.52859797e-05 9.99934332e-01 -1.09723741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:-14.03, Z:-1.10 [[ 9.42086322e-01 3.35195931e-01 1.08189114e-02 9.14756056e+01] [-3.35174633e-01 9.42148440e-01 -3.77915856e-03 -1.40349598e+01] [-1.14597791e-02 -6.59310844e-05 9.99934332e-01 -1.09671130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:-14.06, Z:-1.10 [[ 9.42415802e-01 3.34268500e-01 1.08178502e-02 9.15353100e+01] [-3.34247106e-01 9.42477887e-01 -3.78219382e-03 -1.40560025e+01] [-1.14598529e-02 -5.14359098e-05 9.99934332e-01 -1.09698477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:-14.08, Z:-1.10 [[ 9.44415378e-01 3.28576613e-01 1.08167870e-02 9.15938702e+01] [-3.28554810e-01 9.44477321e-01 -3.78523212e-03 -1.40767567e+01] [-1.14599488e-02 2.09240226e-05 9.99934332e-01 -1.09633419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:-14.10, Z:-1.10 [[ 9.45441605e-01 3.25612022e-01 1.08158386e-02 9.16523944e+01] [-3.25589994e-01 9.45503468e-01 -3.78794012e-03 -1.40960603e+01] [-1.14598118e-02 5.97473615e-05 9.99934332e-01 -1.09595257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.71, Y:-14.12, Z:-1.09 [[ 9.46408207e-01 3.22791799e-01 1.08148384e-02 9.17118979e+01] [-3.22769554e-01 9.46469992e-01 -3.79079367e-03 -1.41163288e+01] [-1.14595571e-02 9.69376766e-05 9.99934332e-01 -1.09465209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.77, Y:-14.14, Z:-1.10 [[ 9.46027993e-01 3.23904461e-01 1.08137636e-02 9.17708736e+01] [-3.23882253e-01 9.46089791e-01 -3.79385727e-03 -1.41351819e+01] [-1.14596386e-02 8.67090734e-05 9.99934332e-01 -1.09784970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:-14.15, Z:-1.10 [[ 9.44266829e-01 3.29003402e-01 1.08128334e-02 9.18297056e+01] [-3.28981498e-01 9.44328735e-01 -3.79650661e-03 -1.41534212e+01] [-1.14599328e-02 2.76931413e-05 9.99934332e-01 -1.10123404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.89, Y:-14.17, Z:-1.10 [[ 9.42667407e-01 3.33558485e-01 1.08119172e-02 9.18891625e+01] [-3.33536850e-01 9.42729408e-01 -3.79911389e-03 -1.41731861e+01] [-1.14599390e-02 -2.48719644e-05 9.99934332e-01 -1.10168674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:-14.19, Z:-1.10 [[ 9.40405322e-01 3.39883740e-01 1.08108526e-02 9.19482048e+01] [-3.39862487e-01 9.40467455e-01 -3.80214091e-03 -1.41934979e+01] [-1.14595409e-02 -9.86497033e-05 9.99934332e-01 -1.10320957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:-14.22, Z:-1.10 [[ 9.39673354e-01 3.41902232e-01 1.08097963e-02 9.20070063e+01] [-3.41881078e-01 9.39735521e-01 -3.80514176e-03 -1.42167001e+01] [-1.14593360e-02 -1.20074488e-04 9.99934332e-01 -1.10405069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:-14.24, Z:-1.10 [[ 9.40311034e-01 3.40144574e-01 1.08087275e-02 9.20660979e+01] [-3.40123269e-01 9.40373149e-01 -3.80817521e-03 -1.42394340e+01] [-1.14595673e-02 -9.54305702e-05 9.99934332e-01 -1.10449121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.12, Y:-14.26, Z:-1.10 [[ 9.42231704e-01 3.34787412e-01 1.08076424e-02 9.21249748e+01] [-3.34765719e-01 9.42293685e-01 -3.81125220e-03 -1.42627389e+01] [-1.14599325e-02 -2.69455338e-05 9.99934332e-01 -1.10465439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.18, Y:-14.28, Z:-1.10 [[ 9.44130928e-01 3.29393396e-01 1.08065606e-02 9.21840445e+01] [-3.29371313e-01 9.44192771e-01 -3.81431715e-03 -1.42840098e+01] [-1.14598873e-02 4.18437283e-05 9.99934332e-01 -1.10341601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:-14.30, Z:-1.10 [[ 9.45504027e-01 3.25431062e-01 1.08054838e-02 9.22425478e+01] [-3.25408686e-01 9.45565764e-01 -3.81736528e-03 -1.43047486e+01] [-1.14595848e-02 9.31359700e-05 9.99934332e-01 -1.10332415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:-14.32, Z:-1.10 [[ 9.47665666e-01 3.19081571e-01 1.08044905e-02 9.23020749e+01] [-3.19058749e-01 9.47727240e-01 -3.82017457e-03 -1.43240702e+01] [-1.14586573e-02 1.72981061e-04 9.99934332e-01 -1.10384476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:-14.34, Z:-1.11 [[ 9.49484215e-01 3.13628781e-01 1.08034047e-02 9.23615419e+01] [-3.13605571e-01 9.49545643e-01 -3.82324278e-03 -1.43424617e+01] [-1.14574048e-02 2.42100778e-04 9.99934332e-01 -1.10606284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.36, Z:-1.11 [[ 9.50712523e-01 3.09885472e-01 1.08024509e-02 9.24200226e+01] [-3.09861988e-01 9.50773848e-01 -3.82593579e-03 -1.43606264e+01] [-1.14562897e-02 2.90096151e-04 9.99934332e-01 -1.11022100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:-14.38, Z:-1.11 [[ 9.50714894e-01 3.09878227e-01 1.08015804e-02 9.24782567e+01] [-3.09854715e-01 9.50776209e-01 -3.82839183e-03 -1.43782290e+01] [-1.14562209e-02 2.92788515e-04 9.99934332e-01 -1.11117435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-14.40, Z:-1.11 [[ 9.50131391e-01 3.11662762e-01 1.08010821e-02 9.25377109e+01] [-3.11639350e-01 9.50192743e-01 -3.82979730e-03 -1.43957256e+01] [-1.14567150e-02 2.72768446e-04 9.99934332e-01 -1.11279628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-14.42, Z:-1.11 [[ 9.49874804e-01 3.12443935e-01 1.08001553e-02 9.25967328e+01] [-3.12420544e-01 9.49936164e-01 -3.83240894e-03 -1.44161565e+01] [-1.14568711e-02 2.66118297e-04 9.99934332e-01 -1.11154218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.66, Y:-14.44, Z:-1.11 [[ 9.49012104e-01 3.15054608e-01 1.07990754e-02 9.26553591e+01] [-3.15031350e-01 9.49073515e-01 -3.83544967e-03 -1.44358688e+01] [-1.14574925e-02 2.37840868e-04 9.99934332e-01 -1.10985900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:-14.45, Z:-1.11 [[ 9.47303576e-01 3.20155173e-01 1.07981356e-02 9.27133228e+01] [-3.20132216e-01 9.47365100e-01 -3.83809363e-03 -1.44541160e+01] [-1.14585623e-02 1.79008748e-04 9.99934332e-01 -1.10694354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:-14.47, Z:-1.11 [[ 9.46039422e-01 3.23871616e-01 1.07976307e-02 9.27731033e+01] [-3.23848885e-01 9.46101029e-01 -3.83951357e-03 -1.44749636e+01] [-1.14591590e-02 1.35530535e-04 9.99934332e-01 -1.10650063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-14.49, Z:-1.11 [[ 9.44162611e-01 3.29302899e-01 1.07965467e-02 9.28316813e+01] [-3.29280487e-01 9.44224335e-01 -3.84255918e-03 -1.44945451e+01] [-1.14597280e-02 7.29085375e-05 9.99934333e-01 -1.10852421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:-14.51, Z:-1.11 [[ 9.42906881e-01 3.32881464e-01 1.07955427e-02 9.28917709e+01] [-3.32859254e-01 9.42968679e-01 -3.84537799e-03 -1.45143712e+01] [-1.14599137e-02 3.24370876e-05 9.99934333e-01 -1.11131170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-14.53, Z:-1.11 [[ 9.41947024e-01 3.35587966e-01 1.07945146e-02 9.29501754e+01] [-3.35565900e-01 9.42008873e-01 -3.84826165e-03 -1.45343186e+01] [-1.14599589e-02 2.58758724e-06 9.99934333e-01 -1.11392078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-14.56, Z:-1.12 [[ 9.42234159e-01 3.34780955e-01 1.07935698e-02 9.30074467e+01] [-3.34758807e-01 9.42295979e-01 -3.85090981e-03 -1.45563659e+01] [-1.14599487e-02 1.52162139e-05 9.99934333e-01 -1.11662101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:-14.58, Z:-1.12 [[ 9.42654788e-01 3.33594767e-01 1.07927064e-02 9.30655595e+01] [-3.33572513e-01 9.42716569e-01 -3.85332829e-03 -1.45794635e+01] [-1.14599133e-02 3.22081792e-05 9.99934333e-01 -1.11783220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.837628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:-14.61, Z:-1.12 [[ 9.42823239e-01 3.33118419e-01 1.07916586e-02 9.31224630e+01] [-3.33096100e-01 9.42884997e-01 -3.85626049e-03 -1.46062141e+01] [-1.14598844e-02 4.11126238e-05 9.99934333e-01 -1.11777575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-14.63, Z:-1.11 [[ 9.42428746e-01 3.34232886e-01 1.07905829e-02 9.31799622e+01] [-3.34210606e-01 9.42490518e-01 -3.85926797e-03 -1.46307222e+01] [-1.14599164e-02 3.07578027e-05 9.99934333e-01 -1.11485816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.957628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:-14.66, Z:-1.12 [[ 9.41614074e-01 3.36521203e-01 1.07896354e-02 9.32373890e+01] [-3.36499042e-01 9.41675889e-01 -3.86191516e-03 -1.46558900e+01] [-1.14599559e-02 5.73167220e-06 9.99934333e-01 -1.11835010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:-14.68, Z:-1.12 [[ 9.40167157e-01 3.40542690e-01 1.07885281e-02 9.32949682e+01] [-3.40520759e-01 9.40229054e-01 -3.86500618e-03 -1.46810710e+01] [-1.14598872e-02 -3.99658931e-05 9.99934333e-01 -1.11805792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:-14.70, Z:-1.12 [[ 9.39503254e-01 3.42370073e-01 1.07874178e-02 9.33517831e+01] [-3.42348226e-01 9.39565181e-01 -3.86810267e-03 -1.47039506e+01] [-1.14598047e-02 -5.89582885e-05 9.99934333e-01 -1.11923670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:-14.73, Z:-1.12 [[ 9.38670964e-01 3.44645419e-01 1.07868774e-02 9.34113735e+01] [-3.44623706e-01 9.38732937e-01 -3.86960890e-03 -1.47254241e+01] [-1.14596401e-02 -8.51241551e-05 9.99934333e-01 -1.11888084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:-14.75, Z:-1.12 [[ 9.38850148e-01 3.44157037e-01 1.07857931e-02 9.34714376e+01] [-3.44135256e-01 9.38912098e-01 -3.87262890e-03 -1.47456757e+01] [-1.14597041e-02 -7.59534469e-05 9.99934333e-01 -1.12029583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:-14.77, Z:-1.12 [[ 9.40517603e-01 3.39573744e-01 1.07847160e-02 9.35303518e+01] [-3.39551627e-01 9.40579434e-01 -3.87562603e-03 -1.47662953e+01] [-1.14599429e-02 -1.68733692e-05 9.99934333e-01 -1.12125707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.59, Y:-14.79, Z:-1.12 [[ 9.43842015e-01 3.30221085e-01 1.07836093e-02 9.35877985e+01] [-3.30198320e-01 9.43903610e-01 -3.87870301e-03 -1.47900856e+01] [-1.14595173e-02 1.00153192e-04 9.99934333e-01 -1.12191454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.377628 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:-14.81, Z:-1.12 [[ 9.47107127e-01 3.20736381e-01 1.07825870e-02 9.36468682e+01] [-3.20712968e-01 9.47168478e-01 -3.88154290e-03 -1.48110105e+01] [-1.14578785e-02 2.18121474e-04 9.99934333e-01 -1.12305045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:-14.83, Z:-1.12 [[ 9.49256709e-01 3.14317450e-01 1.07815246e-02 9.37065417e+01] [-3.14293588e-01 9.49317887e-01 -3.88449147e-03 -1.48301958e+01] [-1.14560576e-02 2.98815531e-04 9.99934333e-01 -1.12327975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49762799999999 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:-14.85, Z:-1.12 [[ 9.52214927e-01 3.05238455e-01 1.07804808e-02 9.37669219e+01] [-3.05213977e-01 9.52275862e-01 -3.88738615e-03 -1.48481598e+01] [-1.14525714e-02 4.11273698e-04 9.99934333e-01 -1.12345518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557628 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:93.83, Y:-14.87, Z:-1.12 [[ 9.53272323e-01 3.01919992e-01 1.07794347e-02 9.38266255e+01] [-3.01895269e-01 9.53333159e-01 -3.89028495e-03 -1.48662747e+01] [-1.14509473e-02 4.54240648e-04 9.99934333e-01 -1.12434361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.617628 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:93.89, Y:-14.88, Z:-1.13 [[ 9.52896754e-01 3.03103273e-01 1.07787903e-02 9.38890380e+01] [-3.03078606e-01 9.52957612e-01 -3.89206936e-03 -1.48799866e+01] [-1.14514293e-02 4.41919514e-04 9.99934333e-01 -1.12517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.677628 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:93.95, Y:-14.89, Z:-1.13 [[ 9.50659790e-01 3.10048069e-01 1.07777243e-02 9.39510700e+01] [-3.10023813e-01 9.50720813e-01 -3.89501901e-03 -1.48934956e+01] [-1.14542500e-02 3.61486759e-04 9.99934333e-01 -1.12548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.737628 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:94.01, Y:-14.91, Z:-1.13 [[ 9.46685484e-01 3.21978971e-01 1.07766516e-02 9.40120495e+01] [-3.21955450e-01 9.46746795e-01 -3.89798491e-03 -1.49074315e+01] [-1.14578295e-02 2.20564030e-04 9.99934333e-01 -1.12550096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:-14.92, Z:-1.13 [[ 9.43534468e-01 3.31099068e-01 1.07756584e-02 9.40734509e+01] [-3.31076108e-01 9.43595991e-01 -3.90072857e-03 -1.49237452e+01] [-1.14593956e-02 1.12908823e-04 9.99934333e-01 -1.12622399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:-14.94, Z:-1.13 [[ 9.39822009e-01 3.41494508e-01 1.07746151e-02 9.41348427e+01] [-3.41472196e-01 9.39883770e-01 -3.90360826e-03 -1.49390762e+01] [-1.14599466e-02 -1.05345056e-05 9.99934333e-01 -1.12706108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917628 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:94.19, Y:-14.96, Z:-1.13 [[ 9.37391997e-01 3.48109429e-01 1.07735439e-02 9.41948985e+01] [-3.48087519e-01 9.37453902e-01 -3.90656237e-03 -1.49593729e+01] [-1.14596119e-02 -8.81558570e-05 9.99934333e-01 -1.12965884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.977628 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:-14.98, Z:-1.13 [[ 9.37845460e-01 3.46885911e-01 1.07729824e-02 9.42551216e+01] [-3.46863903e-01 9.37907330e-01 -3.90811014e-03 -1.49773338e+01] [-1.14597275e-02 -7.15553720e-05 9.99934333e-01 -1.13190937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.037628 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:-15.00, Z:-1.13 [[ 9.37476734e-01 3.47881221e-01 1.07716481e-02 9.43119953e+01] [-3.47859237e-01 9.37538612e-01 -3.91178440e-03 -1.50007984e+01] [-1.14596723e-02 -7.98104093e-05 9.99934333e-01 -1.13217933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.097628 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:-15.03, Z:-1.13 [[ 9.37634497e-01 3.47455817e-01 1.07705442e-02 9.43695019e+01] [-3.47433769e-01 9.37696353e-01 -3.91482144e-03 -1.50254218e+01] [-1.14597275e-02 -7.13791290e-05 9.99934333e-01 -1.13236489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:-15.05, Z:-1.13 [[ 9.37021394e-01 3.49105896e-01 1.07694574e-02 9.44273916e+01] [-3.49083923e-01 9.37083276e-01 -3.91780891e-03 -1.50491704e+01] [-1.14596086e-02 -8.83736582e-05 9.99934333e-01 -1.13368701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:-15.07, Z:-1.14 [[ 9.36751505e-01 3.49829465e-01 1.07685929e-02 9.44846026e+01] [-3.49807513e-01 9.36813395e-01 -3.92018349e-03 -1.50715658e+01] [-1.14595578e-02 -9.46969242e-05 9.99934333e-01 -1.13538072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27762799999999 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-15.09, Z:-1.14 [[ 9.36580072e-01 3.50288200e-01 1.07678087e-02 9.45436528e+01] [-3.50266253e-01 9.36641963e-01 -3.92233637e-03 -1.50939858e+01] [-1.14595296e-02 -9.80179307e-05 9.99934333e-01 -1.13638207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.337628 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:-15.12, Z:-1.14 [[ 9.37045773e-01 3.49040540e-01 1.07666786e-02 9.45992277e+01] [-3.49018475e-01 9.37107622e-01 -3.92543618e-03 -1.51200528e+01] [-1.14596729e-02 -7.94563495e-05 9.99934333e-01 -1.13833361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.397628 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:-15.15, Z:-1.14 [[ 9.38454256e-01 3.45235715e-01 1.07661289e-02 9.46566119e+01] [-3.45213382e-01 9.38516009e-01 -3.92694298e-03 -1.51455097e+01] [-1.14599053e-02 -3.13554342e-05 9.99934333e-01 -1.13805227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.457628 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.17, Z:-1.14 [[ 9.41059925e-01 3.38068507e-01 1.07657776e-02 9.47137876e+01] [-3.38045692e-01 9.41121502e-01 -3.92790609e-03 -1.51730403e+01] [-1.14598061e-02 5.70702861e-05 9.99934333e-01 -1.13758814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.517628 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:-15.20, Z:-1.14 [[ 9.44334282e-01 3.28811321e-01 1.07646672e-02 9.47700240e+01] [-3.28787869e-01 9.44395619e-01 -3.93094681e-03 -1.52009849e+01] [-1.14586443e-02 1.72835855e-04 9.99934333e-01 -1.13754971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:94.83, Y:-15.23, Z:-1.14 [[ 9.46947078e-01 3.21209241e-01 1.07635583e-02 9.48267053e+01] [-3.21185262e-01 9.47008211e-01 -3.93398086e-03 -1.52258252e+01] [-1.14568091e-02 2.68175413e-04 9.99934333e-01 -1.13867625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63762799999999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:-15.25, Z:-1.14 [[ 9.51153102e-01 3.08531918e-01 1.07625360e-02 9.48829196e+01] [-3.08507093e-01 9.51213896e-01 -3.93677555e-03 -1.52529865e+01] [-1.14520947e-02 4.24157578e-04 9.99934333e-01 -1.13983515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:94.94, Y:-15.28, Z:-1.14 [[ 9.53355736e-01 3.01657138e-01 1.07616040e-02 9.49403884e+01] [-3.01631845e-01 9.53416337e-01 -3.93932155e-03 -1.52764823e+01] [-1.14486136e-02 5.09532318e-04 9.99934333e-01 -1.13724719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.757628 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:-15.30, Z:-1.14 [[ 9.52783440e-01 3.03459922e-01 1.07606312e-02 9.49997025e+01] [-3.03434715e-01 9.52844077e-01 -3.94197703e-03 -1.52973070e+01] [-1.14494358e-02 4.90701369e-04 9.99934333e-01 -1.13659874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.817628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:-15.32, Z:-1.14 [[ 9.51205544e-01 3.08370308e-01 1.07595032e-02 9.50594050e+01] [-3.08345379e-01 9.51266295e-01 -3.94505363e-03 -1.53153609e+01] [-1.14516901e-02 4.34913796e-04 9.99934333e-01 -1.13856481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.877628 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:95.12, Y:-15.33, Z:-1.14 [[ 9.49902749e-01 3.12360404e-01 1.07585279e-02 9.51193371e+01] [-3.12335700e-01 9.49963592e-01 -3.94771157e-03 -1.53337057e+01] [-1.14533186e-02 3.89669741e-04 9.99934333e-01 -1.13977762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:-15.35, Z:-1.14 [[ 9.47591827e-01 3.19302377e-01 1.07574086e-02 9.51808086e+01] [-3.19278084e-01 9.47652835e-01 -3.95075921e-03 -1.53490037e+01] [-1.14557756e-02 3.09102324e-04 9.99934333e-01 -1.14053698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99762799999999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:-15.37, Z:-1.14 [[ 9.45022916e-01 3.26827156e-01 1.07563076e-02 9.52415357e+01] [-3.26803315e-01 9.45084103e-01 -3.95375465e-03 -1.53656817e+01] [-1.14578097e-02 2.21191778e-04 9.99934333e-01 -1.13943612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:95.30, Y:-15.38, Z:-1.14 [[ 9.43165530e-01 3.32149227e-01 1.07552103e-02 9.53024475e+01] [-3.32125697e-01 9.43226837e-01 -3.95673711e-03 -1.53822031e+01] [-1.14588302e-02 1.59776320e-04 9.99934333e-01 -1.14056860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.117628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:-15.40, Z:-1.14 [[ 9.42435563e-01 3.34214838e-01 1.07541220e-02 9.53621620e+01] [-3.34191409e-01 9.42496909e-01 -3.95969292e-03 -1.54006609e+01] [-1.14591149e-02 1.37820254e-04 9.99934333e-01 -1.14115733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.177628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:-15.42, Z:-1.14 [[ 9.41686176e-01 3.36320559e-01 1.07530011e-02 9.54226658e+01] [-3.36297232e-01 9.41747561e-01 -3.96273444e-03 -1.54189314e+01] [-1.14593616e-02 1.15447729e-04 9.99934333e-01 -1.14258492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.237628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:-15.44, Z:-1.15 [[ 9.40573881e-01 3.39418873e-01 1.07518772e-02 9.54813163e+01] [-3.39395713e-01 9.40635329e-01 -3.96578161e-03 -1.54374944e+01] [-1.14596567e-02 8.09695760e-05 9.99934333e-01 -1.14570249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:95.54, Y:-15.46, Z:-1.15 [[ 9.39460983e-01 3.42487198e-01 1.07508389e-02 9.55392213e+01] [-3.42464207e-01 9.39522494e-01 -3.96859428e-03 -1.54580062e+01] [-1.14598477e-02 4.65619517e-05 9.99934333e-01 -1.14752499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:-15.48, Z:-1.15 [[ 9.37283603e-01 3.48401905e-01 1.07498709e-02 9.55969106e+01] [-3.48379272e-01 9.37345247e-01 -3.97121465e-03 -1.54800060e+01] [-1.14599191e-02 -2.28778215e-05 9.99934333e-01 -1.14995255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:95.66, Y:-15.50, Z:-1.15 [[ 9.35271356e-01 3.53768216e-01 1.07489334e-02 9.56554870e+01] [-3.53745907e-01 9.35333118e-01 -3.97375057e-03 -1.55028273e+01] [-1.14596200e-02 -8.58561133e-05 9.99934333e-01 -1.15169419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.477628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-15.53, Z:-1.15 [[ 9.34252884e-01 3.56449200e-01 1.07478728e-02 9.57134321e+01] [-3.56427036e-01 9.34314698e-01 -3.97661714e-03 -1.55266791e+01] [-1.14593575e-02 -1.15666410e-04 9.99934333e-01 -1.15092781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.537628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-15.55, Z:-1.15 [[ 9.33947291e-01 3.57249165e-01 1.07467304e-02 9.57708416e+01] [-3.57227018e-01 9.34009111e-01 -3.97970195e-03 -1.55532633e+01] [-1.14592893e-02 -1.22190615e-04 9.99934333e-01 -1.15078049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.597628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-15.58, Z:-1.15 [[ 9.34534632e-01 3.55709930e-01 1.07455934e-02 9.58284332e+01] [-3.55687647e-01 9.34596402e-01 -3.98276961e-03 -1.55775946e+01] [-1.14595037e-02 -1.00038707e-04 9.99934333e-01 -1.15033982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:-15.60, Z:-1.15 [[ 9.36528094e-01 3.50427861e-01 1.07444642e-02 9.58841619e+01] [-3.50405194e-01 9.36589725e-01 -3.98581358e-03 -1.56034123e+01] [-1.14598949e-02 -3.20896746e-05 9.99934333e-01 -1.14975654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:-15.63, Z:-1.15 [[ 9.38573937e-01 3.44910906e-01 1.07439288e-02 9.59406831e+01] [-3.44887860e-01 9.38635428e-01 -3.98725633e-03 -1.56312241e+01] [-1.14598804e-02 3.68842570e-05 9.99934333e-01 -1.14945288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77762799999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:-15.66, Z:-1.15 [[ 9.39648523e-01 3.41972580e-01 1.07427639e-02 9.59971867e+01] [-3.41949307e-01 9.39709928e-01 -3.99039236e-03 -1.56568382e+01] [-1.14596867e-02 7.60856148e-05 9.99934333e-01 -1.15123394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.837628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:-15.68, Z:-1.15 [[ 9.40690216e-01 3.39096644e-01 1.07416901e-02 9.60536935e+01] [-3.39073150e-01 9.40751536e-01 -3.99328095e-03 -1.56843279e+01] [-1.14593696e-02 1.14221634e-04 9.99934333e-01 -1.15190352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:-15.71, Z:-1.15 [[ 9.40703930e-01 3.39058633e-01 1.07405466e-02 9.61100026e+01] [-3.39035101e-01 9.40765236e-01 -3.99635402e-03 -1.57112414e+01] [-1.14593312e-02 1.17963620e-04 9.99934333e-01 -1.15171313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.957628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:-15.73, Z:-1.15 [[ 9.39423422e-01 3.42590568e-01 1.07394929e-02 9.61691405e+01] [-3.42567234e-01 9.39484804e-01 -3.99918388e-03 -1.57335994e+01] [-1.14596730e-02 7.79286504e-05 9.99934333e-01 -1.15151703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:-15.76, Z:-1.15 [[ 9.37217530e-01 3.48579961e-01 1.07383621e-02 9.62275755e+01] [-3.48556985e-01 9.37279046e-01 -4.00221792e-03 -1.57550626e+01] [-1.14599347e-02 8.01768713e-06 9.99934333e-01 -1.15343295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:-15.78, Z:-1.15 [[ 9.36195399e-01 3.51315923e-01 1.07376657e-02 9.62862652e+01] [-3.51293105e-01 9.36256974e-01 -4.00408526e-03 -1.57774071e+01] [-1.14599133e-02 -2.34617395e-05 9.99934333e-01 -1.15427020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:-15.80, Z:-1.16 [[ 9.35718345e-01 3.52584606e-01 1.07365676e-02 9.63448917e+01] [-3.52561838e-01 9.35779939e-01 -4.00702749e-03 -1.57994879e+01] [-1.14598808e-02 -3.58548923e-05 9.99934333e-01 -1.15503809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:-15.82, Z:-1.16 [[ 9.35745643e-01 3.52512185e-01 1.07354826e-02 9.64030513e+01] [-3.52489379e-01 9.35807223e-01 -4.00993243e-03 -1.58198872e+01] [-1.14598922e-02 -3.18667832e-05 9.99934333e-01 -1.15537315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:-15.84, Z:-1.16 [[ 9.35681160e-01 3.52683340e-01 1.07344794e-02 9.64623615e+01] [-3.52660514e-01 9.35742732e-01 -4.01261628e-03 -1.58419091e+01] [-1.14598939e-02 -3.10975556e-05 9.99934333e-01 -1.15600136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:-15.86, Z:-1.16 [[ 9.35421049e-01 3.53372684e-01 1.07334221e-02 9.65206172e+01] [-3.53349871e-01 9.35482627e-01 -4.01544235e-03 -1.58626414e+01] [-1.14598775e-02 -3.65240249e-05 9.99934333e-01 -1.15716019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:-15.88, Z:-1.16 [[ 9.35146436e-01 3.54098787e-01 1.07327703e-02 9.65800824e+01] [-3.54076001e-01 9.35208024e-01 -4.01718390e-03 -1.58831577e+01] [-1.14598528e-02 -4.35611734e-05 9.99934333e-01 -1.15801022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:-15.90, Z:-1.16 [[ 9.35743138e-01 3.52518950e-01 1.07317270e-02 9.66389283e+01] [-3.52496028e-01 9.35804675e-01 -4.01996908e-03 -1.59038379e+01] [-1.14599155e-02 -2.12326563e-05 9.99934333e-01 -1.16128160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:-15.93, Z:-1.16 [[ 9.38690586e-01 3.44593724e-01 1.07307649e-02 9.66958882e+01] [-3.44570254e-01 9.38751916e-01 -4.02253549e-03 -1.59280645e+01] [-1.14596666e-02 7.84138079e-05 9.99934333e-01 -1.16122180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:-15.95, Z:-1.16 [[ 9.40859848e-01 3.38626073e-01 1.07298254e-02 9.67543235e+01] [-3.38602185e-01 9.40921016e-01 -4.02504013e-03 -1.59514709e+01] [-1.14589017e-02 1.53856329e-04 9.99934333e-01 -1.16134690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:-15.97, Z:-1.16 [[ 9.42953613e-01 3.32751222e-01 1.07288383e-02 9.68135427e+01] [-3.32726923e-01 9.43014619e-01 -4.02766937e-03 -1.59707109e+01] [-1.14576633e-02 2.28132019e-04 9.99934333e-01 -1.16317533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:-15.99, Z:-1.16 [[ 9.44915599e-01 3.27138230e-01 1.07279246e-02 9.68721005e+01] [-3.27113542e-01 9.44976449e-01 -4.03010178e-03 -1.59921654e+01] [-1.14560364e-02 2.98856637e-04 9.99934333e-01 -1.16476651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-16.01, Z:-1.17 [[ 9.45485340e-01 3.25487945e-01 1.07270251e-02 9.69317323e+01] [-3.25463123e-01 9.45546136e-01 -4.03249434e-03 -1.60135866e+01] [-1.14554255e-02 3.21413179e-04 9.99934333e-01 -1.16574893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-16.03, Z:-1.17 [[ 9.44585924e-01 3.28088987e-01 1.07260782e-02 9.69916334e+01] [-3.28064304e-01 9.44646776e-01 -4.03501152e-03 -1.60311784e+01] [-1.14561980e-02 2.92571698e-04 9.99934333e-01 -1.16640472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:-16.05, Z:-1.17 [[ 9.43504501e-01 3.31186088e-01 1.07252613e-02 9.70512940e+01] [-3.31161580e-01 9.43565424e-01 -4.03718188e-03 -1.60491053e+01] [-1.14570442e-02 2.57304811e-04 9.99934333e-01 -1.16917639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:-16.07, Z:-1.17 [[ 9.41800042e-01 3.36002480e-01 1.07244469e-02 9.71110147e+01] [-3.35978259e-01 9.41861080e-01 -4.03934412e-03 -1.60681657e+01] [-1.14581687e-02 2.01073482e-04 9.99934333e-01 -1.16907414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:-16.09, Z:-1.17 [[ 9.41189525e-01 3.37708883e-01 1.07233065e-02 9.71692048e+01] [-3.37684738e-01 9.41250592e-01 -4.04236907e-03 -1.60883757e+01] [-1.14584626e-02 1.83538464e-04 9.99934333e-01 -1.17158931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:-16.11, Z:-1.17 [[ 9.42103037e-01 3.35152046e-01 1.07226031e-02 9.72265477e+01] [-3.35127715e-01 9.42164030e-01 -4.04423412e-03 -1.61113419e+01] [-1.14578843e-02 2.16643774e-04 9.99934333e-01 -1.17257595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.28, Y:-16.14, Z:-1.17 [[ 9.43382228e-01 3.31534343e-01 1.07215664e-02 9.72849833e+01] [-3.31509746e-01 9.43443114e-01 -4.04698057e-03 -1.61354178e+01] [-1.14569011e-02 2.63545787e-04 9.99934333e-01 -1.17195226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.34, Y:-16.16, Z:-1.17 [[ 9.45367047e-01 3.25831580e-01 1.07204374e-02 9.73421942e+01] [-3.25806582e-01 9.45427770e-01 -4.04996922e-03 -1.61601003e+01] [-1.14550071e-02 3.35918384e-04 9.99934333e-01 -1.17125765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.40, Y:-16.18, Z:-1.17 [[ 9.45790325e-01 3.24600918e-01 1.07193949e-02 9.74008050e+01] [-3.24575810e-01 9.45851002e-01 -4.05272654e-03 -1.61832423e+01] [-1.14544692e-02 3.53773264e-04 9.99934333e-01 -1.16771760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.46, Y:-16.21, Z:-1.16 [[ 9.44899334e-01 3.27185525e-01 1.07182955e-02 9.74572670e+01] [-3.27160550e-01 9.44960066e-01 -4.05563196e-03 -1.62061110e+01] [-1.14553053e-02 3.25560476e-04 9.99934333e-01 -1.16423402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:-16.23, Z:-1.17 [[ 9.41990161e-01 3.35469333e-01 1.07174163e-02 9.75170961e+01] [-3.35444866e-01 9.42051100e-01 -4.05795406e-03 -1.62267496e+01] [-1.14576730e-02 2.27450518e-04 9.99934333e-01 -1.16729761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:-16.25, Z:-1.17 [[ 9.39121896e-01 3.43416985e-01 1.07162991e-02 9.75759919e+01] [-3.43393001e-01 9.39183026e-01 -4.06090232e-03 -1.62477296e+01] [-1.14591490e-02 1.33780186e-04 9.99934333e-01 -1.17061285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:-16.27, Z:-1.17 [[ 9.36038934e-01 3.51733279e-01 1.07151813e-02 9.76355905e+01] [-3.51709804e-01 9.36100261e-01 -4.06384955e-03 -1.62691264e+01] [-1.14598751e-02 3.52870874e-05 9.99934333e-01 -1.17404974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:-16.29, Z:-1.18 [[ 9.31998291e-01 3.62304283e-01 1.07140737e-02 9.76940827e+01] [-3.62281470e-01 9.32059868e-01 -4.06676755e-03 -1.62906520e+01] [-1.14595654e-02 -9.12899599e-05 9.99934333e-01 -1.17862335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.75, Y:-16.31, Z:-1.18 [[ 9.29566486e-01 3.68498816e-01 1.07130924e-02 9.77516510e+01] [-3.68476383e-01 9.29628203e-01 -4.06935100e-03 -1.63148990e+01] [-1.14587439e-02 -1.64789228e-04 9.99934333e-01 -1.18140569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:-16.34, Z:-1.18 [[ 9.29474336e-01 3.68731217e-01 1.07120936e-02 9.78094111e+01] [-3.68708770e-01 9.29536047e-01 -4.07197859e-03 -1.63409452e+01] [-1.14587427e-02 -1.64843246e-04 9.99934333e-01 -1.18077980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:-16.37, Z:-1.18 [[ 9.31887063e-01 3.62590371e-01 1.07109428e-02 9.78667594e+01] [-3.62567482e-01 9.31948612e-01 -4.07500338e-03 -1.63657706e+01] [-1.14596052e-02 -8.59966270e-05 9.99934333e-01 -1.17986225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:-16.39, Z:-1.18 [[ 9.33511687e-01 3.58386979e-01 1.07099525e-02 9.79264002e+01] [-3.58363783e-01 9.33573121e-01 -4.07760432e-03 -1.63862880e+01] [-1.14598841e-02 -3.15678121e-05 9.99934333e-01 -1.17784117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:-16.41, Z:-1.18 [[ 9.33373089e-01 3.58747819e-01 1.07088032e-02 9.79864100e+01] [-3.58724612e-01 9.33434519e-01 -4.08062037e-03 -1.64051294e+01] [-1.14598803e-02 -3.27700496e-05 9.99934333e-01 -1.17648413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:-16.43, Z:-1.18 [[ 9.33012844e-01 3.59683721e-01 1.07076403e-02 9.80460266e+01] [-3.59660541e-01 9.33074284e-01 -4.08366965e-03 -1.64264475e+01] [-1.14598533e-02 -4.09994740e-05 9.99934333e-01 -1.17707013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-16.45, Z:-1.18 [[ 9.33403049e-01 3.58669930e-01 1.07064878e-02 9.81049231e+01] [-3.58646648e-01 9.33464451e-01 -4.08668911e-03 -1.64474519e+01] [-1.14598982e-02 -2.53178728e-05 9.99934333e-01 -1.18076744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-16.47, Z:-1.19 [[ 9.34741749e-01 3.55166522e-01 1.07053436e-02 9.81626346e+01] [-3.55142976e-01 9.34803049e-01 -4.08968405e-03 -1.64696934e+01] [-1.14599067e-02 2.08708259e-05 9.99934333e-01 -1.18504555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-16.49, Z:-1.19 [[ 9.37099130e-01 3.48899181e-01 1.07043398e-02 9.82210432e+01] [-3.48875195e-01 9.37160259e-01 -4.09230974e-03 -1.64924875e+01] [-1.14594854e-02 1.00421246e-04 9.99934333e-01 -1.18697569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-16.52, Z:-1.19 [[ 9.40536503e-01 3.39523975e-01 1.07031669e-02 9.82782459e+01] [-3.39499345e-01 9.40597376e-01 -4.09537518e-03 -1.65164309e+01] [-1.14578488e-02 2.18131701e-04 9.99934333e-01 -1.18828850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-16.54, Z:-1.19 [[ 9.45481229e-01 3.25500705e-01 1.07021588e-02 9.83368539e+01] [-3.25475143e-01 9.45541717e-01 -4.09800796e-03 -1.65396418e+01] [-1.14532421e-02 3.91302951e-04 9.99934333e-01 -1.18742311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:-16.56, Z:-1.19 [[ 9.48704170e-01 3.15983997e-01 1.07009918e-02 9.83943455e+01] [-3.15957793e-01 9.48764383e-01 -4.10105307e-03 -1.65594725e+01] [-1.14485870e-02 5.09624409e-04 9.99934333e-01 -1.18721919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-16.58, Z:-1.19 [[ 9.49852759e-01 3.12514392e-01 1.07000623e-02 9.84534241e+01] [-3.12487942e-01 9.49912863e-01 -4.10347682e-03 -1.65800006e+01] [-1.14465223e-02 5.54058345e-04 9.99934333e-01 -1.18628195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:-16.60, Z:-1.19 [[ 9.49722990e-01 3.12908574e-01 1.06989150e-02 9.85143805e+01] [-3.12882115e-01 9.49783091e-01 -4.10646597e-03 -1.65958468e+01] [-1.14465969e-02 5.52506003e-04 9.99934333e-01 -1.18511995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-16.61, Z:-1.19 [[ 9.48599414e-01 3.16298450e-01 1.06977369e-02 9.85752610e+01] [-3.16272171e-01 9.48659594e-01 -4.10953251e-03 -1.66116711e+01] [-1.14483496e-02 5.14903647e-04 9.99934333e-01 -1.18517415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-16.63, Z:-1.19 [[ 9.45881727e-01 3.24335231e-01 1.06965635e-02 9.86372962e+01] [-3.24309429e-01 9.45942113e-01 -4.11258466e-03 -1.66257135e+01] [-1.14521859e-02 4.21022288e-04 9.99934333e-01 -1.18586734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-16.64, Z:-1.19 [[ 9.43350180e-01 3.31626367e-01 1.06953901e-02 9.87000084e+01] [-3.31600998e-01 9.43410748e-01 -4.11563384e-03 -1.66388481e+01] [-1.14549987e-02 3.35881878e-04 9.99934333e-01 -1.18860177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-16.65, Z:-1.19 [[ 9.41739592e-01 3.36172834e-01 1.06942140e-02 9.87600821e+01] [-3.36147722e-01 9.41800268e-01 -4.11868760e-03 -1.66543232e+01] [-1.14564045e-02 2.83895489e-04 9.99934333e-01 -1.19256769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-16.67, Z:-1.19 [[ 9.40053145e-01 3.40860296e-01 1.06931263e-02 9.88203529e+01] [-3.40835455e-01 9.40113932e-01 -4.12150969e-03 -1.66713380e+01] [-1.14576160e-02 2.29841587e-04 9.99934333e-01 -1.19251800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:-16.69, Z:-1.20 [[ 9.39681671e-01 3.41883073e-01 1.06921154e-02 9.88789266e+01] [-3.41858269e-01 9.39742473e-01 -4.12413062e-03 -1.66907763e+01] [-1.14578054e-02 2.20181905e-04 9.99934333e-01 -1.19565872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-16.71, Z:-1.20 [[ 9.38799708e-01 3.44297555e-01 1.06911737e-02 9.89391488e+01] [-3.44272879e-01 9.38860563e-01 -4.12657033e-03 -1.67086569e+01] [-1.14582894e-02 1.93341877e-04 9.99934333e-01 -1.19764085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-16.73, Z:-1.20 [[ 9.36362701e-01 3.50871222e-01 1.06900261e-02 9.89996549e+01] [-3.50846940e-01 9.36423714e-01 -4.12954114e-03 -1.67278925e+01] [-1.14593311e-02 1.16185372e-04 9.99934333e-01 -1.19869170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:-16.75, Z:-1.20 [[ 9.34001100e-01 3.57110199e-01 1.06888616e-02 9.90593951e+01] [-3.57086289e-01 9.34062259e-01 -4.13255306e-03 -1.67481809e+01] [-1.14598390e-02 4.29631875e-05 9.99934333e-01 -1.20079396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:-16.77, Z:-1.21 [[ 9.30454393e-01 3.66251820e-01 1.06876602e-02 9.91194238e+01] [-3.66228476e-01 9.30515771e-01 -4.13565765e-03 -1.67674662e+01] [-1.14597286e-02 -6.60846867e-05 9.99934333e-01 -1.20503040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:-16.79, Z:-1.21 [[ 9.27862135e-01 3.72770247e-01 1.06864742e-02 9.91776482e+01] [-3.72747298e-01 9.27923662e-01 -4.13872020e-03 -1.67903828e+01] [-1.14590240e-02 -1.43192612e-04 9.99934333e-01 -1.20692444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:-16.82, Z:-1.21 [[ 9.27257377e-01 3.74272069e-01 1.06852798e-02 9.92340730e+01] [-3.74249185e-01 9.27318927e-01 -4.14180159e-03 -1.68151437e+01] [-1.14588228e-02 -1.58441168e-04 9.99934333e-01 -1.20775299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:-16.84, Z:-1.21 [[ 9.27810107e-01 3.72899787e-01 1.06843247e-02 9.92899371e+01] [-3.72876783e-01 9.27871613e-01 -4.14426387e-03 -1.68408772e+01] [-1.14590767e-02 -1.38846712e-04 9.99934333e-01 -1.21007826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:-16.87, Z:-1.21 [[ 9.28588865e-01 3.70956311e-01 1.06833845e-02 9.93455692e+01] [-3.70933151e-01 9.28650312e-01 -4.14668606e-03 -1.68695459e+01] [-1.14593677e-02 -1.12254975e-04 9.99934333e-01 -1.21068972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:-16.90, Z:-1.21 [[ 9.29508776e-01 3.68645252e-01 1.06823820e-02 9.94022912e+01] [-3.68621909e-01 9.29570154e-01 -4.14926720e-03 -1.68971489e+01] [-1.14596311e-02 -8.09797562e-05 9.99934333e-01 -1.21041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:-16.93, Z:-1.21 [[ 9.31584440e-01 3.63368053e-01 1.06812259e-02 9.94561495e+01] [-3.63344329e-01 9.31645672e-01 -4.15224096e-03 -1.69265701e+01] [-1.14599096e-02 -1.27997988e-05 9.99934333e-01 -1.21020424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:-16.96, Z:-1.21 [[ 9.33138287e-01 3.59358957e-01 1.06806754e-02 9.95125693e+01] [-3.59334953e-01 9.33199410e-01 -4.15365648e-03 -1.69550504e+01] [-1.14598537e-02 3.79958865e-05 9.99934333e-01 -1.20861826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:-16.99, Z:-1.21 [[ 9.35550663e-01 3.53031026e-01 1.06795394e-02 9.95666910e+01] [-3.53006575e-01 9.35611608e-01 -4.15657545e-03 -1.69863633e+01] [-1.14593011e-02 1.18739305e-04 9.99934333e-01 -1.20628978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.62, Y:-17.01, Z:-1.21 [[ 9.36951828e-01 3.49295349e-01 1.06784876e-02 9.96238470e+01] [-3.49270625e-01 9.37012663e-01 -4.15927564e-03 -1.70132879e+01] [-1.14586938e-02 1.67358869e-04 9.99934333e-01 -1.20695706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.68, Y:-17.04, Z:-1.21 [[ 9.38482705e-01 3.45161129e-01 1.06773874e-02 9.96790027e+01] [-3.45136105e-01 9.38543417e-01 -4.16209825e-03 -1.70411953e+01] [-1.14577862e-02 2.20905341e-04 9.99934333e-01 -1.21067050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.73, Y:-17.07, Z:-1.21 [[ 9.40008315e-01 3.40984430e-01 1.06764404e-02 9.97349538e+01] [-3.40959108e-01 9.40068904e-01 -4.16452591e-03 -1.70696722e+01] [-1.14566281e-02 2.74459387e-04 9.99934333e-01 -1.20836196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.79, Y:-17.10, Z:-1.21 [[ 9.41973270e-01 3.35518103e-01 1.06752506e-02 9.97916664e+01] [-3.35492395e-01 9.42033696e-01 -4.16757350e-03 -1.70973821e+01] [-1.14547422e-02 3.44277428e-04 9.99934333e-01 -1.20896097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:-17.12, Z:-1.21 [[ 9.42914397e-01 3.32864093e-01 1.06740750e-02 9.98491340e+01] [-3.32838182e-01 9.42974735e-01 -4.17058233e-03 -1.71235651e+01] [-1.14536202e-02 3.79762399e-04 9.99934333e-01 -1.20870251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:-17.15, Z:-1.21 [[ 9.43005812e-01 3.32605064e-01 1.06729043e-02 9.99061431e+01] [-3.32579102e-01 9.43066128e-01 -4.17357620e-03 -1.71483264e+01] [-1.14534071e-02 3.86121682e-04 9.99934333e-01 -1.20982084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:-17.17, Z:-1.21 [[ 9.41002420e-01 3.38231515e-01 1.06718241e-02 9.99653507e+01] [-3.38205883e-01 9.41062877e-01 -4.17633637e-03 -1.71707080e+01] [-1.14554261e-02 3.20668932e-04 9.99934333e-01 -1.20929403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.02, Y:-17.19, Z:-1.21 [[ 9.39938096e-01 3.41178126e-01 1.06706512e-02 1.00023596e+02] [-3.41152649e-01 9.39998619e-01 -4.17933107e-03 -1.71932572e+01] [-1.14562937e-02 2.87991568e-04 9.99934333e-01 -1.20955532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:-17.22, Z:-1.21 [[ 9.37762932e-01 3.47112151e-01 1.06694833e-02 1.00082220e+02] [-3.47087023e-01 9.37823601e-01 -4.18231054e-03 -1.72151078e+01] [-1.14578240e-02 2.18776605e-04 9.99934333e-01 -1.20972649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:-17.24, Z:-1.21 [[ 9.35295037e-01 3.53708046e-01 1.06682946e-02 1.00142081e+02] [-3.53683311e-01 9.35355867e-01 -4.18534038e-03 -1.72357678e+01] [-1.14590405e-02 1.41330315e-04 9.99934333e-01 -1.21149935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:-17.26, Z:-1.21 [[ 9.34154660e-01 3.56708964e-01 1.06671073e-02 1.00200549e+02] [-3.56684390e-01 9.34215555e-01 -4.18836427e-03 -1.72580426e+01] [-1.14594047e-02 1.07789337e-04 9.99934333e-01 -1.21408144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.26, Y:-17.28, Z:-1.22 [[ 9.34423993e-01 3.56002845e-01 1.06665384e-02 1.00258195e+02] [-3.55978208e-01 9.34484864e-01 -4.18981260e-03 -1.72804005e+01] [-1.14593039e-02 1.18006189e-04 9.99934333e-01 -1.21638868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:-17.30, Z:-1.22 [[ 9.36470195e-01 3.50584971e-01 1.06654940e-02 1.00314875e+02] [-3.50559952e-01 9.36530909e-01 -4.19246965e-03 -1.73049224e+01] [-1.14583816e-02 1.87227818e-04 9.99934333e-01 -1.21798520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:-17.33, Z:-1.22 [[ 9.38658314e-01 3.44683681e-01 1.06643905e-02 1.00371804e+02] [-3.44658248e-01 9.38718856e-01 -4.19527464e-03 -1.73302593e+01] [-1.14569072e-02 2.62359272e-04 9.99934333e-01 -1.21708593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:-17.36, Z:-1.22 [[ 9.41928354e-01 3.35644557e-01 1.06633654e-02 1.00427591e+02] [-3.35618515e-01 9.41988636e-01 -4.19787865e-03 -1.73563102e+01] [-1.14537641e-02 3.75278068e-04 9.99934333e-01 -1.21688354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.49, Y:-17.38, Z:-1.22 [[ 9.43503001e-01 3.31192380e-01 1.06628072e-02 1.00485752e+02] [-3.31166037e-01 9.43563152e-01 -4.19929598e-03 -1.73801489e+01] [-1.14518068e-02 4.30888754e-04 9.99934333e-01 -1.21767111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.54, Y:-17.40, Z:-1.22 [[ 9.44362247e-01 3.28734354e-01 1.06616781e-02 1.00544046e+02] [-3.28707822e-01 9.44422315e-01 -4.20216078e-03 -1.74025127e+01] [-1.14505213e-02 4.63785011e-04 9.99934333e-01 -1.21761344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.517628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:100.60, Y:-17.42, Z:-1.22 [[ 9.44010266e-01 3.29743799e-01 1.06604854e-02 1.00602262e+02] [-3.29717297e-01 9.44070347e-01 -4.20518430e-03 -1.74225911e+01] [-1.14508816e-02 4.54790713e-04 9.99934333e-01 -1.22252759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:-17.44, Z:-1.22 [[ 9.41567202e-01 3.36656473e-01 1.06594608e-02 1.00660933e+02] [-3.36630383e-01 9.41627463e-01 -4.20777986e-03 -1.74405901e+01] [-1.14538174e-02 3.73609129e-04 9.99934333e-01 -1.22205513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:-17.46, Z:-1.22 [[ 9.39366557e-01 3.42748986e-01 1.06585312e-02 1.00720167e+02] [-3.42723260e-01 9.39426975e-01 -4.21013322e-03 -1.74607723e+01] [-1.14559307e-02 3.01931773e-04 9.99934333e-01 -1.22114410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:-17.48, Z:-1.22 [[ 9.35429210e-01 3.53353384e-01 1.06573531e-02 1.00779988e+02] [-3.53328309e-01 9.35489901e-01 -4.21311328e-03 -1.74784311e+01] [-1.14585641e-02 1.75524655e-04 9.99934333e-01 -1.21985524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:-17.50, Z:-1.22 [[ 9.31313641e-01 3.64062280e-01 1.06563246e-02 1.00839879e+02] [-3.64037874e-01 9.31374604e-01 -4.21571326e-03 -1.74970662e+01] [-1.14598123e-02 4.68455261e-05 9.99934333e-01 -1.21908695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:-17.52, Z:-1.22 [[ 9.28700501e-01 3.70677547e-01 1.06552933e-02 1.00898090e+02] [-3.70653546e-01 9.28761624e-01 -4.21831819e-03 -1.75175378e+01] [-1.14598634e-02 -3.18680258e-05 9.99934333e-01 -1.21826713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.96, Y:-17.54, Z:-1.22 [[ 9.25525571e-01 3.78535209e-01 1.06542453e-02 1.00955241e+02] [-3.78511696e-01 9.25586884e-01 -4.22096346e-03 -1.75382804e+01] [-1.14592130e-02 -1.26146854e-04 9.99934333e-01 -1.21719071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.01, Y:-17.56, Z:-1.22 [[ 9.24360546e-01 3.81371326e-01 1.06532852e-02 1.01013893e+02] [-3.81347973e-01 9.24421920e-01 -4.22338528e-03 -1.75609594e+01] [-1.14588084e-02 -1.58678002e-04 9.99934333e-01 -1.21737655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.07, Y:-17.59, Z:-1.22 [[ 9.24397503e-01 3.81281772e-01 1.06521031e-02 1.01071949e+02] [-3.81258379e-01 9.24458861e-01 -4.22636460e-03 -1.75850621e+01] [-1.14588669e-02 -1.54362692e-04 9.99934333e-01 -1.21783677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.13, Y:-17.61, Z:-1.22 [[ 9.25224645e-01 3.79270241e-01 1.06508784e-02 1.01128591e+02] [-3.79246678e-01 9.25285939e-01 -4.22944880e-03 -1.76110818e+01] [-1.14592121e-02 -1.26119987e-04 9.99934333e-01 -1.21908816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:-17.64, Z:-1.22 [[ 9.25904760e-01 3.77606884e-01 1.06497483e-02 1.01186122e+02] [-3.77583179e-01 9.25965999e-01 -4.23229252e-03 -1.76361875e+01] [-1.14594476e-02 -1.02466031e-04 9.99934333e-01 -1.21972083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:-17.66, Z:-1.22 [[ 9.27634145e-01 3.73338320e-01 1.06485568e-02 1.01243356e+02] [-3.73314299e-01 9.27695261e-01 -4.23528831e-03 -1.76619183e+01] [-1.14598111e-02 -4.64604476e-05 9.99934333e-01 -1.22232621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:-17.69, Z:-1.22 [[ 9.29186092e-01 3.69458848e-01 1.06473550e-02 1.01300504e+02] [-3.69434537e-01 9.29247093e-01 -4.23830735e-03 -1.76886296e+01] [-1.14599038e-02 4.67558907e-06 9.99934333e-01 -1.22416177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.36, Y:-17.72, Z:-1.22 [[ 9.32415760e-01 3.61230551e-01 1.06461352e-02 1.01356537e+02] [-3.61205667e-01 9.32476529e-01 -4.24136902e-03 -1.77181562e+01] [-1.14593833e-02 1.09274946e-04 9.99934333e-01 -1.22485404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.41, Y:-17.74, Z:-1.23 [[ 9.34579931e-01 3.55593924e-01 1.06449366e-02 1.01413056e+02] [-3.55568639e-01 9.34640534e-01 -4.24437517e-03 -1.77447993e+01] [-1.14584633e-02 1.81702231e-04 9.99934333e-01 -1.22528527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.47, Y:-17.77, Z:-1.22 [[ 9.37158107e-01 3.48742585e-01 1.06438321e-02 1.01470261e+02] [-3.48716826e-01 9.37218511e-01 -4.24714333e-03 -1.77715725e+01] [-1.14567562e-02 2.68561475e-04 9.99934333e-01 -1.22463468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.53, Y:-17.80, Z:-1.22 [[ 9.38779737e-01 3.44353510e-01 1.06426417e-02 1.01526725e+02] [-3.44327434e-01 9.38840005e-01 -4.25012398e-03 -1.77959604e+01] [-1.14552829e-02 3.25376753e-04 9.99934333e-01 -1.22475420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.58, Y:-17.82, Z:-1.22 [[ 9.41320832e-01 3.37345295e-01 1.06415430e-02 1.01584434e+02] [-3.37318740e-01 9.41380890e-01 -4.25287334e-03 -1.78198199e+01] [-1.14524320e-02 4.13726410e-04 9.99934333e-01 -1.22386361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.64, Y:-17.84, Z:-1.22 [[ 9.42680806e-01 3.33526133e-01 1.06403340e-02 1.01643623e+02] [-3.33499301e-01 9.42740741e-01 -4.25589598e-03 -1.78421055e+01] [-1.14505289e-02 4.63407518e-04 9.99934333e-01 -1.22282366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.70, Y:-17.86, Z:-1.22 [[ 9.42491844e-01 3.34059774e-01 1.06391253e-02 1.01702840e+02] [-3.34032941e-01 9.42551779e-01 -4.25891528e-03 -1.78633446e+01] [-1.14506588e-02 4.60174595e-04 9.99934333e-01 -1.22303317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.76, Y:-17.88, Z:-1.22 [[ 9.39916561e-01 3.41238469e-01 1.06379136e-02 1.01763496e+02] [-3.41212061e-01 9.39976683e-01 -4.26193984e-03 -1.78800158e+01] [-1.14537285e-02 3.76083427e-04 9.99934333e-01 -1.22398349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.83, Y:-17.90, Z:-1.23 [[ 9.35285455e-01 3.53734333e-01 1.06366957e-02 1.01825412e+02] [-3.53708693e-01 9.35345909e-01 -4.26497718e-03 -1.78957818e+01] [-1.14576587e-02 2.26679385e-04 9.99934333e-01 -1.22638550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.88, Y:-17.92, Z:-1.23 [[ 9.33537127e-01 3.58322926e-01 1.06354917e-02 1.01884945e+02] [-3.58297550e-01 9.33597692e-01 -4.26797736e-03 -1.79169697e+01] [-1.14585847e-02 1.73644687e-04 9.99934333e-01 -1.22791690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.95, Y:-17.94, Z:-1.23 [[ 9.30304646e-01 3.66633573e-01 1.06342801e-02 1.01945268e+02] [-3.66608703e-01 9.30365422e-01 -4.27099419e-03 -1.79356060e+01] [-1.14596564e-02 7.47061045e-05 9.99934333e-01 -1.22954469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.01, Y:-17.95, Z:-1.23 [[ 9.26142736e-01 3.77023303e-01 1.06330761e-02 1.02006443e+02] [-3.76999080e-01 9.26203772e-01 -4.27398965e-03 -1.79517585e+01] [-1.14597889e-02 -5.03354287e-05 9.99934333e-01 -1.23193193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.07, Y:-17.97, Z:-1.23 [[ 9.23741093e-01 3.82869895e-01 1.06318520e-02 1.02066250e+02] [-3.82846024e-01 9.23802267e-01 -4.27703238e-03 -1.79709323e+01] [-1.14592759e-02 -1.19491706e-04 9.99934333e-01 -1.23312025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.12, Y:-17.99, Z:-1.23 [[ 9.23027140e-01 3.84587947e-01 1.06306439e-02 1.02124738e+02] [-3.84564154e-01 9.23088345e-01 -4.28003301e-03 -1.79937364e+01] [-1.14590726e-02 -1.37577965e-04 9.99934333e-01 -1.23210383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.18, Y:-18.02, Z:-1.23 [[ 9.23032178e-01 3.84575889e-01 1.06294295e-02 1.02184076e+02] [-3.84552061e-01 9.23093369e-01 -4.28304698e-03 -1.80151940e+01] [-1.14591125e-02 -1.34178836e-04 9.99934333e-01 -1.23189032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:-18.04, Z:-1.23 [[ 9.23124428e-01 3.84354435e-01 1.06282291e-02 1.02242583e+02] [-3.84330558e-01 9.23185600e-01 -4.28602359e-03 -1.80392452e+01] [-1.14591802e-02 -1.28220149e-04 9.99934333e-01 -1.23285961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:-18.06, Z:-1.23 [[ 9.23270878e-01 3.84002543e-01 1.06270080e-02 1.02299480e+02] [-3.83978608e-01 9.23332027e-01 -4.28904915e-03 -1.80642197e+01] [-1.14592626e-02 -1.20589560e-04 9.99934333e-01 -1.23494084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:-18.09, Z:-1.24 [[ 9.24235624e-01 3.81674732e-01 1.06259223e-02 1.02355449e+02] [-3.81650612e-01 9.24296701e-01 -4.29173714e-03 -1.80875993e+01] [-1.14595526e-02 -8.88134057e-05 9.99934333e-01 -1.23823962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:-18.11, Z:-1.24 [[ 9.26077559e-01 3.77183596e-01 1.06249314e-02 1.02413736e+02] [-3.77159152e-01 9.26138507e-01 -4.29418906e-03 -1.81122256e+01] [-1.14598557e-02 -3.05379776e-05 9.99934333e-01 -1.23996934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:-18.14, Z:-1.24 [[ 9.30705034e-01 3.65616297e-01 1.06237372e-02 1.02470476e+02] [-3.65591062e-01 9.30765658e-01 -4.29714145e-03 -1.81409530e+01] [-1.14593147e-02 1.15427830e-04 9.99934333e-01 -1.24013078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:-18.17, Z:-1.24 [[ 9.34438228e-01 3.55966798e-01 1.06225112e-02 1.02526255e+02] [-3.55940902e-01 9.34498573e-01 -4.30016985e-03 -1.81673275e+01] [-1.14574393e-02 2.37256867e-04 9.99934333e-01 -1.24056474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.58, Y:-18.19, Z:-1.24 [[ 9.39051877e-01 3.43611347e-01 1.06214537e-02 1.02583441e+02] [-3.43584628e-01 9.39111862e-01 -4.30278044e-03 -1.81938452e+01] [-1.14532173e-02 3.91165841e-04 9.99934333e-01 -1.24017889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.64, Y:-18.22, Z:-1.24 [[ 9.41133535e-01 3.37868140e-01 1.06202334e-02 1.02640416e+02] [-3.37841021e-01 9.41193341e-01 -4.30579030e-03 -1.82174880e+01] [-1.14504823e-02 4.64373159e-04 9.99934333e-01 -1.23881010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:-18.24, Z:-1.24 [[ 9.40974965e-01 3.38309544e-01 1.06191612e-02 1.02699135e+02] [-3.38282424e-01 9.41034770e-01 -4.30843281e-03 -1.82406352e+01] [-1.14505839e-02 4.61851804e-04 9.99934333e-01 -1.23889362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:-18.26, Z:-1.23 [[ 9.39508017e-01 3.42362300e-01 1.06179390e-02 1.02758247e+02] [-3.42335404e-01 9.39567923e-01 -4.31144276e-03 -1.82614962e+01] [-1.14523504e-02 4.15738593e-04 9.99934333e-01 -1.23258781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-18.28, Z:-1.24 [[ 9.37757001e-01 3.47129766e-01 1.06175368e-02 1.02816496e+02] [-3.47103163e-01 9.37817038e-01 -4.31243323e-03 -1.82805581e+01] [-1.14542808e-02 3.58633862e-04 9.99934333e-01 -1.24022009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:-18.30, Z:-1.24 [[ 9.34743143e-01 3.55165505e-01 1.06169719e-02 1.02876786e+02] [-3.55139403e-01 9.34803399e-01 -4.31382335e-03 -1.82990815e+01] [-1.14569027e-02 2.61811726e-04 9.99934333e-01 -1.24180209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:-18.32, Z:-1.24 [[ 9.32404400e-01 3.61260765e-01 1.06157542e-02 1.02937017e+02] [-3.61235023e-01 9.32464811e-01 -4.31681796e-03 -1.83188667e+01] [-1.14583142e-02 1.90237846e-04 9.99934333e-01 -1.24297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.00, Y:-18.34, Z:-1.24 [[ 9.31697380e-01 3.63080325e-01 1.06145395e-02 1.02995294e+02] [-3.63054667e-01 9.31757827e-01 -4.31980271e-03 -1.83387767e+01] [-1.14586156e-02 1.71090771e-04 9.99934333e-01 -1.24404897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.037628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:-18.36, Z:-1.24 [[ 9.31120130e-01 3.64558170e-01 1.06134158e-02 1.03054494e+02] [-3.64532576e-01 9.31180604e-01 -4.32256168e-03 -1.83590997e+01] [-1.14588321e-02 1.55888383e-04 9.99934333e-01 -1.24342982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:-18.37, Z:-1.25 [[ 9.32765051e-01 3.60328657e-01 1.06121860e-02 1.03116635e+02] [-3.60302754e-01 9.32825393e-01 -4.32557892e-03 -1.83715633e+01] [-1.14579466e-02 2.11149008e-04 9.99934333e-01 -1.24970098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.157628 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-18.40, Z:-1.25 [[ 9.29383802e-01 3.68962266e-01 1.06110454e-02 1.03170721e+02] [-3.68936892e-01 9.29444369e-01 -4.32837508e-03 -1.84000715e+01] [-1.14593835e-02 1.07915579e-04 9.99934333e-01 -1.24614293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:-18.42, Z:-1.25 [[ 9.27834162e-01 3.72842053e-01 1.06100063e-02 1.03228637e+02] [-3.72816903e-01 9.27894821e-01 -4.33092075e-03 -1.84220352e+01] [-1.14597193e-02 6.27865400e-05 9.99934333e-01 -1.24754672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27762799999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-18.44, Z:-1.25 [[ 9.28258105e-01 3.71785342e-01 1.06089580e-02 1.03288087e+02] [-3.71760094e-01 9.28318724e-01 -4.33348697e-03 -1.84391515e+01] [-1.14596213e-02 7.86071553e-05 9.99934333e-01 -1.25273585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.337628 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:-18.47, Z:-1.25 [[ 9.23923007e-01 3.82431365e-01 1.06079364e-02 1.03342665e+02] [-3.82406787e-01 9.23983900e-01 -4.33598633e-03 -1.84676214e+01] [-1.14597797e-02 -5.04293652e-05 9.99934333e-01 -1.24977867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:-18.49, Z:-1.25 [[ 9.22416064e-01 3.86051938e-01 1.06069257e-02 1.03400208e+02] [-3.86027570e-01 9.22477042e-01 -4.33845755e-03 -1.84932000e+01] [-1.14595153e-02 -9.27028046e-05 9.99934333e-01 -1.25076742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:-18.52, Z:-1.25 [[ 9.20690218e-01 3.90150025e-01 1.06056890e-02 1.03456462e+02] [-3.90125894e-01 9.20751290e-01 -4.34147855e-03 -1.85202857e+01] [-1.14590298e-02 -1.40397069e-04 9.99934333e-01 -1.25161169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:-18.55, Z:-1.25 [[ 9.19930971e-01 3.91936923e-01 1.06045471e-02 1.03513150e+02] [-3.91912878e-01 9.19992078e-01 -4.34426603e-03 -1.85481512e+01] [-1.14587776e-02 -1.59633702e-04 9.99934333e-01 -1.25213943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:-18.58, Z:-1.25 [[ 9.20749786e-01 3.90009489e-01 1.06033037e-02 1.03570086e+02] [-3.89985282e-01 9.20810828e-01 -4.34729872e-03 -1.85760920e+01] [-1.14591246e-02 -1.32358013e-04 9.99934333e-01 -1.25261836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:-18.61, Z:-1.25 [[ 9.23958582e-01 3.82345570e-01 1.06020638e-02 1.03624352e+02] [-3.82320821e-01 9.24019407e-01 -4.35032054e-03 -1.86077545e+01] [-1.14598384e-02 -3.38737282e-05 9.99934333e-01 -1.25138714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.68, Y:-18.64, Z:-1.25 [[ 9.27022347e-01 3.74856224e-01 1.06009204e-02 1.03680498e+02] [-3.74830953e-01 9.27082956e-01 -4.35310478e-03 -1.86360615e+01] [-1.14597211e-02 6.18722956e-05 9.99934333e-01 -1.25156935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.757628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:103.74, Y:-18.66, Z:-1.25 [[ 9.29627943e-01 3.68347031e-01 1.05996856e-02 1.03736386e+02] [-3.68321301e-01 9.29688358e-01 -4.35610956e-03 -1.86647275e+01] [-1.14589643e-02 1.45471191e-04 9.99934333e-01 -1.25245221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.817628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.79, Y:-18.69, Z:-1.25 [[ 9.31744409e-01 3.62960093e-01 1.05984482e-02 1.03792301e+02] [-3.62933979e-01 9.31804660e-01 -4.35911807e-03 -1.86929334e+01] [-1.14578693e-02 2.15046911e-04 9.99934333e-01 -1.25290377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.85, Y:-18.72, Z:-1.25 [[ 9.33432083e-01 3.58597610e-01 1.05972292e-02 1.03848374e+02] [-3.58571181e-01 9.33492196e-01 -4.36207953e-03 -1.87214619e+01] [-1.14566620e-02 2.71843999e-04 9.99934333e-01 -1.25396363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:-18.75, Z:-1.26 [[ 9.33914633e-01 3.57339030e-01 1.05960008e-02 1.03903644e+02] [-3.57312486e-01 9.33974696e-01 -4.36506127e-03 -1.87478758e+01] [-1.14562034e-02 2.90511192e-04 9.99934333e-01 -1.25718114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99762799999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:-18.77, Z:-1.26 [[ 9.33243190e-01 3.59088965e-01 1.05954031e-02 1.03960327e+02] [-3.59062518e-01 9.33303296e-01 -4.36651175e-03 -1.87747543e+01] [-1.14566908e-02 2.70605255e-04 9.99934333e-01 -1.25843826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:-18.80, Z:-1.26 [[ 9.32156113e-01 3.61901566e-01 1.05941910e-02 1.04017000e+02] [-3.61875266e-01 9.32216284e-01 -4.36945061e-03 -1.88001287e+01] [-1.14573884e-02 2.39234411e-04 9.99934333e-01 -1.25984097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:-18.83, Z:-1.26 [[ 9.29655142e-01 3.68278570e-01 1.05930695e-02 1.04073384e+02] [-3.68252652e-01 9.29715477e-01 -4.37216769e-03 -1.88273437e+01] [-1.14587164e-02 1.63682220e-04 9.99934333e-01 -1.26058897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:-18.85, Z:-1.26 [[ 9.26737833e-01 3.75559319e-01 1.05918390e-02 1.04131868e+02] [-3.75533842e-01 9.26798356e-01 -4.37514679e-03 -1.88511134e+01] [-1.14596261e-02 7.70200784e-05 9.99934333e-01 -1.26238547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:-18.88, Z:-1.26 [[ 9.21926969e-01 3.87218934e-01 1.05906207e-02 1.04190212e+02] [-3.87194188e-01 9.21987795e-01 -4.37809389e-03 -1.88752590e+01] [-1.14597038e-02 -6.43439297e-05 9.99934333e-01 -1.26327843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:-18.90, Z:-1.26 [[ 9.19992569e-01 3.91792723e-01 1.05894112e-02 1.04248034e+02] [-3.91768246e-01 9.20053503e-01 -4.38101735e-03 -1.89008759e+01] [-1.14592756e-02 -1.18091636e-04 9.99934333e-01 -1.26317537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:-18.93, Z:-1.26 [[ 9.17893520e-01 3.96685488e-01 1.05882046e-02 1.04305940e+02] [-3.96661302e-01 9.17954570e-01 -4.38393138e-03 -1.89259194e+01] [-1.14585328e-02 -1.75948829e-04 9.99934333e-01 -1.26363938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.36, Y:-18.95, Z:-1.27 [[ 9.16885423e-01 3.99010071e-01 1.05869584e-02 1.04362525e+02] [-3.98986005e-01 9.16946521e-01 -4.38693886e-03 -1.89496306e+01] [-1.14581075e-02 -2.01727948e-04 9.99934333e-01 -1.26736313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.42, Y:-18.97, Z:-1.27 [[ 9.16696047e-01 3.99444983e-01 1.05859602e-02 1.04419368e+02] [-3.99420919e-01 9.16757145e-01 -4.38934638e-03 -1.89744203e+01] [-1.14580570e-02 -2.04557464e-04 9.99934333e-01 -1.27045832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.48, Y:-19.00, Z:-1.27 [[ 9.16779098e-01 3.99254363e-01 1.05848537e-02 1.04475351e+02] [-3.99230255e-01 9.16840179e-01 -4.39201294e-03 -1.89987388e+01] [-1.14581495e-02 -1.99288200e-04 9.99934333e-01 -1.27279984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.53, Y:-19.02, Z:-1.27 [[ 9.16796644e-01 3.99214097e-01 1.05838426e-02 1.04532960e+02] [-3.99189958e-01 9.16857713e-01 -4.39444826e-03 -1.90223821e+01] [-1.14582034e-02 -1.96148264e-04 9.99934333e-01 -1.27278366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.657628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:104.59, Y:-19.04, Z:-1.27 [[ 9.17017799e-01 3.98705858e-01 1.05827472e-02 1.04591614e+02] [-3.98681655e-01 9.17078843e-01 -4.39708469e-03 -1.90445549e+01] [-1.14583569e-02 -1.86942224e-04 9.99934333e-01 -1.27340356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:-19.07, Z:-1.27 [[ 9.19016273e-01 3.94077558e-01 1.05815012e-02 1.04649916e+02] [-3.94053012e-01 9.19077180e-01 -4.40008100e-03 -1.90686433e+01] [-1.14591895e-02 -1.25926380e-04 9.99934333e-01 -1.27218231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.71, Y:-19.09, Z:-1.27 [[ 9.21327577e-01 3.88643223e-01 1.05802591e-02 1.04706910e+02] [-3.88618284e-01 9.21388323e-01 -4.40306560e-03 -1.90946004e+01] [-1.14597488e-02 -5.50163901e-05 9.99934333e-01 -1.27223375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:-19.12, Z:-1.27 [[ 9.24015964e-01 3.82207512e-01 1.05790179e-02 1.04763092e+02] [-3.82182116e-01 9.24076521e-01 -4.40604583e-03 -1.91202998e+01] [-1.14598459e-02 2.81452459e-05 9.99934333e-01 -1.27098469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.82, Y:-19.14, Z:-1.27 [[ 9.25028822e-01 3.79749637e-01 1.05779213e-02 1.04820798e+02] [-3.79724050e-01 9.25089298e-01 -4.40867689e-03 -1.91441206e+01] [-1.14597153e-02 6.14620653e-05 9.99934333e-01 -1.27009293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.88, Y:-19.17, Z:-1.27 [[ 9.24690992e-01 3.80571545e-01 1.05768209e-02 1.04879364e+02] [-3.80545981e-01 9.24751478e-01 -4.41131544e-03 -1.91668269e+01] [-1.14597519e-02 5.41369686e-05 9.99934333e-01 -1.26957194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.94, Y:-19.19, Z:-1.27 [[ 9.23661533e-01 3.83063351e-01 1.05755600e-02 1.04937386e+02] [-3.83037916e-01 9.23722073e-01 -4.41433607e-03 -1.91901747e+01] [-1.14598486e-02 2.65119489e-05 9.99934333e-01 -1.27022119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.00, Y:-19.21, Z:-1.27 [[ 9.21964498e-01 3.87130014e-01 1.05743061e-02 1.04995440e+02] [-3.87104812e-01 9.22025136e-01 -4.41733772e-03 -1.92130963e+01] [-1.14598600e-02 -2.07362205e-05 9.99934333e-01 -1.27200011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.05, Y:-19.24, Z:-1.27 [[ 9.20890926e-01 3.89676930e-01 1.05732258e-02 1.05051595e+02] [-3.89651865e-01 9.20951621e-01 -4.41992201e-03 -1.92364142e+01] [-1.14597711e-02 -4.96110798e-05 9.99934333e-01 -1.27438231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.11, Y:-19.26, Z:-1.28 [[ 9.20126520e-01 3.91478499e-01 1.05722372e-02 1.05109044e+02] [-3.91453526e-01 9.20187253e-01 -4.42228535e-03 -1.92610708e+01] [-1.14596676e-02 -6.94775207e-05 9.99934333e-01 -1.27520894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:-19.29, Z:-1.28 [[ 9.20392889e-01 3.90851870e-01 1.05709687e-02 1.05166757e+02] [-3.90826821e-01 9.20453591e-01 -4.42531555e-03 -1.92870574e+01] [-1.14597290e-02 -5.83891243e-05 9.99934333e-01 -1.27558859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.22, Y:-19.31, Z:-1.27 [[ 9.21931416e-01 3.87208918e-01 1.05696958e-02 1.05222141e+02] [-3.87183595e-01 9.21992003e-01 -4.42835371e-03 -1.93129939e+01] [-1.14598731e-02 -9.77441883e-06 9.99934333e-01 -1.27379673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.28, Y:-19.34, Z:-1.27 [[ 9.23664945e-01 3.83055312e-01 1.05686818e-02 1.05278593e+02] [-3.83029688e-01 9.23725406e-01 -4.43077246e-03 -1.93391873e+01] [-1.14597908e-02 4.44303089e-05 9.99934333e-01 -1.27157813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.34, Y:-19.36, Z:-1.27 [[ 9.24787917e-01 3.80336213e-01 1.05676039e-02 1.05336458e+02] [-3.80310383e-01 9.24848289e-01 -4.43334167e-03 -1.93639917e+01] [-1.14595908e-02 8.09313050e-05 9.99934333e-01 -1.27227538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.39, Y:-19.39, Z:-1.27 [[ 9.26895782e-01 3.75170043e-01 1.05663609e-02 1.05394669e+02] [-3.75143842e-01 9.26955995e-01 -4.43630241e-03 -1.93875805e+01] [-1.14589193e-02 1.48084769e-04 9.99934333e-01 -1.27436758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:-19.41, Z:-1.28 [[ 9.28447746e-01 3.71312753e-01 1.05651049e-02 1.05452174e+02] [-3.71286268e-01 9.28507835e-01 -4.43929152e-03 -1.94110157e+01] [-1.14581482e-02 1.98971833e-04 9.99934333e-01 -1.27520646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.51, Y:-19.43, Z:-1.28 [[ 9.28703787e-01 3.70671927e-01 1.05639958e-02 1.05508588e+02] [-3.70645371e-01 9.28763844e-01 -4.44192926e-03 -1.94332138e+01] [-1.14579558e-02 2.09740393e-04 9.99934333e-01 -1.27797333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.57, Y:-19.46, Z:-1.28 [[ 9.28269372e-01 3.71758518e-01 1.05629827e-02 1.05566925e+02] [-3.71732004e-01 9.28329448e-01 -4.44433699e-03 -1.94553467e+01] [-1.14581481e-02 1.98943165e-04 9.99934333e-01 -1.27964251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.63, Y:-19.48, Z:-1.28 [[ 9.27630272e-01 3.73350403e-01 1.05619511e-02 1.05625494e+02] [-3.73323965e-01 9.27690381e-01 -4.44678727e-03 -1.94774221e+01] [-1.14584303e-02 1.81945006e-04 9.99934333e-01 -1.27863013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.68, Y:-19.50, Z:-1.28 [[ 9.26661058e-01 3.75749591e-01 1.05606951e-02 1.05682559e+02] [-3.75723275e-01 9.26721220e-01 -4.44976815e-03 -1.94981906e+01] [-1.14588188e-02 1.55527909e-04 9.99934333e-01 -1.27830283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:-19.52, Z:-1.28 [[ 9.24814654e-01 3.80271414e-01 1.05596913e-02 1.05741044e+02] [-3.80245364e-01 9.24874933e-01 -4.45214912e-03 -1.95204666e+01] [-1.14594188e-02 1.02139102e-04 9.99934333e-01 -1.27823499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:-19.54, Z:-1.28 [[ 9.24244451e-01 3.81655228e-01 1.05584578e-02 1.05800236e+02] [-3.81629235e-01 9.24304755e-01 -4.45507245e-03 -1.95388768e+01] [-1.14595344e-02 8.81598209e-05 9.99934333e-01 -1.28122325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:-19.56, Z:-1.28 [[ 9.18565315e-01 3.95128213e-01 1.05573636e-02 1.05856685e+02] [-3.95103075e-01 9.18625979e-01 -4.45766380e-03 -1.95638095e+01] [-1.14596172e-02 -7.65914746e-05 9.99934333e-01 -1.27852696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:-19.59, Z:-1.28 [[ 9.14356486e-01 4.04772506e-01 1.05562693e-02 1.05915346e+02] [-4.04747978e-01 9.14417400e-01 -4.46025374e-03 -1.95873266e+01] [-1.14582244e-02 -1.94366724e-04 9.99934334e-01 -1.27856583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:-19.61, Z:-1.28 [[ 9.12754066e-01 4.08373122e-01 1.05549746e-02 1.05972868e+02] [-4.08348799e-01 9.12815062e-01 -4.46331554e-03 -1.96121356e+01] [-1.14574379e-02 -2.36201790e-04 9.99934334e-01 -1.27828570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:-19.64, Z:-1.28 [[ 9.12088670e-01 4.09857142e-01 1.05536929e-02 1.06030608e+02] [-4.09832883e-01 9.12149691e-01 -4.46634418e-03 -1.96376426e+01] [-1.14571108e-02 -2.51548454e-04 9.99934334e-01 -1.27802666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.09, Y:-19.66, Z:-1.28 [[ 9.12853401e-01 4.08151093e-01 1.05524293e-02 1.06087609e+02] [-4.08126685e-01 9.12914363e-01 -4.46932749e-03 -1.96642422e+01] [-1.14576252e-02 -2.26887201e-04 9.99934334e-01 -1.27901851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.14, Y:-19.69, Z:-1.28 [[ 9.14302372e-01 4.04894858e-01 1.05511664e-02 1.06144574e+02] [-4.04870199e-01 9.14363232e-01 -4.47230716e-03 -1.96913146e+01] [-1.14584127e-02 -1.82811777e-04 9.99934334e-01 -1.27999142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.20, Y:-19.72, Z:-1.28 [[ 9.18190475e-01 3.95998676e-01 1.05499048e-02 1.06199741e+02] [-3.95973393e-01 9.18251079e-01 -4.47528100e-03 -1.97191877e+01] [-1.14596669e-02 -6.83212332e-05 9.99934334e-01 -1.28125728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.25, Y:-19.75, Z:-1.28 [[ 9.21447908e-01 3.88358695e-01 1.05487729e-02 1.06254149e+02] [-3.88332879e-01 9.21508287e-01 -4.47794764e-03 -1.97464935e+01] [-1.14598315e-02 2.97601466e-05 9.99934334e-01 -1.28252711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.31, Y:-19.78, Z:-1.28 [[ 9.26451002e-01 3.76267561e-01 1.05481402e-02 1.06309047e+02] [-3.76240940e-01 9.26511031e-01 -4.47943748e-03 -1.97754416e+01] [-1.14584352e-02 1.81337173e-04 9.99934334e-01 -1.28291448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.37, Y:-19.80, Z:-1.28 [[ 9.30944393e-01 3.65008627e-01 1.05470334e-02 1.06366189e+02] [-3.64981251e-01 9.31004080e-01 -4.48204201e-03 -1.98027930e+01] [-1.14553151e-02 3.23062447e-04 9.99934334e-01 -1.28412987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:-19.83, Z:-1.28 [[ 9.33257809e-01 3.59052433e-01 1.05457568e-02 1.06422388e+02] [-3.59024642e-01 9.33317304e-01 -4.48504369e-03 -1.98281741e+01] [-1.14529031e-02 3.99515498e-04 9.99934334e-01 -1.28213597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.48, Y:-19.85, Z:-1.28 [[ 9.33589005e-01 3.58190424e-01 1.05446393e-02 1.06480065e+02] [-3.58162548e-01 9.33648462e-01 -4.48766945e-03 -1.98518360e+01] [-1.14524265e-02 4.12943986e-04 9.99934334e-01 -1.28114828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.54, Y:-19.87, Z:-1.28 [[ 9.33523688e-01 3.58360656e-01 1.05434592e-02 1.06539387e+02] [-3.58332760e-01 9.33583135e-01 -4.49044022e-03 -1.98728627e+01] [-1.14523928e-02 4.13865480e-04 9.99934334e-01 -1.28055067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:-19.89, Z:-1.28 [[ 9.32936729e-01 3.59885984e-01 1.05422038e-02 1.06598523e+02] [-3.59858152e-01 9.32996206e-01 -4.49338559e-03 -1.98940103e+01] [-1.14529426e-02 3.98346469e-04 9.99934334e-01 -1.28115039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:-19.91, Z:-1.28 [[ 9.31465803e-01 3.63676155e-01 1.05409562e-02 1.06659404e+02] [-3.63648532e-01 9.31525377e-01 -4.49631038e-03 -1.99110071e+01] [-1.14543691e-02 3.54956110e-04 9.99934334e-01 -1.28292499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:-19.93, Z:-1.28 [[ 9.29977798e-01 3.67464569e-01 1.05396989e-02 1.06720748e+02] [-3.67437155e-01 9.30037469e-01 -4.49925577e-03 -1.99282126e+01] [-1.14556319e-02 3.11531002e-04 9.99934334e-01 -1.28383247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:-19.95, Z:-1.28 [[ 9.30062914e-01 3.67249123e-01 1.05384336e-02 1.06781356e+02] [-3.67221662e-01 9.30122562e-01 -4.50221733e-03 -1.99457962e+01] [-1.14554703e-02 3.17404254e-04 9.99934334e-01 -1.28483148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:-19.97, Z:-1.28 [[ 9.28132524e-01 3.72100773e-01 1.05371579e-02 1.06839480e+02] [-3.72073590e-01 9.28192300e-01 -4.50520109e-03 -1.99662260e+01] [-1.14568977e-02 2.60825483e-04 9.99934334e-01 -1.28494439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:-19.98, Z:-1.29 [[ 9.27198843e-01 3.74421270e-01 1.05365367e-02 1.06899905e+02] [-3.74394221e-01 9.27258679e-01 -4.50665352e-03 -1.99836031e+01] [-1.14574820e-02 2.33745482e-04 9.99934334e-01 -1.28688995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:-20.00, Z:-1.29 [[ 9.26693490e-01 3.75670298e-01 1.05357680e-02 1.06959806e+02] [-3.75643309e-01 9.26753354e-01 -4.50844995e-03 -2.00046561e+01] [-1.14577490e-02 2.20260476e-04 9.99934334e-01 -1.28736632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:-20.02, Z:-1.29 [[ 9.25984858e-01 3.77413652e-01 1.05345589e-02 1.07019822e+02] [-3.77386743e-01 9.26044758e-01 -4.51127335e-03 -2.00227714e+01] [-1.14580892e-02 2.01767939e-04 9.99934334e-01 -1.28691687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:-20.04, Z:-1.29 [[ 9.25402649e-01 3.78838994e-01 1.05335146e-02 1.07080049e+02] [-3.78812149e-01 9.25462577e-01 -4.51371034e-03 -2.00430847e+01] [-1.14583431e-02 1.86776197e-04 9.99934334e-01 -1.28829516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:-20.06, Z:-1.29 [[ 9.23555078e-01 3.83321128e-01 1.05323307e-02 1.07139617e+02] [-3.83294543e-01 9.23615123e-01 -4.51647114e-03 -2.00629078e+01] [-1.14590788e-02 1.34224962e-04 9.99934334e-01 -1.28889874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:-20.08, Z:-1.29 [[ 9.20899814e-01 3.89657064e-01 1.05311559e-02 1.07198514e+02] [-3.89630861e-01 9.20960026e-01 -4.51920890e-03 -2.00820486e+01] [-1.14597153e-02 5.84753056e-05 9.99934334e-01 -1.28961900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.26, Y:-20.10, Z:-1.29 [[ 9.20498634e-01 3.90603869e-01 1.05300685e-02 1.07260001e+02] [-3.90577699e-01 9.20558860e-01 -4.52174112e-03 -2.00990157e+01] [-1.14597574e-02 4.94465945e-05 9.99934334e-01 -1.29137211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.32, Y:-20.12, Z:-1.29 [[ 9.18936519e-01 3.94264911e-01 1.05286990e-02 1.07315972e+02] [-3.94238945e-01 9.18996833e-01 -4.52492770e-03 -2.01242549e+01] [-1.14598613e-02 7.29812731e-06 9.99934334e-01 -1.29169791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:-20.15, Z:-1.29 [[ 9.19063842e-01 3.93968037e-01 1.05280255e-02 1.07374223e+02] [-3.93942033e-01 9.19124140e-01 -4.52649413e-03 -2.01479407e+01] [-1.14598564e-02 1.27053016e-05 9.99934334e-01 -1.29253292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:-20.17, Z:-1.29 [[ 9.19754727e-01 3.92352430e-01 1.05267339e-02 1.07432271e+02] [-3.92326286e-01 9.19814965e-01 -4.52949597e-03 -2.01715585e+01] [-1.14598061e-02 3.61109265e-05 9.99934334e-01 -1.29275905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:-20.19, Z:-1.29 [[ 9.20636836e-01 3.90278146e-01 1.05254536e-02 1.07491261e+02] [-3.90251832e-01 9.20696999e-01 -4.53246911e-03 -2.01936937e+01] [-1.14596772e-02 6.51804712e-05 9.99934334e-01 -1.29288492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:-20.22, Z:-1.29 [[ 9.21191955e-01 3.88966097e-01 1.05241793e-02 1.07549347e+02] [-3.88939663e-01 9.21252066e-01 -4.53542594e-03 -2.02174031e+01] [-1.14595489e-02 8.47271241e-05 9.99934334e-01 -1.29249556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:-20.24, Z:-1.29 [[ 9.21064848e-01 3.89267022e-01 1.05228931e-02 1.07608432e+02] [-3.89240574e-01 9.21124953e-01 -4.53840822e-03 -2.02404743e+01] [-1.14595521e-02 8.42313156e-05 9.99934334e-01 -1.29317988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:-20.26, Z:-1.29 [[ 9.20532831e-01 3.90523499e-01 1.05216107e-02 1.07665823e+02] [-3.90497099e-01 9.20592956e-01 -4.54137944e-03 -2.02641077e+01] [-1.14596361e-02 7.18304331e-05 9.99934334e-01 -1.29374436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:-20.28, Z:-1.30 [[ 9.21366982e-01 3.88551419e-01 1.05204250e-02 1.07725915e+02] [-3.88524859e-01 9.21427037e-01 -4.54412451e-03 -2.02811200e+01] [-1.14594300e-02 9.93596517e-05 9.99934334e-01 -1.29793576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:-20.31, Z:-1.30 [[ 9.18955538e-01 3.94220834e-01 1.05192245e-02 1.07780319e+02] [-3.94194613e-01 9.19015741e-01 -4.54690181e-03 -2.03094466e+01] [-1.14598163e-02 3.17789678e-05 9.99934334e-01 -1.29555721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:-20.33, Z:-1.30 [[ 9.18941557e-01 3.94253451e-01 1.05181321e-02 1.07837252e+02] [-3.94227203e-01 9.19001749e-01 -4.54942734e-03 -2.03340994e+01] [-1.14598093e-02 3.41240325e-05 9.99934334e-01 -1.29706254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:-20.36, Z:-1.30 [[ 9.19536810e-01 3.92863142e-01 1.05169456e-02 1.07895104e+02] [-3.92836772e-01 9.19596949e-01 -4.55216849e-03 -2.03597322e+01] [-1.14597303e-02 5.44435232e-05 9.99934334e-01 -1.29746120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.95, Y:-20.38, Z:-1.30 [[ 9.19484772e-01 3.92984956e-01 1.05156593e-02 1.07951332e+02] [-3.92958560e-01 9.19544899e-01 -4.55513813e-03 -2.03842295e+01] [-1.14597216e-02 5.61618289e-05 9.99934334e-01 -1.29760860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-20.41, Z:-1.30 [[ 9.17892627e-01 3.96689499e-01 1.05150476e-02 1.08008545e+02] [-3.96663329e-01 9.17952854e-01 -4.55654956e-03 -2.04096738e+01] [-1.14598533e-02 1.14894419e-05 9.99934334e-01 -1.29683038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:-20.43, Z:-1.30 [[ 9.14576352e-01 4.04276585e-01 1.05137255e-02 1.08065325e+02] [-4.04250880e-01 9.14636778e-01 -4.55959826e-03 -2.04330943e+01] [-1.14595788e-02 -8.00820256e-05 9.99934334e-01 -1.30021884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.12, Y:-20.46, Z:-1.30 [[ 9.11654235e-01 4.10823601e-01 1.05130806e-02 1.08123368e+02] [-4.10798312e-01 9.11714836e-01 -4.56108463e-03 -2.04574374e+01] [-1.14587328e-02 -1.60623660e-04 9.99934334e-01 -1.30200548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.18, Y:-20.48, Z:-1.30 [[ 9.08764620e-01 4.17176663e-01 1.05117467e-02 1.08180734e+02] [-4.17151763e-01 9.08825382e-01 -4.56415672e-03 -2.04838012e+01] [-1.14574019e-02 -2.37249529e-04 9.99934334e-01 -1.30249256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.24, Y:-20.51, Z:-1.30 [[ 9.08647360e-01 4.17432037e-01 1.05104197e-02 1.08237678e+02] [-4.17407118e-01 9.08708115e-01 -4.56721060e-03 -2.05115183e+01] [-1.14574037e-02 -2.37140136e-04 9.99934334e-01 -1.30285389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:-20.54, Z:-1.30 [[ 9.09899509e-01 4.14695602e-01 1.05091042e-02 1.08293795e+02] [-4.14670465e-01 9.09960174e-01 -4.57023549e-03 -2.05394970e+01] [-1.14581229e-02 -1.99360101e-04 9.99934334e-01 -1.30309455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:-20.57, Z:-1.30 [[ 9.11956648e-01 4.10151995e-01 1.05077736e-02 1.08347465e+02] [-4.10126521e-01 9.12017172e-01 -4.57329285e-03 -2.05706858e+01] [-1.14590151e-02 -1.38871797e-04 9.99934334e-01 -1.30142419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.40, Y:-20.60, Z:-1.30 [[ 9.13109829e-01 4.07578279e-01 1.05065447e-02 1.08403232e+02] [-4.07552602e-01 9.13170267e-01 -4.57611434e-03 -2.06007028e+01] [-1.14593890e-02 -1.03474633e-04 9.99934334e-01 -1.30270050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:-20.63, Z:-1.31 [[ 9.12938745e-01 4.07961380e-01 1.05052466e-02 1.08458298e+02] [-4.07935694e-01 9.12999179e-01 -4.57909235e-03 -2.06287658e+01] [-1.14593744e-02 -1.05034242e-04 9.99934334e-01 -1.30524782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.51, Y:-20.66, Z:-1.31 [[ 9.12212354e-01 4.09583061e-01 1.05041225e-02 1.08513017e+02] [-4.09557453e-01 9.12272822e-01 -4.58166950e-03 -2.06599914e+01] [-1.14591997e-02 -1.22586139e-04 9.99934334e-01 -1.30769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:-20.69, Z:-1.31 [[ 9.12128475e-01 4.09769833e-01 1.05037228e-02 1.08566202e+02] [-4.09744227e-01 9.12188943e-01 -4.58258575e-03 -2.06908209e+01] [-1.14591852e-02 -1.23932799e-04 9.99934334e-01 -1.31053633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.62, Y:-20.73, Z:-1.31 [[ 9.12890297e-01 4.08069846e-01 1.05027007e-02 1.08619566e+02] [-4.08044101e-01 9.12950705e-01 -4.58492692e-03 -2.07265013e+01] [-1.14594185e-02 -1.00029777e-04 9.99934334e-01 -1.31001381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:-20.76, Z:-1.31 [[ 9.13777410e-01 4.06079506e-01 1.05014629e-02 1.08674331e+02] [-4.06053596e-01 9.13837748e-01 -4.58776024e-03 -2.07592629e+01] [-1.14596287e-02 -7.19651192e-05 9.99934334e-01 -1.30861910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:-20.79, Z:-1.31 [[ 9.15029845e-01 4.03249461e-01 1.05002332e-02 1.08726973e+02] [-4.03223332e-01 9.15090089e-01 -4.59057312e-03 -2.07940236e+01] [-1.14598055e-02 -3.34275990e-05 9.99934334e-01 -1.30766156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:-20.83, Z:-1.31 [[ 9.15583519e-01 4.01990781e-01 1.04991123e-02 1.08778377e+02] [-4.01964540e-01 9.15643715e-01 -4.59313531e-03 -2.08322847e+01] [-1.14598442e-02 -1.48718404e-05 9.99934334e-01 -1.30560407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-20.86, Z:-1.31 [[ 9.15333189e-01 4.02560486e-01 1.04979930e-02 1.08832587e+02] [-4.02534254e-01 9.15393388e-01 -4.59569212e-03 -2.08640174e+01] [-1.14598374e-02 -1.92122504e-05 9.99934334e-01 -1.30731168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-20.90, Z:-1.31 [[ 9.13849687e-01 4.05916948e-01 1.04967318e-02 1.08885916e+02] [-4.05890903e-01 9.13909967e-01 -4.59857101e-03 -2.08983794e+01] [-1.14597057e-02 -5.81252514e-05 9.99934334e-01 -1.31022991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:-20.93, Z:-1.31 [[ 9.10410173e-01 4.13573625e-01 1.04963355e-02 1.08940318e+02] [-4.13548076e-01 9.10470666e-01 -4.59947541e-03 -2.09281762e+01] [-1.14588272e-02 -1.53330131e-04 9.99934334e-01 -1.30959849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.00, Y:-20.95, Z:-1.31 [[ 9.09119322e-01 4.16403540e-01 1.04952018e-02 1.08998336e+02] [-4.16378150e-01 9.09179882e-01 -4.60206075e-03 -2.09510323e+01] [-1.14583407e-02 -1.86150362e-04 9.99934334e-01 -1.31102324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.06, Y:-20.97, Z:-1.31 [[ 9.10559586e-01 4.13244619e-01 1.04940616e-02 1.09056174e+02] [-4.13218989e-01 9.10620044e-01 -4.60465920e-03 -2.09736148e+01] [-1.14589535e-02 -1.43528959e-04 9.99934334e-01 -1.31105844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.11, Y:-21.00, Z:-1.31 [[ 9.14480507e-01 4.04493883e-01 1.04929315e-02 1.09110941e+02] [-4.04467645e-01 9.14540703e-01 -4.60723303e-03 -2.10021020e+01] [-1.14598105e-02 -3.08265023e-05 9.99934334e-01 -1.30888285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.17, Y:-21.03, Z:-1.31 [[ 9.15636725e-01 4.01869765e-01 1.04918864e-02 1.09167932e+02] [-4.01843327e-01 9.15696834e-01 -4.60961181e-03 -2.10286530e+01] [-1.14598508e-02 4.63531458e-06 9.99934334e-01 -1.30897719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:-21.05, Z:-1.31 [[ 9.17423509e-01 3.97773871e-01 1.04905771e-02 1.09226402e+02] [-3.97747131e-01 9.17483484e-01 -4.61258969e-03 -2.10526462e+01] [-1.14596988e-02 5.91012892e-05 9.99934334e-01 -1.30959750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:-21.08, Z:-1.31 [[ 9.18431721e-01 3.95440450e-01 1.04892654e-02 1.09283675e+02] [-3.95413524e-01 9.18491612e-01 -4.61557050e-03 -2.10767563e+01] [-1.14594856e-02 9.14889578e-05 9.99934334e-01 -1.31228451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:-21.10, Z:-1.31 [[ 9.20246134e-01 3.91199505e-01 1.04881258e-02 1.09339390e+02] [-3.91172273e-01 9.20305887e-01 -4.61815873e-03 -2.11005601e+01] [-1.14589053e-02 1.47178722e-04 9.99934334e-01 -1.31451372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:-21.12, Z:-1.32 [[ 9.21862632e-01 3.87374895e-01 1.04870839e-02 1.09396534e+02] [-3.87347388e-01 9.21922259e-01 -4.62052333e-03 -2.11249098e+01] [-1.14581509e-02 1.97343221e-04 9.99934334e-01 -1.31557964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:-21.15, Z:-1.32 [[ 9.22176660e-01 3.86626761e-01 1.04860016e-02 1.09454673e+02] [-3.86599177e-01 9.22236252e-01 -4.62297825e-03 -2.11499469e+01] [-1.14579379e-02 2.09323040e-04 9.99934334e-01 -1.31538091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:-21.17, Z:-1.31 [[ 9.21739826e-01 3.87667077e-01 1.04847532e-02 1.09512760e+02] [-3.87639529e-01 9.21799435e-01 -4.62580788e-03 -2.11741290e+01] [-1.14581130e-02 1.99486559e-04 9.99934334e-01 -1.31462718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.57, Y:-21.20, Z:-1.32 [[ 9.21432666e-01 3.88396627e-01 1.04834378e-02 1.09570705e+02] [-3.88369092e-01 9.21492280e-01 -4.62878704e-03 -2.11993538e+01] [-1.14582123e-02 1.93672349e-04 9.99934334e-01 -1.31524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:-21.23, Z:-1.32 [[ 9.21392143e-01 3.88492786e-01 1.04821177e-02 1.09627011e+02] [-3.88465223e-01 9.21451744e-01 -4.63177467e-03 -2.12255209e+01] [-1.14581767e-02 1.95742611e-04 9.99934334e-01 -1.31516110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:-21.25, Z:-1.32 [[ 9.21835500e-01 3.87439624e-01 1.04808997e-02 1.09684725e+02] [-3.87411962e-01 9.21895055e-01 -4.63452900e-03 -2.12509485e+01] [-1.14578898e-02 2.11847433e-04 9.99934334e-01 -1.31597398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.057628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:109.74, Y:-21.28, Z:-1.32 [[ 9.22893101e-01 3.84913629e-01 1.04795819e-02 1.09741816e+02] [-3.84885771e-01 9.22952565e-01 -4.63750706e-03 -2.12771415e+01] [-1.14571966e-02 2.46481334e-04 9.99934334e-01 -1.31938810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.80, Y:-21.30, Z:-1.32 [[ 9.23049192e-01 3.84539198e-01 1.04782582e-02 1.09797741e+02] [-3.84511281e-01 9.23108629e-01 -4.64049583e-03 -2.13027411e+01] [-1.14570231e-02 2.54397433e-04 9.99934334e-01 -1.31741557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:-21.33, Z:-1.32 [[ 9.22792802e-01 3.85154078e-01 1.04776295e-02 1.09854073e+02] [-3.85126185e-01 9.22852249e-01 -4.64191494e-03 -2.13279961e+01] [-1.14571564e-02 2.48316216e-04 9.99934334e-01 -1.31652266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.91, Y:-21.35, Z:-1.32 [[ 9.22704610e-01 3.85365341e-01 1.04764971e-02 1.09910767e+02] [-3.85337432e-01 9.22764050e-01 -4.64446935e-03 -2.13537244e+01] [-1.14571524e-02 2.48486787e-04 9.99934334e-01 -1.31716855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.97, Y:-21.38, Z:-1.32 [[ 9.23004463e-01 3.84646619e-01 1.04756976e-02 1.09967640e+02] [-3.84618643e-01 9.23063872e-01 -4.64627197e-03 -2.13804678e+01] [-1.14569108e-02 2.59381174e-04 9.99934334e-01 -1.31857964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:-21.41, Z:-1.32 [[ 9.22881650e-01 3.84941223e-01 1.04744338e-02 1.10025012e+02] [-3.84913235e-01 9.22941053e-01 -4.64911933e-03 -2.14066139e+01] [-1.14569226e-02 2.58838746e-04 9.99934334e-01 -1.31973269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:-21.43, Z:-1.32 [[ 9.22634507e-01 3.85533240e-01 1.04731389e-02 1.10082339e+02] [-3.85505256e-01 9.22693912e-01 -4.65203445e-03 -2.14316918e+01] [-1.14570154e-02 2.54677418e-04 9.99934334e-01 -1.31952982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:-21.46, Z:-1.32 [[ 9.22994003e-01 3.84671822e-01 1.04717965e-02 1.10139674e+02] [-3.84643749e-01 9.23053366e-01 -4.65505428e-03 -2.14560643e+01] [-1.14566952e-02 2.68676120e-04 9.99934334e-01 -1.32005676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:-21.48, Z:-1.32 [[ 9.24194229e-01 3.81779248e-01 1.04705560e-02 1.10197343e+02] [-3.81750957e-01 9.24253489e-01 -4.65784292e-03 -2.14810189e+01] [-1.14557156e-02 3.07606792e-04 9.99934334e-01 -1.31966211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:-21.50, Z:-1.32 [[ 9.25048337e-01 3.79705108e-01 1.04692319e-02 1.10254213e+02] [-3.79676650e-01 9.25107517e-01 -4.66081696e-03 -2.15049519e+01] [-1.14549012e-02 3.36558065e-04 9.99934334e-01 -1.31975028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:-21.53, Z:-1.32 [[ 9.26355943e-01 3.76503757e-01 1.04684157e-02 1.10312649e+02] [-3.76475075e-01 9.26415014e-01 -4.66264965e-03 -2.15287518e+01] [-1.14536025e-02 3.78175648e-04 9.99934334e-01 -1.31911897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:-21.55, Z:-1.32 [[ 9.26663447e-01 3.75746317e-01 1.04670999e-02 1.10371465e+02] [-3.75717553e-01 9.26722479e-01 -4.66560160e-03 -2.15521302e+01] [-1.14531793e-02 3.90769317e-04 9.99934334e-01 -1.32015910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.43, Y:-21.58, Z:-1.32 [[ 9.26064090e-01 3.77221114e-01 1.04657746e-02 1.10429356e+02] [-3.77192411e-01 9.26123150e-01 -4.66857244e-03 -2.15766509e+01] [-1.14536803e-02 3.75786533e-04 9.99934334e-01 -1.32177933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.49, Y:-21.60, Z:-1.32 [[ 9.24902117e-01 3.80061271e-01 1.04644300e-02 1.10487459e+02] [-3.80032714e-01 9.24961249e-01 -4.67158448e-03 -2.15995909e+01] [-1.14546806e-02 3.43932646e-04 9.99934334e-01 -1.32479809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:-21.62, Z:-1.33 [[ 9.24260185e-01 3.81619752e-01 1.04630912e-02 1.10544768e+02] [-3.81591261e-01 9.24319348e-01 -4.67458116e-03 -2.16247560e+01] [-1.14551501e-02 3.27905095e-04 9.99934334e-01 -1.32658793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:-21.65, Z:-1.33 [[ 9.24204084e-01 3.81755633e-01 1.04617634e-02 1.10602718e+02] [-3.81727118e-01 9.24263235e-01 -4.67755087e-03 -2.16504067e+01] [-1.14551047e-02 3.29472830e-04 9.99934334e-01 -1.32754814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:-21.68, Z:-1.33 [[ 9.24083933e-01 3.82046416e-01 1.04604568e-02 1.10660087e+02] [-3.82017886e-01 9.24143078e-01 -4.68047092e-03 -2.16760244e+01] [-1.14551159e-02 3.29066381e-04 9.99934334e-01 -1.32795943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:-21.70, Z:-1.33 [[ 9.23469228e-01 3.83529909e-01 1.04591434e-02 1.10716859e+02] [-3.83501441e-01 9.23528403e-01 -4.68340411e-03 -2.17018529e+01] [-1.14555415e-02 3.13883013e-04 9.99934334e-01 -1.32894684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:-21.73, Z:-1.33 [[ 9.21343854e-01 3.88607945e-01 1.04579314e-02 1.10774455e+02] [-3.88579773e-01 9.21403169e-01 -4.68610896e-03 -2.17282239e+01] [-1.14570303e-02 2.53777098e-04 9.99934334e-01 -1.32947447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:-21.75, Z:-1.33 [[ 9.17232912e-01 3.98214068e-01 1.04566597e-02 1.10831686e+02] [-3.98186485e-01 9.17292503e-01 -4.68894481e-03 -2.17542141e+01] [-1.14590194e-02 1.37153916e-04 9.99934334e-01 -1.32878012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:-21.78, Z:-1.33 [[ 9.12126192e-01 4.09776154e-01 1.04553305e-02 1.10888973e+02] [-4.09749292e-01 9.12186112e-01 -4.69190686e-03 -2.17799371e+01] [-1.14598388e-02 -4.45312709e-06 9.99934334e-01 -1.32934447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:-21.81, Z:-1.33 [[ 9.08373670e-01 4.18028695e-01 1.04540199e-02 1.10945422e+02] [-4.18002344e-01 9.08433817e-01 -4.69482512e-03 -2.18073778e+01] [-1.14593568e-02 -1.05149301e-04 9.99934334e-01 -1.33085993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.00, Y:-21.83, Z:-1.33 [[ 9.07449117e-01 4.20031952e-01 1.04527244e-02 1.11002568e+02] [-4.20005701e-01 9.07509307e-01 -4.69770774e-03 -2.18338716e+01] [-1.14591320e-02 -1.27273090e-04 9.99934334e-01 -1.33270261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.06, Y:-21.86, Z:-1.34 [[ 9.06236973e-01 4.22640882e-01 1.04514396e-02 1.11058018e+02] [-4.22614771e-01 9.06297225e-01 -4.70056436e-03 -2.18621329e+01] [-1.14587614e-02 -1.57107537e-04 9.99934334e-01 -1.33513189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.11, Y:-21.89, Z:-1.34 [[ 9.06623814e-01 4.21810446e-01 1.04502751e-02 1.11112608e+02] [-4.21784250e-01 9.06684028e-01 -4.70315197e-03 -2.18928030e+01] [-1.14589361e-02 -1.43771847e-04 9.99934334e-01 -1.33885729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:-21.92, Z:-1.34 [[ 9.07720435e-01 4.19445382e-01 1.04491208e-02 1.11166879e+02] [-4.19418999e-01 9.07780568e-01 -4.70571505e-03 -2.19231629e+01] [-1.14592992e-02 -1.11086070e-04 9.99934334e-01 -1.33903210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:-21.95, Z:-1.34 [[ 9.08092728e-01 4.18638792e-01 1.04479571e-02 1.11223506e+02] [-4.18612326e-01 9.08152824e-01 -4.70829743e-03 -2.19488857e+01] [-1.14594177e-02 -9.80729530e-05 9.99934334e-01 -1.33632405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:-21.97, Z:-1.34 [[ 9.09319667e-01 4.15967075e-01 1.04467811e-02 1.11282285e+02] [-4.15940403e-01 9.09379673e-01 -4.71090531e-03 -2.19699629e+01] [-1.14596718e-02 -6.15194671e-05 9.99934334e-01 -1.33531763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:-22.00, Z:-1.33 [[ 9.12704529e-01 4.08486637e-01 1.04456052e-02 1.11339892e+02] [-4.08459443e-01 9.12764299e-01 -4.71351112e-03 -2.19961174e+01] [-1.14597818e-02 3.54368662e-05 9.99934334e-01 -1.33277649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.40, Y:-22.02, Z:-1.33 [[ 9.15788203e-01 4.01525695e-01 1.04442727e-02 1.11395849e+02] [-4.01498013e-01 9.15847750e-01 -4.71646177e-03 -2.20249179e+01] [-1.14591443e-02 1.25925298e-04 9.99934334e-01 -1.33236240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:-22.05, Z:-1.34 [[ 9.18988641e-01 3.94145686e-01 1.04429474e-02 1.11453644e+02] [-3.94117493e-01 9.19047947e-01 -4.71939434e-03 -2.20497274e+01] [-1.14576983e-02 2.21321523e-04 9.99934334e-01 -1.33685800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.917628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:-22.07, Z:-1.35 [[ 9.20594494e-01 3.90380263e-01 1.04416204e-02 1.11512274e+02] [-3.90351793e-01 9.20653668e-01 -4.72232869e-03 -2.20713075e+01] [-1.14566200e-02 2.71444564e-04 9.99934334e-01 -1.34529366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.977628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:-22.10, Z:-1.34 [[ 9.21554461e-01 3.88108711e-01 1.04404744e-02 1.11568850e+02] [-3.88080067e-01 9.21613551e-01 -4.72486083e-03 -2.20980000e+01] [-1.14558424e-02 3.02476564e-04 9.99934334e-01 -1.34116591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.63, Y:-22.12, Z:-1.34 [[ 9.21449718e-01 3.88357364e-01 1.04391129e-02 1.11625822e+02] [-3.88328703e-01 9.21508799e-01 -4.72786709e-03 -2.21217081e+01] [-1.14558364e-02 3.02684636e-04 9.99934334e-01 -1.33991280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:-22.14, Z:-1.34 [[ 9.19345067e-01 3.93313740e-01 1.04379357e-02 1.11684722e+02] [-3.93285368e-01 9.19404287e-01 -4.73046450e-03 -2.21424986e+01] [-1.14572396e-02 2.43841807e-04 9.99934334e-01 -1.34056940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-22.17, Z:-1.34 [[ 9.17244426e-01 3.98188067e-01 1.04367499e-02 1.11742798e+02] [-3.98159980e-01 9.17303782e-01 -4.73307937e-03 -2.21663291e+01] [-1.14583259e-02 1.85894542e-04 9.99934334e-01 -1.34035019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-22.19, Z:-1.34 [[ 9.13990635e-01 4.05601061e-01 1.04354073e-02 1.11801148e+02] [-4.05573421e-01 9.14050201e-01 -4.73603759e-03 -2.21910261e+01] [-1.14594280e-02 9.63701510e-05 9.99934334e-01 -1.33919340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-22.21, Z:-1.34 [[ 9.10872978e-01 4.12554904e-01 1.04340738e-02 1.11860409e+02] [-4.12527685e-01 9.10932737e-01 -4.73897376e-03 -2.22137375e+01] [-1.14598262e-02 1.22588374e-05 9.99934334e-01 -1.34055203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-22.24, Z:-1.35 [[ 9.09405150e-01 4.15780509e-01 1.04327584e-02 1.11916440e+02] [-4.15753469e-01 9.09464990e-01 -4.74186783e-03 -2.22376336e+01] [-1.14598047e-02 -2.51764581e-05 9.99934334e-01 -1.34635003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:-22.26, Z:-1.35 [[ 9.10053552e-01 4.14359400e-01 1.04317054e-02 1.11973335e+02] [-4.14332240e-01 9.10113338e-01 -4.74418313e-03 -2.22646964e+01] [-1.14598311e-02 -4.73115861e-06 9.99934334e-01 -1.34886144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.03, Y:-22.29, Z:-1.35 [[ 9.11933916e-01 4.10204509e-01 1.04304008e-02 1.12029159e+02] [-4.10177044e-01 9.11993563e-01 -4.74704966e-03 -2.22933217e+01] [-1.14597196e-02 5.06846156e-05 9.99934334e-01 -1.35055646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.09, Y:-22.32, Z:-1.35 [[ 9.13066545e-01 4.07677223e-01 1.04291032e-02 1.12085160e+02] [-4.07649560e-01 9.13126100e-01 -4.74989881e-03 -2.23222052e+01] [-1.14595119e-02 8.55543838e-05 9.99934334e-01 -1.35048418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.14, Y:-22.35, Z:-1.35 [[ 9.14033368e-01 4.05504951e-01 1.04277351e-02 1.12139313e+02] [-4.05477112e-01 9.14092841e-01 -4.75290029e-03 -2.23533859e+01] [-1.14592426e-02 1.16101530e-04 9.99934334e-01 -1.35146821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:-22.38, Z:-1.35 [[ 9.13310145e-01 4.07131265e-01 1.04264724e-02 1.12193974e+02] [-4.07103501e-01 9.13369653e-01 -4.75566866e-03 -2.23840724e+01] [-1.14594049e-02 9.87470153e-05 9.99934334e-01 -1.35313939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.25, Y:-22.41, Z:-1.36 [[ 9.10189681e-01 4.14060456e-01 1.04251234e-02 1.12248936e+02] [-4.14033111e-01 9.10249383e-01 -4.75862396e-03 -2.24102090e+01] [-1.14598202e-02 1.49041265e-05 9.99934334e-01 -1.35587823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.31, Y:-22.44, Z:-1.36 [[ 9.08116480e-01 4.18587861e-01 1.04240440e-02 1.12305946e+02] [-4.18560786e-01 9.08176305e-01 -4.76098735e-03 -2.24369312e+01] [-1.14597613e-02 -3.95649776e-05 9.99934334e-01 -1.35675613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.36, Y:-22.46, Z:-1.36 [[ 9.06144802e-01 4.22839172e-01 1.04227091e-02 1.12362433e+02] [-4.22812344e-01 9.06204738e-01 -4.76390784e-03 -2.24629849e+01] [-1.14594753e-02 -9.00597583e-05 9.99934334e-01 -1.35770891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:-22.49, Z:-1.36 [[ 9.05958643e-01 4.23237911e-01 1.04214763e-02 1.12419817e+02] [-4.23211079e-01 9.06018577e-01 -4.76660327e-03 -2.24898678e+01] [-1.14594583e-02 -9.21388009e-05 9.99934334e-01 -1.35674952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:-22.52, Z:-1.36 [[ 9.07029431e-01 4.20938275e-01 1.04201487e-02 1.12475591e+02] [-4.20911257e-01 9.07089282e-01 -4.76950363e-03 -2.25155993e+01] [-1.14596719e-02 -5.98777423e-05 9.99934334e-01 -1.35612587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:-22.54, Z:-1.36 [[ 9.09240069e-01 4.16141729e-01 1.04190848e-02 1.12532579e+02] [-4.16114370e-01 9.09299764e-01 -4.77182663e-03 -2.25430263e+01] [-1.14598276e-02 3.20505386e-06 9.99934334e-01 -1.35515561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.59, Y:-22.57, Z:-1.36 [[ 9.10263312e-01 4.13898749e-01 1.04177331e-02 1.12589304e+02] [-4.13871208e-01 9.10322923e-01 -4.77477584e-03 -2.25690414e+01] [-1.14597750e-02 3.47034697e-05 9.99934334e-01 -1.35568665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:-22.60, Z:-1.36 [[ 9.11055565e-01 4.12151981e-01 1.04163941e-02 1.12646449e+02] [-4.12124293e-01 9.11115108e-01 -4.77769527e-03 -2.25959138e+01] [-1.14596706e-02 5.98968246e-05 9.99934334e-01 -1.35699283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:-22.62, Z:-1.36 [[ 9.11229500e-01 4.11767319e-01 1.04150495e-02 1.12703904e+02] [-4.11739572e-01 9.11289016e-01 -4.78062465e-03 -2.26208041e+01] [-1.14596252e-02 6.79582025e-05 9.99934334e-01 -1.35897475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.76, Y:-22.65, Z:-1.36 [[ 9.11093670e-01 4.12067810e-01 1.04136956e-02 1.12761848e+02] [-4.12040049e-01 9.11153179e-01 -4.78357199e-03 -2.26461956e+01] [-1.14596279e-02 6.74225194e-05 9.99934334e-01 -1.36088688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.82, Y:-22.67, Z:-1.36 [[ 9.11063113e-01 4.12135398e-01 1.04123604e-02 1.12818387e+02] [-4.12107608e-01 9.11122609e-01 -4.78647650e-03 -2.26720330e+01] [-1.14596134e-02 6.97692341e-05 9.99934334e-01 -1.36204220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:-22.70, Z:-1.36 [[ 9.12071189e-01 4.09899689e-01 1.04111282e-02 1.12874965e+02] [-4.09871723e-01 9.12130602e-01 -4.78915513e-03 -2.26989413e+01] [-1.14593818e-02 1.00823357e-04 9.99934334e-01 -1.36098545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:-22.73, Z:-1.36 [[ 9.13426520e-01 4.06870532e-01 1.04097843e-02 1.12932131e+02] [-4.06842336e-01 9.13485824e-01 -4.79207447e-03 -2.27258071e+01] [-1.14589443e-02 1.42066938e-04 9.99934334e-01 -1.36069625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:-22.75, Z:-1.36 [[ 9.15277040e-01 4.02690458e-01 1.04084290e-02 1.12988554e+02] [-4.02661957e-01 9.15336198e-01 -4.79501634e-03 -2.27524963e+01] [-1.14581192e-02 1.97689959e-04 9.99934334e-01 -1.36012077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.05, Y:-22.78, Z:-1.36 [[ 9.15590487e-01 4.01977305e-01 1.04070716e-02 1.13045518e+02] [-4.01948724e-01 9.15649607e-01 -4.79796074e-03 -2.27788852e+01] [-1.14579023e-02 2.09858063e-04 9.99934334e-01 -1.36156864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:-22.80, Z:-1.36 [[ 9.14254091e-01 4.05007628e-01 1.04057216e-02 1.13103619e+02] [-4.04979210e-01 9.14313289e-01 -4.80088678e-03 -2.28037428e+01] [-1.14584853e-02 1.75129464e-04 9.99934334e-01 -1.36369532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:-22.83, Z:-1.36 [[ 9.12808949e-01 4.08254297e-01 1.04043852e-02 1.13160303e+02] [-4.08226057e-01 9.12868233e-01 -4.80378135e-03 -2.28293278e+01] [-1.14589971e-02 1.37593480e-04 9.99934334e-01 -1.36372033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:-22.85, Z:-1.36 [[ 9.10994291e-01 4.12287734e-01 1.04031501e-02 1.13217567e+02] [-4.12259726e-01 9.11053685e-01 -4.80645443e-03 -2.28548312e+01] [-1.14594705e-02 8.98527181e-05 9.99934334e-01 -1.36432354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:-22.88, Z:-1.37 [[ 9.09689789e-01 4.15158150e-01 1.04018579e-02 1.13273930e+02] [-4.15130297e-01 9.09749255e-01 -4.80924942e-03 -2.28819162e+01] [-1.14596816e-02 5.67987265e-05 9.99934334e-01 -1.36691123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:-22.91, Z:-1.37 [[ 9.08429514e-01 4.17908659e-01 1.04005461e-02 1.13328408e+02] [-4.17880954e-01 9.08489049e-01 -4.81208473e-03 -2.29086742e+01] [-1.14597941e-02 2.52496823e-05 9.99934334e-01 -1.37012940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:-22.94, Z:-1.37 [[ 9.07311147e-01 4.20331219e-01 1.03994963e-02 1.13385081e+02] [-4.20303647e-01 9.07370744e-01 -4.81435239e-03 -2.29360954e+01] [-1.14598213e-02 -2.83062780e-06 9.99934334e-01 -1.37170701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:-22.97, Z:-1.37 [[ 9.05460969e-01 4.24302146e-01 1.03982022e-02 1.13441322e+02] [-4.24274803e-01 9.05520671e-01 -4.81714573e-03 -2.29653460e+01] [-1.14597123e-02 -4.99577532e-05 9.99934334e-01 -1.37157949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:-22.99, Z:-1.37 [[ 9.03591892e-01 4.28268137e-01 1.03969264e-02 1.13497021e+02] [-4.28241024e-01 9.03651699e-01 -4.81989767e-03 -2.29944748e+01] [-1.14594088e-02 -9.71699703e-05 9.99934334e-01 -1.36996449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:-23.02, Z:-1.37 [[ 9.02863645e-01 4.29801316e-01 1.03955481e-02 1.13552639e+02] [-4.29774271e-01 9.02923483e-01 -4.82286872e-03 -2.30229988e+01] [-1.14592598e-02 -1.13346262e-04 9.99934334e-01 -1.37001353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.61, Y:-23.05, Z:-1.37 [[ 9.01638066e-01 4.32366463e-01 1.03941729e-02 1.13609098e+02] [-4.32339554e-01 9.01697966e-01 -4.82583054e-03 -2.30495367e+01] [-1.14589319e-02 -1.42659579e-04 9.99934334e-01 -1.37148756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.67, Y:-23.07, Z:-1.37 [[ 9.01008071e-01 4.33677813e-01 1.03928221e-02 1.13666332e+02] [-4.33650958e-01 9.01067994e-01 -4.82873805e-03 -2.30737247e+01] [-1.14587559e-02 -1.56125281e-04 9.99934334e-01 -1.37294271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:-23.10, Z:-1.37 [[ 9.01142176e-01 4.33399115e-01 1.03916225e-02 1.13724057e+02] [-4.33372212e-01 9.01202078e-01 -4.83131811e-03 -2.30977221e+01] [-1.14588408e-02 -1.49735920e-04 9.99934334e-01 -1.37463023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:-23.12, Z:-1.38 [[ 9.01762331e-01 4.32107325e-01 1.03902603e-02 1.13780030e+02] [-4.32080302e-01 9.01822179e-01 -4.83424589e-03 -2.31220746e+01] [-1.14590803e-02 -1.30085972e-04 9.99934334e-01 -1.37600221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:-23.15, Z:-1.38 [[ 9.02252084e-01 4.31083799e-01 1.03891696e-02 1.13836634e+02] [-4.31056681e-01 9.02311889e-01 -4.83658889e-03 -2.31491193e+01] [-1.14592463e-02 -1.14498542e-04 9.99934334e-01 -1.37739960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.89, Y:-23.18, Z:-1.38 [[ 9.04131693e-01 4.27127585e-01 1.03878440e-02 1.13891631e+02] [-4.27100172e-01 9.04191364e-01 -4.83943420e-03 -2.31774140e+01] [-1.14596547e-02 -6.11641255e-05 9.99934334e-01 -1.37781506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:-23.21, Z:-1.38 [[ 9.06490142e-01 4.22099206e-01 1.03866616e-02 1.13947814e+02] [-4.22071434e-01 9.06549646e-01 -4.84197063e-03 -2.32057507e+01] [-1.14598163e-02 5.28549828e-06 9.99934334e-01 -1.37823133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:-23.23, Z:-1.38 [[ 9.07403680e-01 4.20131773e-01 1.03853234e-02 1.14004096e+02] [-4.20103839e-01 9.07463108e-01 -4.84483913e-03 -2.32324752e+01] [-1.14597687e-02 3.33106202e-05 9.99934334e-01 -1.37849357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:-23.26, Z:-1.38 [[ 9.08187875e-01 4.18433920e-01 1.03844981e-02 1.14060138e+02] [-4.18405855e-01 9.08247241e-01 -4.84660746e-03 -2.32575428e+01] [-1.14596767e-02 5.66953309e-05 9.99934334e-01 -1.37802638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:-23.28, Z:-1.38 [[ 9.08388649e-01 4.17997902e-01 1.03834462e-02 1.14117225e+02] [-4.17969782e-01 9.08447990e-01 -4.84886008e-03 -2.32842592e+01] [-1.14596341e-02 6.46827265e-05 9.99934334e-01 -1.37792247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:-23.31, Z:-1.38 [[ 9.08207804e-01 4.18390721e-01 1.03821577e-02 1.14173828e+02] [-4.18362595e-01 9.08267142e-01 -4.85161728e-03 -2.33101337e+01] [-1.14596444e-02 6.27702324e-05 9.99934334e-01 -1.37858824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.23, Y:-23.33, Z:-1.38 [[ 9.07460358e-01 4.20009445e-01 1.03809680e-02 1.14230261e+02] [-4.19981396e-01 9.07519732e-01 -4.85416148e-03 -2.33347463e+01] [-1.14597270e-02 4.51456636e-05 9.99934334e-01 -1.38002778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:-23.36, Z:-1.38 [[ 9.06958471e-01 4.21092140e-01 1.03798835e-02 1.14287868e+02] [-4.21064135e-01 9.07017866e-01 -4.85647952e-03 -2.33591764e+01] [-1.14597651e-02 3.40285693e-05 9.99934334e-01 -1.38127754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.34, Y:-23.39, Z:-1.38 [[ 9.07044729e-01 4.20906338e-01 1.03785908e-02 1.14344795e+02] [-4.20878289e-01 9.07104103e-01 -4.85924056e-03 -2.33860777e+01] [-1.14597474e-02 3.94250032e-05 9.99934334e-01 -1.38055786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.40, Y:-23.41, Z:-1.38 [[ 9.07565688e-01 4.19781890e-01 1.03772058e-02 1.14401177e+02] [-4.19753734e-01 9.07625012e-01 -4.86219648e-03 -2.34145337e+01] [-1.14596736e-02 5.68918087e-05 9.99934334e-01 -1.38046393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.46, Y:-23.44, Z:-1.38 [[ 9.07867801e-01 4.19128141e-01 1.03758211e-02 1.14457313e+02] [-4.19099909e-01 9.07927088e-01 -4.86514960e-03 -2.34418601e+01] [-1.14596101e-02 6.84069880e-05 9.99934334e-01 -1.38017705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:-23.47, Z:-1.38 [[ 9.07632213e-01 4.19638103e-01 1.03744552e-02 1.14514082e+02] [-4.19609870e-01 9.07691500e-01 -4.86806046e-03 -2.34694207e+01] [-1.14596285e-02 6.51846753e-05 9.99934334e-01 -1.38037955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:-23.50, Z:-1.38 [[ 9.06891296e-01 4.21236960e-01 1.03730822e-02 1.14569907e+02] [-4.21208799e-01 9.06950617e-01 -4.87098445e-03 -2.34964015e+01] [-1.14597120e-02 4.82199172e-05 9.99934334e-01 -1.38098282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:-23.52, Z:-1.38 [[ 9.05817508e-01 4.23541106e-01 1.03718113e-02 1.14626541e+02] [-4.23513065e-01 9.05876885e-01 -4.87368903e-03 -2.35228694e+01] [-1.14597918e-02 2.20752553e-05 9.99934334e-01 -1.38286258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:-23.55, Z:-1.38 [[ 9.03990128e-01 4.27427541e-01 1.03704697e-02 1.14683731e+02] [-4.27399722e-01 9.04049610e-01 -4.87654214e-03 -2.35498224e+01] [-1.14597875e-02 -2.39899069e-05 9.99934334e-01 -1.38365777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:-23.58, Z:-1.38 [[ 9.02551995e-01 4.30456012e-01 1.03690984e-02 1.14739517e+02] [-4.30428360e-01 9.02611554e-01 -4.87945611e-03 -2.35768054e+01] [-1.14596593e-02 -5.91911775e-05 9.99934334e-01 -1.38419749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:-23.60, Z:-1.39 [[ 9.00787155e-01 4.34137086e-01 1.03678313e-02 1.14795896e+02] [-4.34109646e-01 9.00846813e-01 -4.88214706e-03 -2.36040266e+01] [-1.14593489e-02 -1.03000204e-04 9.99934334e-01 -1.38517741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.85, Y:-23.63, Z:-1.39 [[ 9.00026608e-01 4.35711649e-01 1.03664991e-02 1.14852693e+02] [-4.35684281e-01 9.00086298e-01 -4.88497407e-03 -2.36303757e+01] [-1.14591839e-02 -1.19914073e-04 9.99934334e-01 -1.38721853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:-23.66, Z:-1.39 [[ 9.00029900e-01 4.35704880e-01 1.03651375e-02 1.14909091e+02] [-4.35677478e-01 9.00089575e-01 -4.88786156e-03 -2.36576335e+01] [-1.14592173e-02 -1.16635405e-04 9.99934334e-01 -1.38746067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:-23.69, Z:-1.39 [[ 9.01931824e-01 4.31754071e-01 1.03637481e-02 1.14963943e+02] [-4.31726373e-01 9.01991363e-01 -4.89080563e-03 -2.36853615e+01] [-1.14596365e-02 -6.31301436e-05 9.99934334e-01 -1.38533864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.02, Y:-23.71, Z:-1.38 [[ 9.04129857e-01 4.27132084e-01 1.03626353e-02 1.15020123e+02] [-4.27104055e-01 9.04189241e-01 -4.89316236e-03 -2.37132418e+01] [-1.14598100e-02 -1.86937164e-06 9.99934334e-01 -1.38450015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:-23.74, Z:-1.38 [[ 9.07410685e-01 4.20117237e-01 1.03612622e-02 1.15075966e+02] [-4.20088717e-01 9.07469834e-01 -4.89606809e-03 -2.37408431e+01] [-1.14594555e-02 9.00951491e-05 9.99934334e-01 -1.38439543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:-23.77, Z:-1.38 [[ 9.08800566e-01 4.17102149e-01 1.03599924e-02 1.15133442e+02] [-4.17073401e-01 9.08859604e-01 -4.89875345e-03 -2.37669562e+01] [-1.14590592e-02 1.31112621e-04 9.99934334e-01 -1.38453033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:-23.79, Z:-1.39 [[ 9.11836766e-01 4.10422234e-01 1.03586723e-02 1.15190148e+02] [-4.10393022e-01 9.11895576e-01 -4.90154333e-03 -2.37932775e+01] [-1.14577298e-02 2.18280586e-04 9.99934334e-01 -1.38518953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:-23.82, Z:-1.39 [[ 9.13549975e-01 4.06594600e-01 1.03572972e-02 1.15246344e+02] [-4.06565109e-01 9.13608646e-01 -4.90444724e-03 -2.38189111e+01] [-1.14566381e-02 2.69541971e-04 9.99934334e-01 -1.38555019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:-23.84, Z:-1.38 [[ 9.15226026e-01 4.02807738e-01 1.03560303e-02 1.15303241e+02] [-4.02777974e-01 9.15284559e-01 -4.90712099e-03 -2.38434164e+01] [-1.14553409e-02 3.19943930e-04 9.99934334e-01 -1.38486371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:-23.87, Z:-1.39 [[ 9.14482879e-01 4.04492068e-01 1.03552318e-02 1.15361120e+02] [-4.04462393e-01 9.14541457e-01 -4.90880545e-03 -2.38658019e+01] [-1.14558617e-02 3.00716708e-04 9.99934334e-01 -1.38656722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:-23.89, Z:-1.39 [[ 9.12686107e-01 4.08530126e-01 1.03540711e-02 1.15419425e+02] [-4.08500682e-01 9.12744801e-01 -4.91125241e-03 -2.38883855e+01] [-1.14570192e-02 2.52786718e-04 9.99934334e-01 -1.38805816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.48, Y:-23.91, Z:-1.39 [[ 9.09381709e-01 4.15833771e-01 1.03528520e-02 1.15478339e+02] [-4.15804770e-01 9.09440624e-01 -4.91382109e-03 -2.39086109e+01] [-1.14586369e-02 1.63773801e-04 9.99934334e-01 -1.38836358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:-23.93, Z:-1.39 [[ 9.07346182e-01 4.20256768e-01 1.03515634e-02 1.15536852e+02] [-4.20228022e-01 9.07405222e-01 -4.91653417e-03 -2.39326112e+01] [-1.14592694e-02 1.10981512e-04 9.99934334e-01 -1.38710725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:-23.96, Z:-1.39 [[ 9.05264073e-01 4.24723241e-01 1.03501602e-02 1.15594568e+02] [-4.24694754e-01 9.05323238e-01 -4.91948640e-03 -2.39552724e+01] [-1.14596607e-02 5.77755800e-05 9.99934334e-01 -1.38694314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.65, Y:-23.98, Z:-1.39 [[ 9.04662682e-01 4.26002728e-01 1.03492951e-02 1.15652008e+02] [-4.25974304e-01 9.04721876e-01 -4.92130553e-03 -2.39800379e+01] [-1.14597233e-02 4.35876821e-05 9.99934334e-01 -1.38715349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.71, Y:-24.00, Z:-1.39 [[ 9.04591623e-01 4.26153630e-01 1.03479007e-02 1.15709326e+02] [-4.26125182e-01 9.04650806e-01 -4.92423570e-03 -2.40049416e+01] [-1.14597177e-02 4.49212797e-05 9.99934334e-01 -1.38827885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.77, Y:-24.03, Z:-1.39 [[ 9.04721839e-01 4.25877147e-01 1.03465014e-02 1.15766028e+02] [-4.25848647e-01 9.04780997e-01 -4.92717415e-03 -2.40316318e+01] [-1.14596887e-02 5.16784291e-05 9.99934334e-01 -1.39059014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:-24.06, Z:-1.39 [[ 9.05419405e-01 4.24392129e-01 1.03451091e-02 1.15822187e+02] [-4.24363498e-01 9.05478501e-01 -4.93009563e-03 -2.40575393e+01] [-1.14595677e-02 7.37175429e-05 9.99934334e-01 -1.39402274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:-24.08, Z:-1.40 [[ 9.05837194e-01 4.23499683e-01 1.03439097e-02 1.15876447e+02] [-4.23470966e-01 9.05896247e-01 -4.93261101e-03 -2.40845848e+01] [-1.14594681e-02 8.77971055e-05 9.99934334e-01 -1.39668992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:-24.11, Z:-1.40 [[ 9.05917708e-01 4.23327454e-01 1.03428123e-02 1.15932097e+02] [-4.23298699e-01 9.05976743e-01 -4.93491097e-03 -2.41128296e+01] [-1.14594307e-02 9.25242636e-05 9.99934334e-01 -1.39774412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-24.14, Z:-1.40 [[ 9.05275067e-01 4.24700017e-01 1.03416442e-02 1.15988457e+02] [-4.24671323e-01 9.05334132e-01 -4.93735762e-03 -2.41417861e+01] [-1.14595393e-02 7.78670380e-05 9.99934334e-01 -1.39663522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-24.17, Z:-1.40 [[ 9.04504785e-01 4.26338096e-01 1.03402756e-02 1.16045357e+02] [-4.26309476e-01 9.04563886e-01 -4.94022224e-03 -2.41692557e+01] [-1.14596448e-02 6.02972025e-05 9.99934334e-01 -1.39763067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:-24.20, Z:-1.40 [[ 9.03694868e-01 4.28052208e-01 1.03389166e-02 1.16101067e+02] [-4.28023668e-01 9.03754007e-01 -4.94306462e-03 -2.41978755e+01] [-1.14597270e-02 4.17211177e-05 9.99934334e-01 -1.39787042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:-24.23, Z:-1.40 [[ 9.03756908e-01 4.27921240e-01 1.03375027e-02 1.16157087e+02] [-4.27892657e-01 9.03816027e-01 -4.94601981e-03 -2.42272703e+01] [-1.14597075e-02 4.66580766e-05 9.99934334e-01 -1.39789984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-24.26, Z:-1.40 [[ 9.04737648e-01 4.25843813e-01 1.03360856e-02 1.16211425e+02] [-4.25815061e-01 9.04796685e-01 -4.94897938e-03 -2.42579086e+01] [-1.14595483e-02 7.62670283e-05 9.99934334e-01 -1.39817295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-24.29, Z:-1.40 [[ 9.05763481e-01 4.23657538e-01 1.03347776e-02 1.16267176e+02] [-4.23628613e-01 9.05822432e-01 -4.95170928e-03 -2.42874599e+01] [-1.14593024e-02 1.06969921e-04 9.99934334e-01 -1.39844211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.32, Y:-24.32, Z:-1.40 [[ 9.07717619e-01 4.19454343e-01 1.03333878e-02 1.16321605e+02] [-4.19425112e-01 9.07776419e-01 -4.95460791e-03 -2.43188327e+01] [-1.14586376e-02 1.63302551e-04 9.99934334e-01 -1.39894918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.38, Y:-24.35, Z:-1.40 [[ 9.10557878e-01 4.13252467e-01 1.03319651e-02 1.16375716e+02] [-4.13222802e-01 9.10616461e-01 -4.95757292e-03 -2.43500066e+01] [-1.14571868e-02 2.44753502e-04 9.99934334e-01 -1.39956166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.43, Y:-24.38, Z:-1.40 [[ 9.11475999e-01 4.11223517e-01 1.03306510e-02 1.16431321e+02] [-4.11193690e-01 9.11534500e-01 -4.96030974e-03 -2.43785936e+01] [-1.14565408e-02 2.73304760e-04 9.99934334e-01 -1.39967835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:-24.41, Z:-1.40 [[ 9.12991723e-01 4.07847299e-01 1.03292487e-02 1.16486726e+02] [-4.07817223e-01 9.13050097e-01 -4.96322818e-03 -2.44088115e+01] [-1.14553607e-02 3.18940726e-04 9.99934334e-01 -1.39931939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.54, Y:-24.44, Z:-1.40 [[ 9.12526053e-01 4.08888174e-01 1.03278399e-02 1.16543995e+02] [-4.08858132e-01 9.12584443e-01 -4.96615808e-03 -2.44358185e+01] [-1.14556293e-02 3.09127322e-04 9.99934334e-01 -1.39993431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:-24.46, Z:-1.40 [[ 9.10551698e-01 4.13266220e-01 1.03264509e-02 1.16599623e+02] [-4.13236426e-01 9.10610216e-01 -4.96904458e-03 -2.44613234e+01] [-1.14569099e-02 2.57306325e-04 9.99934334e-01 -1.40320620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.66, Y:-24.49, Z:-1.41 [[ 9.09308417e-01 4.15994700e-01 1.03253425e-02 1.16655193e+02] [-4.15965055e-01 9.09367010e-01 -4.97134668e-03 -2.44868458e+01] [-1.14575797e-02 2.25505716e-04 9.99934334e-01 -1.40549423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.71, Y:-24.51, Z:-1.41 [[ 9.08380212e-01 4.18017704e-01 1.03242678e-02 1.16712749e+02] [-4.17988164e-01 9.08438858e-01 -4.97357748e-03 -2.45119960e+01] [-1.14580095e-02 2.02477602e-04 9.99934334e-01 -1.40608205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49762799999999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:-24.54, Z:-1.41 [[ 9.08358409e-01 4.18065114e-01 1.03228644e-02 1.16769682e+02] [-4.18035545e-01 9.08417040e-01 -4.97648875e-03 -2.45380902e+01] [-1.14579622e-02 2.05111176e-04 9.99934334e-01 -1.40908797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:-24.56, Z:-1.41 [[ 9.08411501e-01 4.17949774e-01 1.03214347e-02 1.16824856e+02] [-4.17920163e-01 9.08470111e-01 -4.97945222e-03 -2.45639244e+01] [-1.14578758e-02 2.09856009e-04 9.99934334e-01 -1.40634656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:-24.59, Z:-1.41 [[ 9.08194510e-01 4.18421096e-01 1.03207583e-02 1.16881449e+02] [-4.18391500e-01 9.08253128e-01 -4.98085367e-03 -2.45913819e+01] [-1.14579553e-02 2.05466403e-04 9.99934334e-01 -1.40622626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.94, Y:-24.62, Z:-1.41 [[ 9.07578494e-01 4.19755629e-01 1.03193591e-02 1.16938334e+02] [-4.19726085e-01 9.07637139e-01 -4.98375082e-03 -2.46182619e+01] [-1.14581911e-02 1.91840849e-04 9.99934334e-01 -1.40636792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.00, Y:-24.65, Z:-1.41 [[ 9.06315819e-01 4.22475058e-01 1.03179770e-02 1.16995577e+02] [-4.22445659e-01 9.06374536e-01 -4.98661065e-03 -2.46450560e+01] [-1.14586702e-02 1.60659527e-04 9.99934334e-01 -1.40767830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:-24.67, Z:-1.41 [[ 9.05401711e-01 4.24430571e-01 1.03165705e-02 1.17051091e+02] [-4.24401265e-01 9.05460474e-01 -4.98951871e-03 -2.46727470e+01] [-1.14589511e-02 1.39153186e-04 9.99934334e-01 -1.40911070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:-24.70, Z:-1.41 [[ 9.04777612e-01 4.25759402e-01 1.03152711e-02 1.17106551e+02] [-4.25730151e-01 9.04836403e-01 -4.99220373e-03 -2.47019240e+01] [-1.14591105e-02 1.25312249e-04 9.99934334e-01 -1.40973497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:-24.73, Z:-1.41 [[ 9.04368701e-01 4.26627327e-01 1.03139100e-02 1.17163158e+02] [-4.26598101e-01 9.04427504e-01 -4.99501409e-03 -2.47300998e+01] [-1.14591934e-02 1.17439963e-04 9.99934334e-01 -1.41091499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.22, Y:-24.76, Z:-1.41 [[ 9.03870096e-01 4.27682711e-01 1.03125186e-02 1.17218369e+02] [-4.27653521e-01 9.03928917e-01 -4.99788520e-03 -2.47596958e+01] [-1.14592928e-02 1.07254092e-04 9.99934334e-01 -1.41313522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:-24.79, Z:-1.41 [[ 9.03969919e-01 4.27471715e-01 1.03111199e-02 1.17273122e+02] [-4.27442478e-01 9.04028717e-01 -5.00076914e-03 -2.47897214e+01] [-1.14592359e-02 1.13134232e-04 9.99934334e-01 -1.41416006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:-24.82, Z:-1.41 [[ 9.04172519e-01 4.27043047e-01 1.03098258e-02 1.17326828e+02] [-4.27013752e-01 9.04231288e-01 -5.00343569e-03 -2.48200557e+01] [-1.14591495e-02 1.21531655e-04 9.99934334e-01 -1.41465039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:-24.85, Z:-1.41 [[ 9.02350960e-01 4.30878728e-01 1.03085564e-02 1.17383762e+02] [-4.30849653e-01 9.02409838e-01 -5.00604966e-03 -2.48470525e+01] [-1.14595430e-02 7.57757593e-05 9.99934334e-01 -1.41363600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:-24.88, Z:-1.41 [[ 9.01233233e-01 4.33211753e-01 1.03071321e-02 1.17440021e+02] [-4.33182796e-01 9.01292170e-01 -5.00898061e-03 -2.48752297e+01] [-1.14596867e-02 4.93875040e-05 9.99934334e-01 -1.41413740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:-24.90, Z:-1.41 [[ 9.01470268e-01 4.32718325e-01 1.03057097e-02 1.17496058e+02] [-4.32689303e-01 9.01529172e-01 -5.01190529e-03 -2.49041368e+01] [-1.14596412e-02 5.89132512e-05 9.99934334e-01 -1.41400913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.55, Y:-24.93, Z:-1.41 [[ 9.01548888e-01 4.32554533e-01 1.03042777e-02 1.17553142e+02] [-4.32525467e-01 9.01607770e-01 -5.01484770e-03 -2.49313793e+01] [-1.14596120e-02 6.42678410e-05 9.99934334e-01 -1.41431975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:-24.96, Z:-1.41 [[ 9.02115831e-01 4.31370929e-01 1.03028569e-02 1.17610312e+02] [-4.31341752e-01 9.02174659e-01 -5.01776512e-03 -2.49586990e+01] [-1.14594944e-02 8.25530194e-05 9.99934334e-01 -1.41496677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:-24.99, Z:-1.42 [[ 9.03204109e-01 4.29087656e-01 1.03014492e-02 1.17666921e+02] [-4.29058298e-01 9.03262847e-01 -5.02065337e-03 -2.49867296e+01] [-1.14592167e-02 1.14752494e-04 9.99934334e-01 -1.41600508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:-25.01, Z:-1.42 [[ 9.03459123e-01 4.28550490e-01 1.03000450e-02 1.17722419e+02] [-4.28521063e-01 9.03517826e-01 -5.02353248e-03 -2.50139246e+01] [-1.14591116e-02 1.24770018e-04 9.99934334e-01 -1.41701228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:-25.04, Z:-1.42 [[ 9.02769715e-01 4.30000905e-01 1.02987484e-02 1.17779778e+02] [-4.29971542e-01 9.02828450e-01 -5.02618917e-03 -2.50405352e+01] [-1.14592690e-02 1.09322613e-04 9.99934334e-01 -1.41825633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.84, Y:-25.07, Z:-1.42 [[ 9.01930374e-01 4.31758688e-01 1.02973615e-02 1.17836529e+02] [-4.31729408e-01 9.01989150e-01 -5.02902894e-03 -2.50670034e+01] [-1.14594353e-02 9.01601457e-05 9.99934334e-01 -1.41906358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:-25.09, Z:-1.42 [[ 9.01081668e-01 4.33527186e-01 1.02959504e-02 1.17892028e+02] [-4.33497988e-01 9.01140485e-01 -5.03191635e-03 -2.50936570e+01] [-1.14595703e-02 7.08938029e-05 9.99934334e-01 -1.42093121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.95, Y:-25.12, Z:-1.42 [[ 9.00945482e-01 4.33810165e-01 1.02946431e-02 1.17948340e+02] [-4.33780955e-01 9.01004293e-01 -5.03458954e-03 -2.51219062e+01] [-1.14595737e-02 7.02706009e-05 9.99934334e-01 -1.42157085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.00, Y:-25.15, Z:-1.42 [[ 9.01502942e-01 4.32650547e-01 1.02932353e-02 1.18002994e+02] [-4.32621228e-01 9.01561699e-01 -5.03746605e-03 -2.51504577e+01] [-1.14594492e-02 8.82183602e-05 9.99934334e-01 -1.42129890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.06, Y:-25.18, Z:-1.42 [[ 9.01736756e-01 4.32163048e-01 1.02919354e-02 1.18059366e+02] [-4.32133667e-01 9.01795482e-01 -5.04012037e-03 -2.51785436e+01] [-1.14593747e-02 9.73699766e-05 9.99934334e-01 -1.42159177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:-25.21, Z:-1.42 [[ 9.02265668e-01 4.31057733e-01 1.02904965e-02 1.18114380e+02] [-4.31028247e-01 9.02324342e-01 -5.04305664e-03 -2.52065939e+01] [-1.14592140e-02 1.14682217e-04 9.99934334e-01 -1.42390865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:-25.23, Z:-1.42 [[ 9.02297057e-01 4.30992057e-01 1.02891675e-02 1.18170966e+02] [-4.30962536e-01 9.02355713e-01 -5.04576658e-03 -2.52342799e+01] [-1.14591744e-02 1.18534598e-04 9.99934334e-01 -1.42460464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:-25.26, Z:-1.42 [[ 9.01975362e-01 4.31664925e-01 1.02878296e-02 1.18227587e+02] [-4.31635416e-01 9.02034024e-01 -5.04849308e-03 -2.52610098e+01] [-1.14592297e-02 1.13024780e-04 9.99934334e-01 -1.42412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:-25.29, Z:-1.42 [[ 9.01972121e-01 4.31671731e-01 1.02864138e-02 1.18284954e+02] [-4.31642190e-01 9.02030766e-01 -5.05137609e-03 -2.52877774e+01] [-1.14591980e-02 1.16150219e-04 9.99934334e-01 -1.42445680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:-25.31, Z:-1.43 [[ 9.02426479e-01 4.30721103e-01 1.02849696e-02 1.18339541e+02] [-4.30691467e-01 9.02485077e-01 -5.05431479e-03 -2.53143060e+01] [-1.14590317e-02 1.31498837e-04 9.99934334e-01 -1.42742543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:-25.34, Z:-1.43 [[ 9.02974839e-01 4.29570348e-01 1.02838173e-02 1.18395601e+02] [-4.29540610e-01 9.03033385e-01 -5.05665840e-03 -2.53400128e+01] [-1.14588208e-02 1.48718161e-04 9.99934334e-01 -1.42976772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:-25.37, Z:-1.43 [[ 9.03632374e-01 4.28185475e-01 1.02825829e-02 1.18451967e+02] [-4.28155619e-01 9.03690860e-01 -5.05916720e-03 -2.53667960e+01] [-1.14585381e-02 1.69081617e-04 9.99934335e-01 -1.42950876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:-25.39, Z:-1.43 [[ 9.04898977e-01 4.25502220e-01 1.02811518e-02 1.18505959e+02] [-4.25472158e-01 9.04957357e-01 -5.06207382e-03 -2.53945336e+01] [-1.14579276e-02 2.06321580e-04 9.99934335e-01 -1.42799283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:-25.42, Z:-1.43 [[ 9.07469917e-01 4.19991276e-01 1.02800084e-02 1.18561914e+02] [-4.19960833e-01 9.07528099e-01 -5.06439480e-03 -2.54224044e+01] [-1.14563981e-02 2.78585052e-04 9.99934335e-01 -1.42504945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:-25.45, Z:-1.43 [[ 9.09429272e-01 4.15731586e-01 1.02785441e-02 1.18617633e+02] [-4.15700837e-01 9.09487293e-01 -5.06736483e-03 -2.54484909e+01] [-1.14548689e-02 3.35610510e-04 9.99934335e-01 -1.42736627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:-25.47, Z:-1.43 [[ 9.12096884e-01 4.09845880e-01 1.02776422e-02 1.18675307e+02] [-4.09814736e-01 9.12154694e-01 -5.06919347e-03 -2.54748498e+01] [-1.14523876e-02 4.11666338e-04 9.99934335e-01 -1.42759501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.73, Y:-25.50, Z:-1.43 [[ 9.13090676e-01 4.07627057e-01 1.02761830e-02 1.18731113e+02] [-4.07595739e-01 9.13148392e-01 -5.07214983e-03 -2.55014326e+01] [-1.14512255e-02 4.42804312e-04 9.99934335e-01 -1.42845660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.79, Y:-25.53, Z:-1.43 [[ 9.12449395e-01 4.09060534e-01 1.02752851e-02 1.18788575e+02] [-4.09029287e-01 9.12507149e-01 -5.07396816e-03 -2.55263238e+01] [-1.14518312e-02 4.26846642e-04 9.99934335e-01 -1.42817239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.85, Y:-25.55, Z:-1.43 [[ 9.11098676e-01 4.12060250e-01 1.02738530e-02 1.18845353e+02] [-4.12029161e-01 9.11156516e-01 -5.07686632e-03 -2.55504025e+01] [-1.14530629e-02 3.92399178e-04 9.99934335e-01 -1.43074489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:-25.58, Z:-1.43 [[ 9.08907675e-01 4.16870857e-01 1.02726134e-02 1.18902601e+02] [-4.16840046e-01 9.08965663e-01 -5.07937324e-03 -2.55751972e+01] [-1.14548955e-02 3.34644694e-04 9.99934335e-01 -1.43304166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:-25.60, Z:-1.43 [[ 9.07121239e-01 4.20744052e-01 1.02713863e-02 1.18958796e+02] [-4.20713460e-01 9.07179343e-01 -5.08185344e-03 -2.56010307e+01] [-1.14561491e-02 2.88546728e-04 9.99934335e-01 -1.43377234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.01, Y:-25.63, Z:-1.43 [[ 9.06600545e-01 4.21864879e-01 1.02701540e-02 1.19014055e+02] [-4.21834331e-01 9.06658672e-01 -5.08434264e-03 -2.56278642e+01] [-1.14564298e-02 2.77164274e-04 9.99934335e-01 -1.43427527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:-25.66, Z:-1.43 [[ 9.06902573e-01 4.21215234e-01 1.02688520e-02 1.19070985e+02] [-4.21184614e-01 9.06960663e-01 -5.08697089e-03 -2.56552897e+01] [-1.14561545e-02 2.88304522e-04 9.99934335e-01 -1.43332566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:-25.68, Z:-1.43 [[ 9.07505131e-01 4.19915488e-01 1.02674146e-02 1.19126639e+02] [-4.19884752e-01 9.07563159e-01 -5.08987043e-03 -2.56836250e+01] [-1.14556427e-02 3.07952692e-04 9.99934335e-01 -1.43386677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:-25.71, Z:-1.43 [[ 9.07979276e-01 4.18889297e-01 1.02659967e-02 1.19182031e+02] [-4.18858463e-01 9.08037253e-01 -5.09272859e-03 -2.57128808e+01] [-1.14551970e-02 3.24092396e-04 9.99934335e-01 -1.43286849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:-25.74, Z:-1.43 [[ 9.07616128e-01 4.19675593e-01 1.02645538e-02 1.19237799e+02] [-4.19644777e-01 9.07674113e-01 -5.09563515e-03 -2.57417421e+01] [-1.14553835e-02 3.17414237e-04 9.99934335e-01 -1.43266535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:-25.77, Z:-1.44 [[ 9.06710759e-01 4.21628116e-01 1.02631224e-02 1.19292782e+02] [-4.21597392e-01 9.06768793e-01 -5.09851651e-03 -2.57686646e+01] [-1.14559571e-02 2.95974125e-04 9.99934335e-01 -1.43614390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.35, Y:-25.80, Z:-1.44 [[ 9.06087311e-01 4.22966283e-01 1.02619792e-02 1.19347617e+02] [-4.22935619e-01 9.06145377e-01 -5.10081653e-03 -2.57965436e+01] [-1.14563184e-02 2.81628616e-04 9.99934335e-01 -1.43813995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:-25.83, Z:-1.44 [[ 9.06311414e-01 4.22485904e-01 1.02606820e-02 1.19401870e+02] [-4.22455179e-01 9.06369448e-01 -5.10342451e-03 -2.58256236e+01] [-1.14560936e-02 2.90613612e-04 9.99934335e-01 -1.44100523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.46, Y:-25.85, Z:-1.44 [[ 9.07506764e-01 4.19912153e-01 1.02594908e-02 1.19457201e+02] [-4.19881237e-01 9.07564696e-01 -5.10581825e-03 -2.58548334e+01] [-1.14551467e-02 3.25796922e-04 9.99934335e-01 -1.44204043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:-25.88, Z:-1.44 [[ 9.10155387e-01 4.14140003e-01 1.02581432e-02 1.19512269e+02] [-4.14108689e-01 9.10213105e-01 -5.10852411e-03 -2.58846157e+01] [-1.14527406e-02 4.01564487e-04 9.99934335e-01 -1.43835784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:-25.91, Z:-1.44 [[ 9.13430773e-01 4.06864867e-01 1.02568995e-02 1.19566046e+02] [-4.06833065e-01 9.13488224e-01 -5.11101999e-03 -2.59134459e+01] [-1.14490514e-02 4.95717060e-04 9.99934335e-01 -1.43788620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:-25.94, Z:-1.44 [[ 9.15462832e-01 4.02271828e-01 1.02557629e-02 1.19622079e+02] [-4.02239713e-01 9.15520108e-01 -5.11329967e-03 -2.59420695e+01] [-1.14462936e-02 5.55760659e-04 9.99934335e-01 -1.43584877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:-25.97, Z:-1.43 [[ 9.17160736e-01 3.98385534e-01 1.02543355e-02 1.19679110e+02] [-3.98353144e-01 9.17217857e-01 -5.11616080e-03 -2.59689096e+01] [-1.14436640e-02 6.07495032e-04 9.99934335e-01 -1.43457310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:-26.00, Z:-1.44 [[ 9.16687463e-01 3.99473370e-01 1.02528827e-02 1.19736807e+02] [-3.99441016e-01 9.16744605e-01 -5.11907049e-03 -2.59951669e+01] [-1.14442072e-02 5.97165857e-04 9.99934335e-01 -1.43568013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:-26.02, Z:-1.44 [[ 9.15023898e-01 4.03269357e-01 1.02514456e-02 1.19795095e+02] [-4.03237207e-01 9.15081155e-01 -5.12194683e-03 -2.60185102e+01] [-1.14464289e-02 5.52939464e-04 9.99934335e-01 -1.43950990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.85, Y:-26.04, Z:-1.44 [[ 9.13980570e-01 4.05628444e-01 1.02509955e-02 1.19852090e+02] [-4.05596432e-01 9.14037904e-01 -5.12284742e-03 -2.60424716e+01] [-1.14477711e-02 5.24415791e-04 9.99934335e-01 -1.44220461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:-26.07, Z:-1.44 [[ 9.12991719e-01 4.07849316e-01 1.02497169e-02 1.19909390e+02] [-4.07817415e-01 9.13049115e-01 -5.12540436e-03 -2.60662958e+01] [-1.14488876e-02 4.99438668e-04 9.99934335e-01 -1.44205569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.97, Y:-26.09, Z:-1.44 [[ 9.12584675e-01 4.08759310e-01 1.02488145e-02 1.19966095e+02] [-4.08727446e-01 9.12642091e-01 -5.12720825e-03 -2.60928569e+01] [-1.14492936e-02 4.90039907e-04 9.99934335e-01 -1.44164173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:-26.12, Z:-1.44 [[ 9.11111377e-01 4.12032827e-01 1.02473742e-02 1.20023388e+02] [-4.12001137e-01 9.11168889e-01 -5.13008519e-03 -2.61163466e+01] [-1.14508521e-02 4.52149148e-04 9.99934335e-01 -1.44099586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:-26.14, Z:-1.44 [[ 9.08746334e-01 4.17223105e-01 1.02460435e-02 1.20081635e+02] [-4.17191714e-01 9.08804010e-01 -5.13274163e-03 -2.61400989e+01] [-1.14531438e-02 3.89795700e-04 9.99934335e-01 -1.44075254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:-26.17, Z:-1.44 [[ 9.06280146e-01 4.22553363e-01 1.02446045e-02 1.20139660e+02] [-4.22522279e-01 9.06337988e-01 -5.13561221e-03 -2.61652855e+01] [-1.14551444e-02 3.25729763e-04 9.99934335e-01 -1.44267485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:-26.19, Z:-1.44 [[ 9.01533681e-01 4.32587678e-01 1.02431643e-02 1.20197440e+02] [-4.32557205e-01 9.01591848e-01 -5.13848309e-03 -2.61907390e+01] [-1.14579979e-02 2.01761068e-04 9.99934335e-01 -1.44387602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:-26.22, Z:-1.45 [[ 8.97896191e-01 4.40088102e-01 1.02417081e-02 1.20255252e+02] [-4.40058082e-01 8.97954593e-01 -5.14138391e-03 -2.62166617e+01] [-1.14592507e-02 1.09482619e-04 9.99934335e-01 -1.44670503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.31, Y:-26.24, Z:-1.45 [[ 8.93440143e-01 4.49065527e-01 1.02402724e-02 1.20310974e+02] [-4.49036061e-01 8.93498826e-01 -5.14424180e-03 -2.62441971e+01] [-1.14597730e-02 -2.17944322e-06 9.99934335e-01 -1.44886837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.37, Y:-26.27, Z:-1.45 [[ 8.91799113e-01 4.52315713e-01 1.02390108e-02 1.20366128e+02] [-4.52286432e-01 8.91857889e-01 -5.14675166e-03 -2.62737188e+01] [-1.14596992e-02 -4.10970874e-05 9.99934335e-01 -1.45010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.42, Y:-26.31, Z:-1.45 [[ 8.91071432e-01 4.53747612e-01 1.02375510e-02 1.20419313e+02] [-4.53718393e-01 8.91130238e-01 -5.14965378e-03 -2.63076626e+01] [-1.14596343e-02 -5.62557929e-05 9.99934335e-01 -1.45034452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:-26.34, Z:-1.45 [[ 8.91320579e-01 4.53258037e-01 1.02360752e-02 1.20471912e+02] [-4.53228751e-01 8.91379352e-01 -5.15258545e-03 -2.63420871e+01] [-1.14596769e-02 -4.66781510e-05 9.99934335e-01 -1.45020689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.53, Y:-26.38, Z:-1.45 [[ 8.91716149e-01 4.52479346e-01 1.02347915e-02 1.20525858e+02] [-4.52449980e-01 8.91774882e-01 -5.15513405e-03 -2.63753597e+01] [-1.14597217e-02 -3.38149418e-05 9.99934335e-01 -1.45085876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:-26.41, Z:-1.45 [[ 8.92145662e-01 4.51631925e-01 1.02333234e-02 1.20577336e+02] [-4.51602470e-01 8.92204351e-01 -5.15804680e-03 -2.64120432e+01] [-1.14597543e-02 -1.96650361e-05 9.99934335e-01 -1.45205359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:-26.45, Z:-1.45 [[ 8.92312198e-01 4.51302838e-01 1.02318464e-02 1.20630747e+02] [-4.51273327e-01 8.92370858e-01 -5.16097505e-03 -2.64465209e+01] [-1.14597642e-02 -1.21583566e-05 9.99934335e-01 -1.45276473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:-26.48, Z:-1.45 [[ 8.92769189e-01 4.50398174e-01 1.02303932e-02 1.20683126e+02] [-4.50368571e-01 8.92827803e-01 -5.16385391e-03 -2.64828883e+01] [-1.14597699e-02 2.68208698e-06 9.99934335e-01 -1.45273577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:-26.52, Z:-1.45 [[ 8.93342502e-01 4.49259995e-01 1.02289286e-02 1.20735453e+02] [-4.49230284e-01 8.93401061e-01 -5.16675360e-03 -2.65162457e+01] [-1.14597513e-02 2.05360904e-05 9.99934335e-01 -1.45383813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:-26.54, Z:-1.45 [[ 8.92320764e-01 4.51285997e-01 1.02275776e-02 1.20791893e+02] [-4.51256388e-01 8.92379375e-01 -5.16942642e-03 -2.65448991e+01] [-1.14597691e-02 -2.47320643e-06 9.99934335e-01 -1.45385917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.85, Y:-26.57, Z:-1.45 [[ 8.92962065e-01 4.50015751e-01 1.02261433e-02 1.20848482e+02] [-4.49986027e-01 8.93020618e-01 -5.17226217e-03 -2.65735986e+01] [-1.14597563e-02 1.70123031e-05 9.99934335e-01 -1.45448043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.90, Y:-26.60, Z:-1.45 [[ 8.96514231e-01 4.42896910e-01 1.02255158e-02 1.20903348e+02] [-4.42866706e-01 8.96572538e-01 -5.17350256e-03 -2.66020546e+01] [-1.14592449e-02 1.09578175e-04 9.99934335e-01 -1.45336889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.96, Y:-26.63, Z:-1.45 [[ 9.01318431e-01 4.33036432e-01 1.02241941e-02 1.20959326e+02] [-4.33005562e-01 9.01376387e-01 -5.17611317e-03 -2.66282950e+01] [-1.14572927e-02 2.38193282e-04 9.99934335e-01 -1.45399540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:-26.65, Z:-1.46 [[ 9.05906133e-01 4.23355135e-01 1.02229070e-02 1.21015835e+02] [-4.23323617e-01 9.05963739e-01 -5.17865407e-03 -2.66549672e+01] [-1.14539928e-02 3.63776526e-04 9.99934335e-01 -1.45571541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:-26.68, Z:-1.45 [[ 9.12653461e-01 4.08606387e-01 1.02215306e-02 1.21073350e+02] [-4.08573908e-01 9.12710532e-01 -5.18136925e-03 -2.66810971e+01] [-1.14464392e-02 5.52543860e-04 9.99934335e-01 -1.45454852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.13, Y:-26.71, Z:-1.45 [[ 9.16040374e-01 4.00955837e-01 1.02200579e-02 1.21130324e+02] [-4.00922850e-01 9.16097152e-01 -5.18427250e-03 -2.67080951e+01] [-1.14412303e-02 6.51548180e-04 9.99934335e-01 -1.45457068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:-26.73, Z:-1.46 [[ 9.19639107e-01 3.92631498e-01 1.02185723e-02 1.21191148e+02] [-3.92597964e-01 9.19695565e-01 -5.18719915e-03 -2.67274139e+01] [-1.14346334e-02 7.58560533e-04 9.99934335e-01 -1.45991870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:-26.75, Z:-1.46 [[ 9.17121740e-01 3.98476256e-01 1.02170455e-02 1.21245246e+02] [-3.98443049e-01 9.17178390e-01 -5.19020455e-03 -2.67549139e+01] [-1.14390267e-02 6.89138654e-04 9.99934335e-01 -1.45892422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.30, Y:-26.78, Z:-1.46 [[ 9.12415206e-01 4.09138263e-01 1.02163068e-02 1.21304834e+02] [-4.09105702e-01 9.12472230e-01 -5.19165825e-03 -2.67769176e+01] [-1.14462023e-02 5.57398553e-04 9.99934335e-01 -1.45967921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:-26.80, Z:-1.46 [[ 9.05734417e-01 4.23722577e-01 1.02148543e-02 1.21364215e+02] [-4.23690903e-01 9.05791938e-01 -5.19451457e-03 -2.67984319e+01] [-1.14535658e-02 3.76909783e-04 9.99934335e-01 -1.45957109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.42, Y:-26.82, Z:-1.46 [[ 9.01332428e-01 4.33007552e-01 1.02134169e-02 1.21423404e+02] [-4.32976439e-01 9.01390254e-01 -5.19733931e-03 -2.68217740e+01] [-1.14567616e-02 2.62361594e-04 9.99934335e-01 -1.46063905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.48, Y:-26.84, Z:-1.46 [[ 8.96594342e-01 4.42735024e-01 1.02119903e-02 1.21481363e+02] [-4.42704507e-01 8.96652485e-01 -5.20014078e-03 -2.68441798e+01] [-1.14588909e-02 1.41522677e-04 9.99934335e-01 -1.46261342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.54, Y:-26.87, Z:-1.47 [[ 8.94931181e-01 4.46087351e-01 1.02106707e-02 1.21539017e+02] [-4.46057021e-01 8.94989422e-01 -5.20273052e-03 -2.68703513e+01] [-1.14593146e-02 1.01544393e-04 9.99934335e-01 -1.46522598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.60, Y:-26.90, Z:-1.47 [[ 8.95404243e-01 4.45137072e-01 1.02092302e-02 1.21595361e+02] [-4.45106648e-01 8.95462436e-01 -5.20555578e-03 -2.68987093e+01] [-1.14591680e-02 1.16880518e-04 9.99934335e-01 -1.46547204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.65, Y:-26.93, Z:-1.47 [[ 8.98273257e-01 4.39318743e-01 1.02077489e-02 1.21650766e+02] [-4.39287910e-01 8.98331233e-01 -5.20845876e-03 -2.69289218e+01] [-1.14581132e-02 1.94478522e-04 9.99934335e-01 -1.46744671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:-26.96, Z:-1.47 [[ 8.99459163e-01 4.36885622e-01 1.02062945e-02 1.21705799e+02] [-4.36854600e-01 8.99517038e-01 -5.21130717e-03 -2.69586598e+01] [-1.14574810e-02 2.28691270e-04 9.99934335e-01 -1.46805658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:-26.99, Z:-1.47 [[ 9.01784219e-01 4.32066065e-01 1.02048273e-02 1.21759926e+02] [-4.32034701e-01 9.01841910e-01 -5.21417884e-03 -2.69899622e+01] [-1.14560106e-02 2.93224699e-04 9.99934335e-01 -1.46847133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.897628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:-27.02, Z:-1.47 [[ 9.06247487e-01 4.22624401e-01 1.02033419e-02 1.21812887e+02] [-4.22592404e-01 9.06304828e-01 -5.21708378e-03 -2.70226827e+01] [-1.14522050e-02 4.16114270e-04 9.99934335e-01 -1.46931799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.957628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-27.05, Z:-1.47 [[ 9.09665299e-01 4.15216756e-01 1.02024270e-02 1.21866871e+02] [-4.15184271e-01 9.09722366e-01 -5.21887230e-03 -2.70541594e+01] [-1.14483393e-02 5.11539790e-04 9.99934335e-01 -1.47084422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:-27.09, Z:-1.47 [[ 9.13654820e-01 4.06362905e-01 1.02009576e-02 1.21920144e+02] [-4.06329836e-01 9.13711550e-01 -5.22174287e-03 -2.70867482e+01] [-1.14426554e-02 6.25917098e-04 9.99934335e-01 -1.47167621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.98, Y:-27.12, Z:-1.47 [[ 9.15653003e-01 4.01840178e-01 1.02004746e-02 1.21975419e+02] [-4.01806819e-01 9.15709563e-01 -5.22268636e-03 -2.71171579e+01] [-1.14393573e-02 6.83548218e-04 9.99934335e-01 -1.46935867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:-27.15, Z:-1.47 [[ 9.15555299e-01 4.02062779e-01 1.01988875e-02 1.22031517e+02] [-4.02029399e-01 9.15611847e-01 -5.22578372e-03 -2.71451405e+01] [-1.14393154e-02 6.84241361e-04 9.99934335e-01 -1.47027619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.197628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:122.09, Y:-27.17, Z:-1.47 [[ 9.14311909e-01 4.04882386e-01 1.01973985e-02 1.22087592e+02] [-4.04849148e-01 9.14368541e-01 -5.22868770e-03 -2.71723659e+01] [-1.14411839e-02 6.52243332e-04 9.99934335e-01 -1.47111140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:-27.20, Z:-1.47 [[ 9.12751151e-01 4.08388756e-01 1.01961096e-02 1.22143984e+02] [-4.08355708e-01 9.12807893e-01 -5.23119992e-03 -2.71992741e+01] [-1.14434525e-02 6.11144193e-04 9.99934335e-01 -1.46836654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:-27.22, Z:-1.47 [[ 9.09820560e-01 4.14876630e-01 1.01946109e-02 1.22201524e+02] [-4.14843954e-01 9.09877518e-01 -5.23411898e-03 -2.72236541e+01] [-1.14473609e-02 5.32936372e-04 9.99934335e-01 -1.46779872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:-27.25, Z:-1.47 [[ 9.06555741e-01 4.21963016e-01 1.01932276e-02 1.22257793e+02] [-4.21930755e-01 9.06612935e-01 -5.23681149e-03 -2.72508521e+01] [-1.14510528e-02 4.46625307e-04 9.99934335e-01 -1.46632549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:-27.27, Z:-1.47 [[ 9.02818662e-01 4.29900678e-01 1.01917128e-02 1.22315304e+02] [-4.29868887e-01 9.02876118e-01 -5.23975792e-03 -2.72734521e+01] [-1.14544296e-02 3.49450998e-04 9.99934335e-01 -1.46787990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.37, Y:-27.30, Z:-1.47 [[ 8.98606330e-01 4.38637461e-01 1.01903094e-02 1.22373541e+02] [-4.38606198e-01 8.98664075e-01 -5.24248584e-03 -2.72983940e+01] [-1.14572156e-02 2.41398103e-04 9.99934335e-01 -1.46996681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:-27.33, Z:-1.47 [[ 8.95970106e-01 4.43997474e-01 1.01888284e-02 1.22430507e+02] [-4.43966524e-01 8.96028020e-01 -5.24536247e-03 -2.73256643e+01] [-1.14584035e-02 1.76189223e-04 9.99934335e-01 -1.47136374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.49, Y:-27.36, Z:-1.47 [[ 8.92460124e-01 4.51011246e-01 1.01873500e-02 1.22486056e+02] [-4.50980718e-01 8.92518262e-01 -5.24823237e-03 -2.73559079e+01] [-1.14594077e-02 8.95397101e-05 9.99934335e-01 -1.47268386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:-27.38, Z:-1.47 [[ 8.91252647e-01 4.53392713e-01 1.01865956e-02 1.22542567e+02] [-4.53362323e-01 8.91310857e-01 -5.24969608e-03 -2.73808531e+01] [-1.14595972e-02 6.05868675e-05 9.99934335e-01 -1.47273704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:-27.41, Z:-1.47 [[ 8.90777009e-01 4.54326520e-01 1.01849828e-02 1.22597993e+02] [-4.54296156e-01 8.90835232e-01 -5.25282320e-03 -2.74109488e+01] [-1.14596384e-02 5.20955864e-05 9.99934335e-01 -1.47333251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:-27.44, Z:-1.47 [[ 8.92630461e-01 4.50674114e-01 1.01834939e-02 1.22651940e+02] [-4.50643479e-01 8.92688542e-01 -5.25570824e-03 -2.74433045e+01] [-1.14592999e-02 1.02280163e-04 9.99934335e-01 -1.47363618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:-27.48, Z:-1.47 [[ 8.95422941e-01 4.45100083e-01 1.01819975e-02 1.22706365e+02] [-4.45069053e-01 8.95480812e-01 -5.25860566e-03 -2.74757629e+01] [-1.14583892e-02 1.76984180e-04 9.99934335e-01 -1.47398172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.76, Y:-27.51, Z:-1.48 [[ 9.00769384e-01 4.34178390e-01 1.01804950e-02 1.22758518e+02] [-4.34146626e-01 9.00826856e-01 -5.26151273e-03 -2.75108438e+01] [-1.14552984e-02 3.19582019e-04 9.99934335e-01 -1.47558150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:-27.55, Z:-1.48 [[ 9.06264779e-01 4.22587902e-01 1.01791974e-02 1.22810554e+02] [-4.22555375e-01 9.06321822e-01 -5.26402191e-03 -2.75456671e+01] [-1.14501407e-02 4.69323051e-04 9.99934335e-01 -1.47639063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.86, Y:-27.58, Z:-1.48 [[ 9.09176822e-01 4.16285860e-01 1.01778960e-02 1.22863537e+02] [-4.16252910e-01 9.09233622e-01 -5.26653696e-03 -2.75779744e+01] [-1.14464701e-02 5.51634498e-04 9.99934335e-01 -1.47716576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.92, Y:-27.61, Z:-1.48 [[ 9.11674530e-01 4.10787037e-01 1.01765245e-02 1.22916387e+02] [-4.10753716e-01 9.11731112e-01 -5.26918587e-03 -2.76107329e+01] [-1.14427672e-02 6.23737308e-04 9.99934335e-01 -1.47806596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:-27.64, Z:-1.48 [[ 9.11362359e-01 4.11479160e-01 1.01760402e-02 1.22971657e+02] [-4.11445871e-01 9.11418960e-01 -5.27012090e-03 -2.76414040e+01] [-1.14431809e-02 6.16100076e-04 9.99934335e-01 -1.47585425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.03, Y:-27.67, Z:-1.48 [[ 9.10214346e-01 4.14012470e-01 1.01744572e-02 1.23026825e+02] [-4.13979304e-01 9.10271020e-01 -5.27317541e-03 -2.76696250e+01] [-1.14446739e-02 5.87705207e-04 9.99934335e-01 -1.47591215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.08, Y:-27.70, Z:-1.48 [[ 9.07315952e-01 4.20326385e-01 1.01731479e-02 1.23083483e+02] [-4.20293586e-01 9.07372839e-01 -5.27570007e-03 -2.76965132e+01] [-1.14483540e-02 5.11018026e-04 9.99934335e-01 -1.47736258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.14, Y:-27.72, Z:-1.48 [[ 9.05089869e-01 4.25098654e-01 1.01716699e-02 1.23139837e+02] [-4.25066122e-01 9.05146910e-01 -5.27854812e-03 -2.77235588e+01] [-1.14507593e-02 4.53928141e-04 9.99934335e-01 -1.47868595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:-27.75, Z:-1.48 [[ 9.02027886e-01 4.31557944e-01 1.01702029e-02 1.23197350e+02] [-4.31525789e-01 9.02085140e-01 -5.28137310e-03 -2.77499703e+01] [-1.14536074e-02 3.75240976e-04 9.99934335e-01 -1.48025081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:-27.78, Z:-1.48 [[ 9.00721050e-01 4.34278927e-01 1.01687219e-02 1.23254155e+02] [-4.34246913e-01 9.00778383e-01 -5.28422311e-03 -2.77780699e+01] [-1.14545916e-02 3.43874905e-04 9.99934335e-01 -1.48077747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:-27.81, Z:-1.48 [[ 8.99445400e-01 4.36914866e-01 1.01672352e-02 1.23311092e+02] [-4.36882988e-01 8.99502808e-01 -5.28708209e-03 -2.78054364e+01] [-1.14554614e-02 3.13549575e-04 9.99934335e-01 -1.48113395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:-27.83, Z:-1.48 [[ 8.98226415e-01 4.39415481e-01 1.01657405e-02 1.23367034e+02] [-4.39383730e-01 8.98283894e-01 -5.28995433e-03 -2.78337732e+01] [-1.14562088e-02 2.84915718e-04 9.99934335e-01 -1.48096051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:-27.86, Z:-1.48 [[ 8.95721566e-01 4.44499228e-01 1.01642571e-02 1.23423318e+02] [-4.44467772e-01 8.95779206e-01 -5.29280310e-03 -2.78604375e+01] [-1.14575771e-02 2.23193169e-04 9.99934335e-01 -1.48156978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:-27.89, Z:-1.48 [[ 8.94511565e-01 4.46929273e-01 1.01629547e-02 1.23479821e+02] [-4.46897945e-01 8.94569275e-01 -5.29530268e-03 -2.78890153e+01] [-1.14580928e-02 1.94905900e-04 9.99934335e-01 -1.48267422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.53, Y:-27.92, Z:-1.48 [[ 8.90464829e-01 4.54938604e-01 1.01614585e-02 1.23534978e+02] [-4.54907762e-01 8.90522800e-01 -5.29817229e-03 -2.79175458e+01] [-1.14593536e-02 9.53097205e-05 9.99934335e-01 -1.48484286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.817628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:123.59, Y:-27.95, Z:-1.49 [[ 8.87843942e-01 4.60032508e-01 1.01600766e-02 1.23589979e+02] [-4.60001968e-01 8.87902073e-01 -5.30082104e-03 -2.79466114e+01] [-1.14597031e-02 3.26466198e-05 9.99934335e-01 -1.48931736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.64, Y:-27.98, Z:-1.49 [[ 8.84282018e-01 4.66842705e-01 1.01587832e-02 1.23644372e+02] [-4.66812585e-01 8.84340367e-01 -5.30329852e-03 -2.79766762e+01] [-1.14596283e-02 -5.26363448e-05 9.99934335e-01 -1.48923512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.70, Y:-28.01, Z:-1.49 [[ 8.83037997e-01 4.69191562e-01 1.01574689e-02 1.23698613e+02] [-4.69161568e-01 8.83096411e-01 -5.30581476e-03 -2.80076785e+01] [-1.14594678e-02 -8.02579822e-05 9.99934335e-01 -1.49025246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-28.04, Z:-1.49 [[ 8.83510590e-01 4.68301073e-01 1.01559554e-02 1.23750509e+02] [-4.68270986e-01 8.83568957e-01 -5.30871015e-03 -2.80414155e+01] [-1.14595616e-02 -6.54376193e-05 9.99934335e-01 -1.48948989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:-28.08, Z:-1.49 [[ 8.85449782e-01 4.64624100e-01 1.01552334e-02 1.23801952e+02] [-4.64593755e-01 8.85508016e-01 -5.31009095e-03 -2.80766781e+01] [-1.14597368e-02 -1.62391374e-05 9.99934335e-01 -1.48799423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:-28.11, Z:-1.49 [[ 8.89072336e-01 4.57654103e-01 1.01539212e-02 1.23856194e+02] [-4.57623274e-01 8.89130314e-01 -5.31259896e-03 -2.81072145e+01] [-1.14594918e-02 7.66141241e-05 9.99934335e-01 -1.49046761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:-28.15, Z:-1.49 [[ 8.92174301e-01 4.51577172e-01 1.01525175e-02 1.23903940e+02] [-4.51545917e-01 8.92232051e-01 -5.31528009e-03 -2.81467500e+01] [-1.14586607e-02 1.57828475e-04 9.99934335e-01 -1.49008799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:-28.18, Z:-1.49 [[ 8.93520624e-01 4.48907393e-01 1.01512398e-02 1.23957976e+02] [-4.48875938e-01 8.93578264e-01 -5.31771912e-03 -2.81787712e+01] [-1.14580907e-02 1.94844421e-04 9.99934335e-01 -1.48946333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.01, Y:-28.21, Z:-1.49 [[ 8.93319215e-01 4.49308095e-01 1.01497345e-02 1.24012936e+02] [-4.49276632e-01 8.93376852e-01 -5.32059072e-03 -2.82093914e+01] [-1.14581223e-02 1.92947391e-04 9.99934335e-01 -1.49052450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:-28.24, Z:-1.49 [[ 8.94210075e-01 4.47532519e-01 1.01482271e-02 1.24068636e+02] [-4.47500910e-01 8.94267631e-01 -5.32346429e-03 -2.82396070e+01] [-1.14576544e-02 2.18954540e-04 9.99934335e-01 -1.49084369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-28.27, Z:-1.49 [[ 8.96706196e-01 4.42509935e-01 1.01467107e-02 1.24123869e+02] [-4.42477970e-01 8.96763556e-01 -5.32635311e-03 -2.82660295e+01] [-1.14561645e-02 2.86477899e-04 9.99934335e-01 -1.49172927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.477628 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-28.29, Z:-1.49 [[ 8.99375837e-01 4.37058535e-01 1.01459925e-02 1.24179450e+02] [-4.37026208e-01 8.99432993e-01 -5.32772082e-03 -2.82943941e+01] [-1.14541662e-02 3.57558750e-04 9.99934335e-01 -1.49382175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.23, Y:-28.32, Z:-1.49 [[ 9.02695022e-01 4.30161351e-01 1.01444661e-02 1.24233912e+02] [-4.30128554e-01 9.02751910e-01 -5.33062551e-03 -2.83225755e+01] [-1.14509652e-02 4.48504564e-04 9.99934335e-01 -1.48906996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.29, Y:-28.35, Z:-1.49 [[ 9.04217384e-01 4.26952032e-01 1.01432484e-02 1.24290659e+02] [-4.26919008e-01 9.04274140e-01 -5.33294163e-03 -2.83502746e+01] [-1.14491875e-02 4.91792987e-04 9.99934335e-01 -1.48897514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.35, Y:-28.38, Z:-1.49 [[ 9.03864483e-01 4.27698657e-01 1.01417727e-02 1.24348256e+02] [-4.27665648e-01 9.03921249e-01 -5.33574656e-03 -2.83752761e+01] [-1.14494555e-02 4.85504021e-04 9.99934335e-01 -1.49171939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.40, Y:-28.40, Z:-1.50 [[ 9.01891391e-01 4.31843829e-01 1.01403215e-02 1.24404414e+02] [-4.31811050e-01 9.01948290e-01 -5.33850310e-03 -2.84020037e+01] [-1.14514452e-02 4.36047127e-04 9.99934335e-01 -1.49501433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.46, Y:-28.43, Z:-1.50 [[ 8.98257290e-01 4.39352983e-01 1.01388453e-02 1.24462038e+02] [-4.39320649e-01 8.98314443e-01 -5.34130518e-03 -2.84267294e+01] [-1.14545895e-02 3.43662229e-04 9.99934335e-01 -1.49743125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.52, Y:-28.45, Z:-1.50 [[ 8.94501849e-01 4.46949295e-01 1.01375301e-02 1.24519419e+02] [-4.46917417e-01 8.94559258e-01 -5.34380017e-03 -2.84523957e+01] [-1.14570291e-02 2.49400368e-04 9.99934335e-01 -1.49915032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.58, Y:-28.48, Z:-1.50 [[ 8.93206185e-01 4.49533059e-01 1.01361048e-02 1.24575997e+02] [-4.49501317e-01 8.93263668e-01 -5.34650232e-03 -2.84806232e+01] [-1.14576437e-02 2.19336476e-04 9.99934335e-01 -1.50015317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:-28.51, Z:-1.50 [[ 8.92980305e-01 4.49981625e-01 1.01346899e-02 1.24630636e+02] [-4.49949882e-01 8.93037787e-01 -5.34918298e-03 -2.85106714e+01] [-1.14576951e-02 2.16612516e-04 9.99934335e-01 -1.50046571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.69, Y:-28.54, Z:-1.50 [[ 8.93144021e-01 4.49656616e-01 1.01333813e-02 1.24686299e+02] [-4.49624823e-01 8.93201477e-01 -5.35166085e-03 -2.85403196e+01] [-1.14575609e-02 2.23584117e-04 9.99934335e-01 -1.50116199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.74, Y:-28.57, Z:-1.50 [[ 8.92950164e-01 4.50041496e-01 1.01319292e-02 1.24740592e+02] [-4.50009698e-01 8.93007616e-01 -5.35440863e-03 -2.85707447e+01] [-1.14575960e-02 2.21753673e-04 9.99934335e-01 -1.50247485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.80, Y:-28.60, Z:-1.50 [[ 8.92185305e-01 4.51555924e-01 1.01305884e-02 1.24795852e+02] [-4.51524194e-01 8.92242795e-01 -5.35694415e-03 -2.86017361e+01] [-1.14579044e-02 2.05181084e-04 9.99934335e-01 -1.50153333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:-28.63, Z:-1.50 [[ 8.90386695e-01 4.55092227e-01 1.01290886e-02 1.24851051e+02] [-4.55060693e-01 8.90444293e-01 -5.35977857e-03 -2.86327509e+01] [-1.14585827e-02 1.62925448e-04 9.99934335e-01 -1.50251566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:-28.66, Z:-1.50 [[ 8.88875403e-01 4.58037061e-01 1.01275851e-02 1.24906658e+02] [-4.58005686e-01 8.88933088e-01 -5.36261808e-03 -2.86630364e+01] [-1.14590233e-02 1.28207759e-04 9.99934335e-01 -1.50498444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:-28.70, Z:-1.51 [[ 8.87585253e-01 4.60532171e-01 1.01260933e-02 1.24959460e+02] [-4.60500925e-01 8.87643008e-01 -5.36543354e-03 -2.86956435e+01] [-1.14593106e-02 9.92043699e-05 9.99934335e-01 -1.50740641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:-28.73, Z:-1.51 [[ 8.87193395e-01 4.61286644e-01 1.01247674e-02 1.25012622e+02] [-4.61255419e-01 8.87251161e-01 -5.36793435e-03 -2.87290406e+01] [-1.14593680e-02 9.22920766e-05 9.99934335e-01 -1.50849644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:-28.76, Z:-1.51 [[ 8.87006531e-01 4.61645879e-01 1.01240575e-02 1.25065901e+02] [-4.61614663e-01 8.87064301e-01 -5.36927297e-03 -2.87612738e+01] [-1.14593927e-02 8.91668203e-05 9.99934335e-01 -1.50738179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:-28.79, Z:-1.50 [[ 8.86986853e-01 4.61683715e-01 1.01227535e-02 1.25118384e+02] [-4.61652473e-01 8.87044609e-01 -5.37173023e-03 -2.87949789e+01] [-1.14593743e-02 9.14599079e-05 9.99934335e-01 -1.50408781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.17, Y:-28.82, Z:-1.50 [[ 8.84718301e-01 4.66016186e-01 1.01213965e-02 1.25173365e+02] [-4.65985197e-01 8.84776194e-01 -5.37428589e-03 -2.88243899e+01] [-1.14596749e-02 3.83081465e-05 9.99934335e-01 -1.50433802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:-28.85, Z:-1.51 [[ 8.83725578e-01 4.67896014e-01 1.01204399e-02 1.25228436e+02] [-4.67865128e-01 8.83783525e-01 -5.37608656e-03 -2.88532829e+01] [-1.14597276e-02 1.59842728e-05 9.99934335e-01 -1.50539642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:-28.88, Z:-1.51 [[ 8.83226636e-01 4.68837193e-01 1.01190340e-02 1.25285175e+02] [-4.68806339e-01 8.83284601e-01 -5.37873164e-03 -2.88815559e+01] [-1.14597363e-02 6.77178690e-06 9.99934335e-01 -1.50557455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.34, Y:-28.91, Z:-1.51 [[ 8.85033351e-01 4.65417666e-01 1.01175031e-02 1.25341134e+02] [-4.65386554e-01 8.85091178e-01 -5.38160966e-03 -2.89107262e+01] [-1.14596090e-02 5.43541235e-05 9.99934335e-01 -1.50563651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.40, Y:-28.94, Z:-1.51 [[ 8.90346233e-01 4.55171673e-01 1.01159887e-02 1.25396886e+02] [-4.55139864e-01 8.90403679e-01 -5.38445493e-03 -2.89393845e+01] [-1.14581649e-02 1.89839461e-04 9.99934335e-01 -1.50578350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.45, Y:-28.97, Z:-1.51 [[ 8.94742739e-01 4.46467387e-01 1.01144919e-02 1.25452588e+02] [-4.46434988e-01 8.94799854e-01 -5.38726511e-03 -2.89688755e+01] [-1.14556840e-02 3.04753289e-04 9.99934335e-01 -1.50681095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:-29.00, Z:-1.51 [[ 9.01103536e-01 4.33486038e-01 1.01129586e-02 1.25509264e+02] [-4.33452783e-01 9.01160158e-01 -5.39014185e-03 -2.89953303e+01] [-1.14499466e-02 4.73585832e-04 9.99934335e-01 -1.50905018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:-29.02, Z:-1.51 [[ 9.04919381e-01 4.25462893e-01 1.01114249e-02 1.25565369e+02] [-4.25429105e-01 9.04975686e-01 -5.39301743e-03 -2.90230576e+01] [-1.14451225e-02 5.78551555e-04 9.99934335e-01 -1.50989788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:-29.05, Z:-1.51 [[ 9.08605607e-01 4.17532802e-01 1.01099003e-02 1.25621877e+02] [-4.17498492e-01 9.08661595e-01 -5.39587389e-03 -2.90492193e+01] [-1.14394325e-02 6.81853143e-04 9.99934335e-01 -1.51021513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:-29.08, Z:-1.51 [[ 9.09233973e-01 4.16162709e-01 1.01084929e-02 1.25678535e+02] [-4.16128285e-01 9.09289891e-01 -5.39850920e-03 -2.90756392e+01] [-1.14382086e-02 7.02078144e-04 9.99934335e-01 -1.51134805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:-29.10, Z:-1.51 [[ 9.06727622e-01 4.21595622e-01 1.01069720e-02 1.25737263e+02] [-4.21561501e-01 9.06783726e-01 -5.40135505e-03 -2.90984214e+01] [-1.14420254e-02 6.36847511e-04 9.99934335e-01 -1.51379972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:-29.12, Z:-1.51 [[ 9.03224822e-01 4.29048716e-01 1.01054541e-02 1.25795570e+02] [-4.29015027e-01 9.03281186e-01 -5.40419354e-03 -2.91235244e+01] [-1.14467288e-02 5.45810093e-04 9.99934335e-01 -1.51497092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27762799999999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:125.85, Y:-29.15, Z:-1.52 [[ 8.97430731e-01 4.41039675e-01 1.01039279e-02 1.25854124e+02] [-4.41006707e-01 8.97487520e-01 -5.40704550e-03 -2.91450187e+01] [-1.14528707e-02 3.96548835e-04 9.99934335e-01 -1.51836470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:-29.17, Z:-1.52 [[ 8.93498607e-01 4.48952312e-01 1.01025153e-02 1.25912559e+02] [-4.48919818e-01 8.93555668e-01 -5.40968336e-03 -2.91699448e+01] [-1.14558497e-02 2.98325194e-04 9.99934335e-01 -1.51771394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:-29.19, Z:-1.52 [[ 8.87856205e-01 4.60010140e-01 1.01009984e-02 1.25969756e+02] [-4.59978325e-01 8.87913648e-01 -5.41251439e-03 -2.91942315e+01] [-1.14586258e-02 1.59294182e-04 9.99934335e-01 -1.51818809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.03, Y:-29.22, Z:-1.52 [[ 8.83148465e-01 4.68984847e-01 1.00995963e-02 1.26026849e+02] [-4.68953586e-01 8.83206211e-01 -5.41512941e-03 -2.92203671e+01] [-1.14596398e-02 4.61213427e-05 9.99934335e-01 -1.51738386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:-29.25, Z:-1.52 [[ 8.80540240e-01 4.73863814e-01 1.00981302e-02 1.26083255e+02] [-4.73832841e-01 8.80598141e-01 -5.41786189e-03 -2.92477095e+01] [-1.14597234e-02 -1.41803341e-05 9.99934335e-01 -1.51796526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:-29.28, Z:-1.52 [[ 8.78235255e-01 4.78122261e-01 1.00965660e-02 1.26139296e+02] [-4.78091535e-01 8.78293288e-01 -5.42077531e-03 -2.92758904e+01] [-1.14595395e-02 -6.63667709e-05 9.99934335e-01 -1.51991321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.19, Y:-29.31, Z:-1.52 [[ 8.77528920e-01 4.79417444e-01 1.00950169e-02 1.26194149e+02] [-4.79386771e-01 8.77586980e-01 -5.42365869e-03 -2.93058262e+01] [-1.14594520e-02 -8.00002099e-05 9.99934335e-01 -1.52098521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:-29.34, Z:-1.52 [[ 8.78465635e-01 4.77698913e-01 1.00934441e-02 1.26247484e+02] [-4.77668092e-01 8.78523617e-01 -5.42658404e-03 -2.93378569e+01] [-1.14596024e-02 -5.42486152e-05 9.99934335e-01 -1.52279694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:-29.37, Z:-1.52 [[ 8.79960850e-01 4.74938990e-01 1.00924743e-02 1.26301272e+02] [-4.74907967e-01 8.80018724e-01 -5.42838709e-03 -2.93706408e+01] [-1.14597191e-02 -1.62283582e-05 9.99934335e-01 -1.52427893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:-29.41, Z:-1.53 [[ 8.84010765e-01 4.67357614e-01 1.00909670e-02 1.26353501e+02] [-4.67326062e-01 8.84068353e-01 -5.43118770e-03 -2.94058421e+01] [-1.14594115e-02 8.54565302e-05 9.99934335e-01 -1.52618488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:-29.44, Z:-1.53 [[ 8.87169818e-01 4.61332761e-01 1.00894609e-02 1.26406506e+02] [-4.61300787e-01 8.87227173e-01 -5.43398420e-03 -2.94405116e+01] [-1.14585188e-02 1.66590544e-04 9.99934335e-01 -1.52646678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:-29.48, Z:-1.53 [[ 8.91990291e-01 4.51941982e-01 1.00879172e-02 1.26458501e+02] [-4.51909372e-01 8.92047286e-01 -5.43684849e-03 -2.94774157e+01] [-1.14560392e-02 2.90791762e-04 9.99934335e-01 -1.52622741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99762799999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.51, Y:-29.51, Z:-1.53 [[ 8.96611926e-01 4.42702292e-01 1.00863793e-02 1.26512877e+02] [-4.42669062e-01 8.96668563e-01 -5.43970004e-03 -2.95084074e+01] [-1.14523069e-02 4.12371878e-04 9.99934335e-01 -1.52796221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.56, Y:-29.55, Z:-1.53 [[ 8.99236089e-01 4.37347405e-01 1.00847680e-02 1.26563254e+02] [-4.37313806e-01 8.99292507e-01 -5.44268561e-03 -2.95457733e+01] [-1.14495007e-02 4.84051057e-04 9.99934335e-01 -1.52692903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.62, Y:-29.58, Z:-1.53 [[ 9.00449602e-01 4.34843467e-01 1.00832922e-02 1.26617177e+02] [-4.34809680e-01 9.00505908e-01 -5.44541829e-03 -2.95787632e+01] [-1.14479688e-02 5.19011673e-04 9.99934335e-01 -1.52581699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-29.61, Z:-1.53 [[ 9.00428359e-01 4.34887490e-01 1.00817389e-02 1.26671481e+02] [-4.34853674e-01 9.00484647e-01 -5.44829252e-03 -2.96100881e+01] [-1.14478454e-02 5.21715878e-04 9.99934335e-01 -1.52605992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:-29.64, Z:-1.53 [[ 8.99252035e-01 4.37314723e-01 1.00801802e-02 1.26726542e+02] [-4.37281026e-01 8.99308395e-01 -5.45117488e-03 -2.96403599e+01] [-1.14490697e-02 4.94108544e-04 9.99934335e-01 -1.52716796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:-29.67, Z:-1.53 [[ 8.96052892e-01 4.43832892e-01 1.00786324e-02 1.26782644e+02] [-4.43799573e-01 8.96109476e-01 -5.45403511e-03 -2.96695119e+01] [-1.14522382e-02 4.14211169e-04 9.99934335e-01 -1.52769107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.84, Y:-29.70, Z:-1.53 [[ 8.93229194e-01 4.49488665e-01 1.00770796e-02 1.26838374e+02] [-4.49455672e-01 8.93285968e-01 -5.45690268e-03 -2.96991164e+01] [-1.14545297e-02 3.45064213e-04 9.99934335e-01 -1.52831918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.89, Y:-29.73, Z:-1.53 [[ 8.88975826e-01 4.57843276e-01 1.00755349e-02 1.26894907e+02] [-4.57810784e-01 8.89032889e-01 -5.45975328e-03 -2.97262935e+01] [-1.14571932e-02 2.40900155e-04 9.99934335e-01 -1.53131060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:-29.75, Z:-1.53 [[ 8.86162920e-01 4.63264282e-01 1.00739873e-02 1.26949833e+02] [-4.63232107e-01 8.86220162e-01 -5.46260730e-03 -2.97549252e+01] [-1.14584015e-02 1.74165675e-04 9.99934335e-01 -1.53318158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.01, Y:-29.78, Z:-1.54 [[ 8.83320078e-01 4.68662121e-01 1.00725556e-02 1.27005681e+02] [-4.68630266e-01 8.83377499e-01 -5.46524602e-03 -2.97841682e+01] [-1.14592227e-02 1.07257154e-04 9.99934335e-01 -1.53504164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:-29.81, Z:-1.54 [[ 8.80803094e-01 4.73375626e-01 1.00710535e-02 1.27061078e+02] [-4.73344047e-01 8.80860667e-01 -5.46801246e-03 -2.98141155e+01] [-1.14596188e-02 4.91690553e-05 9.99934335e-01 -1.53607228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.12, Y:-29.84, Z:-1.54 [[ 8.78404597e-01 4.77811645e-01 1.00695629e-02 1.27115900e+02] [-4.77780325e-01 8.78462311e-01 -5.47075623e-03 -2.98445901e+01] [-1.14597225e-02 -5.50159131e-06 9.99934335e-01 -1.53645487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:-29.88, Z:-1.54 [[ 8.77224488e-01 4.79974825e-01 1.00679985e-02 1.27170023e+02] [-4.79943614e-01 8.77282261e-01 -5.47363366e-03 -2.98757837e+01] [-1.14596829e-02 -3.04661030e-05 9.99934335e-01 -1.53710542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:-29.91, Z:-1.54 [[ 8.75715353e-01 4.82722785e-01 1.00664449e-02 1.27223724e+02] [-4.82691723e-01 8.75773206e-01 -5.47648941e-03 -2.99095924e+01] [-1.14595489e-02 -6.31437625e-05 9.99934335e-01 -1.53660348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:-29.94, Z:-1.54 [[ 8.74529006e-01 4.84868761e-01 1.00648874e-02 1.27277992e+02] [-4.84837808e-01 8.74586918e-01 -5.47935033e-03 -2.99418776e+01] [-1.14593846e-02 -8.79871390e-05 9.99934335e-01 -1.53756721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.33, Y:-29.98, Z:-1.54 [[ 8.73527202e-01 4.86671302e-01 1.00633137e-02 1.27330719e+02] [-4.86640435e-01 8.73585160e-01 -5.48223897e-03 -2.99758697e+01] [-1.14592099e-02 -1.08330503e-04 9.99934335e-01 -1.54126217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:-30.01, Z:-1.55 [[ 8.73501793e-01 4.86716917e-01 1.00628274e-02 1.27383187e+02] [-4.86686043e-01 8.73559747e-01 -5.48313150e-03 -3.00087730e+01] [-1.14592138e-02 -1.07912450e-04 9.99934335e-01 -1.54600107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:-30.04, Z:-1.54 [[ 8.73597625e-01 4.86544917e-01 1.00614737e-02 1.27437593e+02] [-4.86514002e-01 8.73655558e-01 -5.48561444e-03 -3.00397709e+01] [-1.14592602e-02 -1.02828076e-04 9.99934335e-01 -1.54444378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:-30.07, Z:-1.54 [[ 8.76440599e-01 4.81404897e-01 1.00599271e-02 1.27491024e+02] [-4.81373610e-01 8.76498331e-01 -5.48844914e-03 -3.00683623e+01] [-1.14596756e-02 -3.22837887e-05 9.99934335e-01 -1.54235615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:-30.10, Z:-1.54 [[ 8.80286511e-01 4.74335828e-01 1.00588758e-02 1.27545589e+02] [-4.74304056e-01 8.80343977e-01 -5.49037522e-03 -3.00985666e+01] [-1.14595524e-02 6.21376467e-05 9.99934335e-01 -1.54157717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.60, Y:-30.13, Z:-1.54 [[ 8.84399602e-01 4.66622106e-01 1.00575237e-02 1.27599926e+02] [-4.66589805e-01 8.84456773e-01 -5.49285107e-03 -3.01279663e+01] [-1.14585307e-02 1.65137298e-04 9.99934335e-01 -1.53925501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.66, Y:-30.16, Z:-1.54 [[ 8.91651678e-01 4.52610382e-01 1.00561757e-02 1.27655100e+02] [-4.52577155e-01 8.91708316e-01 -5.49531777e-03 -3.01566976e+01] [-1.14544134e-02 3.48713920e-04 9.99934335e-01 -1.53863964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.71, Y:-30.19, Z:-1.54 [[ 8.96264783e-01 4.43405389e-01 1.00548104e-02 1.27711017e+02] [-4.43371552e-01 8.96321059e-01 -5.49781476e-03 -3.01854518e+01] [-1.14500990e-02 4.69480866e-04 9.99934335e-01 -1.53906896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.77, Y:-30.21, Z:-1.54 [[ 9.01935228e-01 4.31754303e-01 1.00532081e-02 1.27766964e+02] [-4.31719708e-01 9.01991040e-01 -5.50074318e-03 -3.02120264e+01] [-1.14428731e-02 6.21146002e-04 9.99934335e-01 -1.54252744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.82, Y:-30.24, Z:-1.54 [[ 9.03651008e-01 4.28151628e-01 1.00518236e-02 1.27822687e+02] [-4.28116782e-01 9.03706664e-01 -5.50327197e-03 -3.02397022e+01] [-1.14401348e-02 6.69682902e-04 9.99934335e-01 -1.54387265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.88, Y:-30.26, Z:-1.55 [[ 9.02700194e-01 4.30152704e-01 1.00504603e-02 1.27882027e+02] [-4.30117954e-01 9.02755910e-01 -5.50576058e-03 -3.02632449e+01] [-1.14414302e-02 6.47167737e-04 9.99934335e-01 -1.54525018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.94, Y:-30.28, Z:-1.54 [[ 8.97785409e-01 4.40318497e-01 1.00489096e-02 1.27940286e+02] [-4.40284346e-01 8.97841495e-01 -5.50858939e-03 -3.02844157e+01] [-1.14478618e-02 5.21153586e-04 9.99934335e-01 -1.54447839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.00, Y:-30.31, Z:-1.54 [[ 8.93490743e-01 4.48969182e-01 1.00481760e-02 1.27998222e+02] [-4.48935560e-01 8.93547147e-01 -5.50992723e-03 -3.03088454e+01] [-1.14523065e-02 4.12085468e-04 9.99934335e-01 -1.54302825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.06, Y:-30.33, Z:-1.54 [[ 8.89007624e-01 4.57782165e-01 1.00466046e-02 1.28055508e+02] [-4.57749070e-01 8.89064339e-01 -5.51279100e-03 -3.03341574e+01] [-1.14557353e-02 3.02089326e-04 9.99934335e-01 -1.54271703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.11, Y:-30.36, Z:-1.54 [[ 8.82821454e-01 4.69601294e-01 1.00451509e-02 1.28114339e+02] [-4.69568929e-01 8.82878588e-01 -5.51543852e-03 -3.03569412e+01] [-1.14587057e-02 1.52256703e-04 9.99934335e-01 -1.54371925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.17, Y:-30.38, Z:-1.55 [[ 8.79265759e-01 4.76225631e-01 1.00436181e-02 1.28171817e+02] [-4.76193664e-01 8.79323117e-01 -5.51822834e-03 -3.03828927e+01] [-1.14595074e-02 6.92819189e-05 9.99934335e-01 -1.54551463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:-30.41, Z:-1.55 [[ 8.75841104e-01 4.82495096e-01 1.00420423e-02 1.28228975e+02] [-4.82463507e-01 8.75898671e-01 -5.52109444e-03 -3.04092186e+01] [-1.14597125e-02 -9.31751210e-06 9.99934335e-01 -1.54625837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.28, Y:-30.44, Z:-1.55 [[ 8.74532635e-01 4.84862722e-01 1.00404559e-02 1.28283250e+02] [-4.84831255e-01 8.74590269e-01 -5.52397797e-03 -3.04382084e+01] [-1.14596560e-02 -3.70278350e-05 9.99934335e-01 -1.54772673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:-30.47, Z:-1.55 [[ 8.74418241e-01 4.85069025e-01 1.00389914e-02 1.28337936e+02] [-4.85037541e-01 8.74475866e-01 -5.52663815e-03 -3.04692145e+01] [-1.14596567e-02 -3.66945111e-05 9.99934335e-01 -1.54937883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.39, Y:-30.50, Z:-1.55 [[ 8.76276772e-01 4.81703507e-01 1.00374407e-02 1.28391144e+02] [-4.81671770e-01 8.76334258e-01 -5.52945307e-03 -3.05036946e+01] [-1.14597101e-02 1.05794373e-05 9.99934335e-01 -1.54925441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:-30.54, Z:-1.55 [[ 8.78141940e-01 4.78294902e-01 1.00358771e-02 1.28444786e+02] [-4.78262910e-01 8.78199284e-01 -5.53228964e-03 -3.05374692e+01] [-1.14595660e-02 5.83477937e-05 9.99934335e-01 -1.54878790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.50, Y:-30.57, Z:-1.55 [[ 8.81426134e-01 4.72215293e-01 1.00343227e-02 1.28497635e+02] [-4.72182872e-01 8.81483237e-01 -5.53510746e-03 -3.05727740e+01] [-1.14588497e-02 1.40753050e-04 9.99934335e-01 -1.54912755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.55, Y:-30.61, Z:-1.55 [[ 8.83066069e-01 4.69141410e-01 1.00327490e-02 1.28551438e+02] [-4.69108758e-01 8.83123040e-01 -5.53795854e-03 -3.06058434e+01] [-1.14582374e-02 1.83932871e-04 9.99934335e-01 -1.55105491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:-30.64, Z:-1.55 [[ 8.85327423e-01 4.64859904e-01 1.00311589e-02 1.28603392e+02] [-4.64826945e-01 8.85384216e-01 -5.54083723e-03 -3.06410168e+01] [-1.14571428e-02 2.42702209e-04 9.99934335e-01 -1.55225110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:-30.67, Z:-1.55 [[ 8.86165531e-01 4.63260250e-01 1.00295596e-02 1.28656005e+02] [-4.63227155e-01 8.86222246e-01 -5.54373058e-03 -3.06733627e+01] [-1.14566089e-02 2.66698596e-04 9.99934335e-01 -1.55267368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:-30.71, Z:-1.55 [[ 8.86589038e-01 4.62449256e-01 1.00280850e-02 1.28709642e+02] [-4.62416080e-01 8.86645705e-01 -5.54639679e-03 -3.07060437e+01] [-1.14562855e-02 2.80226856e-04 9.99934335e-01 -1.55301165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.76, Y:-30.74, Z:-1.55 [[ 8.86888825e-01 4.61874095e-01 1.00265502e-02 1.28763835e+02] [-4.61840850e-01 8.86945452e-01 -5.54916985e-03 -3.07389020e+01] [-1.14560209e-02 2.90826247e-04 9.99934335e-01 -1.55311419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.82, Y:-30.77, Z:-1.55 [[ 8.86802225e-01 4.62040380e-01 1.00250066e-02 1.28817687e+02] [-4.62007115e-01 8.86858840e-01 -5.55195720e-03 -3.07709879e+01] [-1.14559941e-02 2.91863650e-04 9.99934335e-01 -1.55299520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.87, Y:-30.80, Z:-1.55 [[ 8.85081319e-01 4.65328474e-01 1.00234501e-02 1.28871361e+02] [-4.65295387e-01 8.85138039e-01 -5.55476582e-03 -3.08034001e+01] [-1.14569276e-02 2.52554374e-04 9.99934335e-01 -1.55326245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.93, Y:-30.83, Z:-1.56 [[ 8.82995018e-01 4.69275357e-01 1.00218793e-02 1.28925105e+02] [-4.69242491e-01 8.83051866e-01 -5.55759843e-03 -3.08342493e+01] [-1.14578832e-02 2.04640132e-04 9.99934335e-01 -1.55520931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.98, Y:-30.87, Z:-1.56 [[ 8.79409772e-01 4.75960128e-01 1.00204285e-02 1.28979020e+02] [-4.75927665e-01 8.79466851e-01 -5.56021303e-03 -3.08661304e+01] [-1.14590744e-02 1.20706562e-04 9.99934335e-01 -1.55662019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:-30.90, Z:-1.56 [[ 8.77052756e-01 4.80289585e-01 1.00188524e-02 1.29032663e+02] [-4.80257371e-01 8.77109976e-01 -5.56305143e-03 -3.08979357e+01] [-1.14595111e-02 6.74618795e-05 9.99934335e-01 -1.55786896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.09, Y:-30.93, Z:-1.56 [[ 8.74333724e-01 4.85221795e-01 1.00173944e-02 1.29086021e+02] [-4.85189874e-01 8.74391108e-01 -5.56567571e-03 -3.09305495e+01] [-1.14597077e-02 5.91965732e-06 9.99934335e-01 -1.55797706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:-30.96, Z:-1.56 [[ 8.72761759e-01 4.88043640e-01 1.00158210e-02 1.29140201e+02] [-4.88011872e-01 8.72819228e-01 -5.56850559e-03 -3.09635210e+01] [-1.14596749e-02 -2.78608334e-05 9.99934335e-01 -1.55935384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:-31.00, Z:-1.56 [[ 8.71037123e-01 4.91115103e-01 1.00142611e-02 1.29193165e+02] [-4.91083505e-01 8.71094686e-01 -5.57130957e-03 -3.09972924e+01] [-1.14595239e-02 -6.50209750e-05 9.99934335e-01 -1.56138443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:-31.03, Z:-1.56 [[ 8.70011622e-01 4.92929531e-01 1.00126834e-02 1.29244476e+02] [-4.92898021e-01 8.70069233e-01 -5.57414341e-03 -3.10315558e+01] [-1.14593877e-02 -8.56623068e-05 9.99934335e-01 -1.56147044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:-31.07, Z:-1.56 [[ 8.69621069e-01 4.93618246e-01 1.00112283e-02 1.29297658e+02] [-4.93586751e-01 8.69678687e-01 -5.57675561e-03 -3.10655161e+01] [-1.14593402e-02 -9.17454862e-05 9.99934335e-01 -1.56136821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.35, Y:-31.10, Z:-1.56 [[ 8.68745540e-01 4.95157544e-01 1.00096319e-02 1.29349306e+02] [-4.95126118e-01 8.68803197e-01 -5.57961955e-03 -3.10996200e+01] [-1.14591909e-02 -1.08760585e-04 9.99934335e-01 -1.56159573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.40, Y:-31.13, Z:-1.56 [[ 8.68744712e-01 4.95159028e-01 1.00081557e-02 1.29404364e+02] [-4.95127571e-01 8.68802352e-01 -5.58226612e-03 -3.11297961e+01] [-1.14592187e-02 -1.05749661e-04 9.99934335e-01 -1.56333344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.46, Y:-31.16, Z:-1.57 [[ 8.68835990e-01 4.94998881e-01 1.00065648e-02 1.29459830e+02] [-4.94967381e-01 8.68893606e-01 -5.58511646e-03 -3.11586008e+01] [-1.14592666e-02 -1.00372989e-04 9.99934335e-01 -1.56613397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:-31.19, Z:-1.57 [[ 8.69290537e-01 4.94200222e-01 1.00051655e-02 1.29514691e+02] [-4.94168641e-01 8.69348108e-01 -5.58762206e-03 -3.11882425e+01] [-1.14593758e-02 -8.69720558e-05 9.99934335e-01 -1.56812650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:-31.22, Z:-1.57 [[ 8.69553211e-01 4.93737925e-01 1.00037847e-02 1.29569138e+02] [-4.93706284e-01 8.69610750e-01 -5.59009299e-03 -3.12187832e+01] [-1.14594397e-02 -7.80480867e-05 9.99934335e-01 -1.56831364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:-31.25, Z:-1.57 [[ 8.70874298e-01 4.91404022e-01 1.00022201e-02 1.29623680e+02] [-4.91372195e-01 8.70931734e-01 -5.59289122e-03 -3.12489125e+01] [-1.14596201e-02 -4.41076143e-05 9.99934335e-01 -1.56666003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.68, Y:-31.28, Z:-1.57 [[ 8.74454832e-01 4.85003845e-01 1.00008503e-02 1.29677760e+02] [-4.84971570e-01 8.74512018e-01 -5.59533942e-03 -3.12798935e+01] [-1.14596249e-02 4.27435138e-05 9.99934335e-01 -1.56541930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:-31.31, Z:-1.56 [[ 8.78088377e-01 4.78393993e-01 9.99947479e-03 1.29732345e+02] [-4.78361259e-01 8.78145301e-01 -5.59779659e-03 -3.13117862e+01] [-1.14589441e-02 1.31998770e-04 9.99934335e-01 -1.56299907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:-31.34, Z:-1.57 [[ 8.83366855e-01 4.68575547e-01 9.99776844e-03 1.29784761e+02] [-4.68542147e-01 8.83423391e-01 -5.60084251e-03 -3.13432030e+01] [-1.14566803e-02 2.63222747e-04 9.99934335e-01 -1.56558098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:-31.37, Z:-1.57 [[ 8.86530418e-01 4.62562296e-01 9.99696354e-03 1.29840582e+02] [-4.62528496e-01 8.86586716e-01 -5.60227880e-03 -3.13719028e+01] [-1.14545780e-02 3.42710047e-04 9.99934335e-01 -1.56754228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.90, Y:-31.40, Z:-1.57 [[ 8.91648503e-01 4.52617985e-01 9.99535159e-03 1.29895784e+02] [-4.52583526e-01 8.91704399e-01 -5.60515331e-03 -3.14020769e+01] [-1.14498922e-02 4.74095092e-04 9.99934335e-01 -1.56898115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.95, Y:-31.43, Z:-1.57 [[ 8.94276452e-01 4.47403344e-01 9.99375360e-03 1.29950148e+02] [-4.47368527e-01 8.94332126e-01 -5.60800100e-03 -3.14318326e+01] [-1.14467733e-02 5.44212414e-04 9.99934335e-01 -1.56928980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:-31.46, Z:-1.57 [[ 8.95894565e-01 4.44154345e-01 9.99227950e-03 1.30006447e+02] [-4.44119297e-01 8.95950094e-01 -5.61062632e-03 -3.14599375e+01] [-1.14445678e-02 5.88765481e-04 9.99934335e-01 -1.57021272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-31.49, Z:-1.57 [[ 8.95243586e-01 4.45465047e-01 9.99070276e-03 1.30064721e+02] [-4.45430049e-01 8.95299146e-01 -5.61343257e-03 -3.14852164e+01] [-1.14452557e-02 5.75230283e-04 9.99934335e-01 -1.57130379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-31.51, Z:-1.57 [[ 8.92827670e-01 4.50287652e-01 9.98911750e-03 1.30121578e+02] [-4.50252922e-01 8.92883399e-01 -5.61625212e-03 -3.15125110e+01] [-1.14480462e-02 5.16715952e-04 9.99934335e-01 -1.57070125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:-31.54, Z:-1.57 [[ 8.87425900e-01 4.60842188e-01 9.98751851e-03 1.30180165e+02] [-4.60808089e-01 8.87482017e-01 -5.61909421e-03 -3.15367749e+01] [-1.14532587e-02 3.84200409e-04 9.99934335e-01 -1.57135138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:-31.56, Z:-1.57 [[ 8.82751373e-01 4.69734280e-01 9.98593127e-03 1.30236841e+02] [-4.69700716e-01 8.82807811e-01 -5.62191356e-03 -3.15631139e+01] [-1.14564636e-02 2.72352849e-04 9.99934335e-01 -1.57285400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.29, Y:-31.59, Z:-1.57 [[ 8.75143372e-01 4.83760672e-01 9.98446265e-03 1.30294836e+02] [-4.83727983e-01 8.75200322e-01 -5.62452059e-03 -3.15878023e+01] [-1.14593268e-02 9.24979383e-05 9.99934335e-01 -1.57491411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:-31.61, Z:-1.58 [[ 8.68957590e-01 4.94785862e-01 9.98287094e-03 1.30351580e+02] [-4.94753862e-01 8.69014930e-01 -5.62734428e-03 -3.16142532e+01] [-1.14595943e-02 -4.91404320e-05 9.99934335e-01 -1.57746502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-31.64, Z:-1.58 [[ 8.66405617e-01 4.99241105e-01 9.98126622e-03 1.30406996e+02] [-4.99209368e-01 8.66463103e-01 -5.63018915e-03 -3.16442674e+01] [-1.14592207e-02 -1.04714089e-04 9.99934335e-01 -1.57807255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.46, Y:-31.68, Z:-1.58 [[ 8.65779197e-01 5.00326682e-01 9.97967894e-03 1.30461961e+02] [-5.00294984e-01 8.65836704e-01 -5.63300124e-03 -3.16752553e+01] [-1.14591131e-02 -1.15848031e-04 9.99934335e-01 -1.57846802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.51, Y:-31.71, Z:-1.58 [[ 8.66314664e-01 4.99398980e-01 9.97806037e-03 1.30514617e+02] [-4.99367188e-01 8.66372119e-01 -5.63586684e-03 -3.17072749e+01] [-1.14592595e-02 -1.00281857e-04 9.99934336e-01 -1.57885312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.57, Y:-31.74, Z:-1.58 [[ 8.68194004e-01 4.96124611e-01 9.97706138e-03 1.30568276e+02] [-4.96092581e-01 8.68251328e-01 -5.63763479e-03 -3.17406962e+01] [-1.14595662e-02 -5.49854068e-05 9.99934336e-01 -1.58045496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:-31.78, Z:-1.58 [[ 8.71182456e-01 4.90858042e-01 9.97549047e-03 1.30620215e+02] [-4.90825634e-01 8.71239567e-01 -5.64041306e-03 -3.17759706e+01] [-1.14596841e-02 1.76024650e-05 9.99934336e-01 -1.58270782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:-31.81, Z:-1.58 [[ 8.73149298e-01 4.87350822e-01 9.97394403e-03 1.30673462e+02] [-4.87318154e-01 8.73206260e-01 -5.64314630e-03 -3.18103412e+01] [-1.14595024e-02 6.68252399e-05 9.99934336e-01 -1.58417530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:-31.85, Z:-1.59 [[ 8.76615180e-01 4.81088742e-01 9.97241953e-03 1.30725149e+02] [-4.81055636e-01 8.76671888e-01 -5.64583908e-03 -3.18462350e+01] [-1.14586895e-02 1.51939627e-04 9.99934336e-01 -1.58568345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:-31.88, Z:-1.59 [[ 8.79485815e-01 4.75820641e-01 9.97091789e-03 1.30777608e+02] [-4.75787166e-01 8.79542306e-01 -5.64848982e-03 -3.18806901e+01] [-1.14575122e-02 2.23731909e-04 9.99934336e-01 -1.58611859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.83, Y:-31.92, Z:-1.59 [[ 8.84618158e-01 4.66209514e-01 9.97015162e-03 1.30829123e+02] [-4.66175410e-01 8.84674271e-01 -5.64984204e-03 -3.19177124e+01] [-1.14543467e-02 3.50113337e-04 9.99934336e-01 -1.58690299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.88, Y:-31.95, Z:-1.59 [[ 8.87535209e-01 4.60632047e-01 9.96850876e-03 1.30881863e+02] [-4.60597557e-01 8.87591086e-01 -5.65273920e-03 -3.19515606e+01] [-1.14517923e-02 4.25534284e-04 9.99934336e-01 -1.58712597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.94, Y:-31.98, Z:-1.59 [[ 8.90023136e-01 4.55806405e-01 9.96688393e-03 1.30935284e+02] [-4.55771581e-01 8.90078805e-01 -5.65560265e-03 -3.19826013e+01] [-1.14491721e-02 4.90994756e-04 9.99934336e-01 -1.58637668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.99, Y:-32.01, Z:-1.59 [[ 8.91063317e-01 4.53769604e-01 9.96548103e-03 1.30988801e+02] [-4.53734625e-01 8.91118890e-01 -5.65807356e-03 -3.20130455e+01] [-1.14478902e-02 5.20017992e-04 9.99934336e-01 -1.58614267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:-32.04, Z:-1.59 [[ 8.91870745e-01 4.52180598e-01 9.96399903e-03 1.31044147e+02] [-4.52145491e-01 8.91926237e-01 -5.66068219e-03 -3.20422961e+01] [-1.14468028e-02 5.43419606e-04 9.99934336e-01 -1.58662677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.10, Y:-32.07, Z:-1.59 [[ 8.92115985e-01 4.51696601e-01 9.96239137e-03 1.31100944e+02] [-4.51661432e-01 8.92171438e-01 -5.66351014e-03 -3.20704697e+01] [-1.14463493e-02 5.52879970e-04 9.99934336e-01 -1.58809250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:-32.10, Z:-1.59 [[ 8.92329975e-01 4.51273752e-01 9.96077853e-03 1.31158088e+02] [-4.51238526e-01 8.92385391e-01 -5.66634532e-03 -3.20955121e+01] [-1.14459262e-02 5.61562752e-04 9.99934336e-01 -1.59005384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:-32.12, Z:-1.59 [[ 8.93512152e-01 4.48928554e-01 9.95928911e-03 1.31216165e+02] [-4.48893154e-01 8.93567457e-01 -5.66896196e-03 -3.21209822e+01] [-1.14442555e-02 5.94629703e-04 9.99934336e-01 -1.58863169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:-32.15, Z:-1.59 [[ 8.92592821e-01 4.50753703e-01 9.95762260e-03 1.31272334e+02] [-4.50718383e-01 8.92648178e-01 -5.67188769e-03 -3.21482002e+01] [-1.14452780e-02 5.74602681e-04 9.99934336e-01 -1.59080270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:-32.17, Z:-1.59 [[ 8.92442178e-01 4.51051920e-01 9.95608685e-03 1.31329709e+02] [-4.51016588e-01 8.92497527e-01 -5.67458218e-03 -3.21746500e+01] [-1.14453141e-02 5.73876161e-04 9.99934336e-01 -1.59312437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:-32.20, Z:-1.59 [[ 8.90890662e-01 4.54108728e-01 9.95448785e-03 1.31387649e+02] [-4.54073555e-01 8.90946112e-01 -5.67738579e-03 -3.22002622e+01] [-1.14470627e-02 5.37860295e-04 9.99934336e-01 -1.59476276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-32.23, Z:-1.60 [[ 8.88680813e-01 4.58418316e-01 9.95290166e-03 1.31445049e+02] [-4.58383381e-01 8.88736413e-01 -5.68016515e-03 -3.22267158e+01] [-1.14493979e-02 4.85609069e-04 9.99934336e-01 -1.59625501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:-32.25, Z:-1.60 [[ 8.83535554e-01 4.68258366e-01 9.95129105e-03 1.31503524e+02] [-4.68224019e-01 8.83591519e-01 -5.68298543e-03 -3.22517535e+01] [-1.14539818e-02 3.61686191e-04 9.99934336e-01 -1.59837582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:-32.28, Z:-1.60 [[ 8.79296511e-01 4.76170820e-01 9.94968281e-03 1.31560461e+02] [-4.76136945e-01 8.79352763e-01 -5.68579973e-03 -3.22795069e+01] [-1.14566930e-02 2.62092282e-04 9.99934336e-01 -1.59940031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.62, Y:-32.31, Z:-1.60 [[ 8.70964445e-01 4.91245328e-01 9.94805618e-03 1.31616915e+02] [-4.91212394e-01 8.71021253e-01 -5.68864430e-03 -3.23054454e+01] [-1.14594883e-02 6.79984267e-05 9.99934336e-01 -1.60077248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:-32.33, Z:-1.60 [[ 8.63048062e-01 5.05023869e-01 9.94655285e-03 1.31673118e+02] [-5.04991812e-01 8.63105370e-01 -5.69127166e-03 -3.23329502e+01] [-1.14591512e-02 -1.11086765e-04 9.99934336e-01 -1.60156515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.73, Y:-32.36, Z:-1.60 [[ 8.59634421e-01 5.10812843e-01 9.94492325e-03 1.31727920e+02] [-5.10781139e-01 8.59691924e-01 -5.69411780e-03 -3.23631353e+01] [-1.14581987e-02 -1.84819570e-04 9.99934336e-01 -1.60201523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:-32.40, Z:-1.60 [[ 8.59234530e-01 5.11485243e-01 9.94331305e-03 1.31781443e+02] [-5.11453551e-01 8.59292040e-01 -5.69692821e-03 -3.23961031e+01] [-1.14581045e-02 -1.90545339e-04 9.99934336e-01 -1.60327338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.83, Y:-32.43, Z:-1.60 [[ 8.60863821e-01 5.08738286e-01 9.94169908e-03 1.31834040e+02] [-5.08706379e-01 8.60921212e-01 -5.69974335e-03 -3.24300530e+01] [-1.14586973e-02 -1.50702892e-04 9.99934336e-01 -1.60484773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:-32.47, Z:-1.61 [[ 8.64894067e-01 5.01856002e-01 9.94009692e-03 1.31883763e+02] [-5.01823606e-01 8.64951184e-01 -5.70253608e-03 -3.24677487e+01] [-1.14595506e-02 -5.60856489e-05 9.99934336e-01 -1.60589473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.93, Y:-32.50, Z:-1.61 [[ 8.67746082e-01 4.96908400e-01 9.93871176e-03 1.31934695e+02] [-4.96875651e-01 8.67802997e-01 -5.70494920e-03 -3.25029982e+01] [-1.14596810e-02 1.21434455e-05 9.99934336e-01 -1.60745165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:-32.54, Z:-1.61 [[ 8.70724361e-01 4.91670964e-01 9.93728989e-03 1.31984916e+02] [-4.91637844e-01 8.70781061e-01 -5.70742483e-03 -3.25398723e+01] [-1.14593789e-02 8.40460625e-05 9.99934336e-01 -1.60867270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-32.58, Z:-1.61 [[ 8.75207569e-01 4.83645521e-01 9.93587319e-03 1.32033061e+02] [-4.83611853e-01 8.75263945e-01 -5.70989005e-03 -3.25804518e+01] [-1.14580743e-02 1.92232942e-04 9.99934336e-01 -1.60790149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.08, Y:-32.62, Z:-1.61 [[ 8.79166201e-01 4.76411689e-01 9.93446541e-03 1.32082198e+02] [-4.76377530e-01 8.79222280e-01 -5.71233835e-03 -3.26200253e+01] [-1.14560281e-02 2.89538715e-04 9.99934336e-01 -1.60729011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:-32.66, Z:-1.61 [[ 8.81634326e-01 4.71828624e-01 9.93304009e-03 1.32133299e+02] [-4.71794145e-01 8.81690210e-01 -5.71481574e-03 -3.26574804e+01] [-1.14542778e-02 3.52027566e-04 9.99934336e-01 -1.60732028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:-32.69, Z:-1.61 [[ 8.82890070e-01 4.69474698e-01 9.93139351e-03 1.32186332e+02] [-4.69440038e-01 8.82945841e-01 -5.71767578e-03 -3.26920159e+01] [-1.14531867e-02 3.85885423e-04 9.99934336e-01 -1.60798353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:-32.73, Z:-1.61 [[ 8.85354613e-01 4.64810294e-01 9.92976567e-03 1.32237221e+02] [-4.64775309e-01 8.85410181e-01 -5.72050143e-03 -3.27303549e+01] [-1.14508636e-02 4.49562422e-04 9.99934336e-01 -1.60759720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:-32.76, Z:-1.61 [[ 8.83991044e-01 4.67398404e-01 9.92810458e-03 1.32290804e+02] [-4.67363549e-01 8.84046694e-01 -5.72338285e-03 -3.27606208e+01] [-1.14520080e-02 4.19384992e-04 9.99934336e-01 -1.60766921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.34, Y:-32.79, Z:-1.61 [[ 8.80535360e-01 4.73876506e-01 9.92657352e-03 1.32344185e+02] [-4.73842031e-01 8.80591246e-01 -5.72603707e-03 -3.27913794e+01] [-1.14546882e-02 3.38350353e-04 9.99934336e-01 -1.60893558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.40, Y:-32.82, Z:-1.61 [[ 8.78112157e-01 4.78351891e-01 9.92516932e-03 1.32398474e+02] [-4.78317672e-01 8.78168201e-01 -5.72846999e-03 -3.28222647e+01] [-1.14561925e-02 2.82855250e-04 9.99934336e-01 -1.60985739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.45, Y:-32.85, Z:-1.61 [[ 8.75602828e-01 4.82929819e-01 9.92355000e-03 1.32454505e+02] [-4.82895862e-01 8.75659031e-01 -5.73127381e-03 -3.28500151e+01] [-1.14574492e-02 2.26278323e-04 9.99934336e-01 -1.61041675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.51, Y:-32.88, Z:-1.61 [[ 8.74209614e-01 4.85447322e-01 9.92215075e-03 1.32509972e+02] [-4.85413500e-01 8.74265897e-01 -5.73369520e-03 -3.28797130e+01] [-1.14580050e-02 1.96105541e-04 9.99934336e-01 -1.61041507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.56, Y:-32.91, Z:-1.61 [[ 8.71444543e-01 4.90393710e-01 9.92057176e-03 1.32564494e+02] [-4.90360176e-01 8.71500999e-01 -5.73642591e-03 -3.29114146e+01] [-1.14588954e-02 1.34323750e-04 9.99934336e-01 -1.60913083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.62, Y:-32.94, Z:-1.61 [[ 8.69578309e-01 4.93695432e-01 9.91894920e-03 1.32618819e+02] [-4.93662081e-01 8.69634873e-01 -5.73923013e-03 -3.29424619e+01] [-1.14592958e-02 9.41009316e-05 9.99934336e-01 -1.61105257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:-32.97, Z:-1.62 [[ 8.66545337e-01 4.98999826e-01 9.91731965e-03 1.32672005e+02] [-4.98966788e-01 8.66602085e-01 -5.74204459e-03 -3.29730465e+01] [-1.14596491e-02 2.73288257e-05 9.99934336e-01 -1.61566903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:-33.01, Z:-1.62 [[ 8.64603489e-01 5.02356925e-01 9.91601901e-03 1.32726000e+02] [-5.02324082e-01 8.64660349e-01 -5.74428981e-03 -3.30059399e+01] [-1.14596722e-02 -1.45221333e-05 9.99934336e-01 -1.61614592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-33.04, Z:-1.62 [[ 8.62015273e-01 5.06785334e-01 9.91439023e-03 1.32777950e+02] [-5.06752750e-01 8.62072283e-01 -5.74709963e-03 -3.30401157e+01] [-1.14594668e-02 -7.00568625e-05 9.99934336e-01 -1.61638065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.83, Y:-33.07, Z:-1.62 [[ 8.60259798e-01 5.09759566e-01 9.91288327e-03 1.32831795e+02] [-5.09727150e-01 8.60316903e-01 -5.74969774e-03 -3.30731195e+01] [-1.14591845e-02 -1.06631923e-04 9.99934336e-01 -1.61571932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:-33.10, Z:-1.62 [[ 8.57150741e-01 5.14970267e-01 9.91121602e-03 1.32886198e+02] [-5.14938164e-01 8.57208023e-01 -5.75257028e-03 -3.31042514e+01] [-1.14583765e-02 -1.72843515e-04 9.99934336e-01 -1.61650158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.94, Y:-33.14, Z:-1.62 [[ 8.55812588e-01 5.17191081e-01 9.90956806e-03 1.32939411e+02] [-5.17159095e-01 8.55869935e-01 -5.75540772e-03 -3.31352707e+01] [-1.14579469e-02 -1.99272877e-04 9.99934336e-01 -1.61796587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:-33.17, Z:-1.62 [[ 8.56360653e-01 5.16283123e-01 9.90804227e-03 1.32993409e+02] [-5.16251045e-01 8.56417949e-01 -5.75803320e-03 -3.31675246e+01] [-1.14582006e-02 -1.84084102e-04 9.99934336e-01 -1.61838436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:-33.20, Z:-1.62 [[ 8.58870929e-01 5.12096272e-01 9.90639274e-03 1.33047261e+02] [-5.12063882e-01 8.58928049e-01 -5.76086973e-03 -3.31989391e+01] [-1.14589985e-02 -1.24862385e-04 9.99934336e-01 -1.62015195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.10, Y:-33.23, Z:-1.62 [[ 8.61380530e-01 5.07863637e-01 9.90497494e-03 1.33100572e+02] [-5.07830939e-01 8.61437474e-01 -5.76330640e-03 -3.32291215e+01] [-1.14594903e-02 -6.56527997e-05 9.99934336e-01 -1.62078524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.16, Y:-33.26, Z:-1.62 [[ 8.64755727e-01 5.02095050e-01 9.90420313e-03 1.33155406e+02] [-5.02061956e-01 8.64812443e-01 -5.76463244e-03 -3.32605422e+01] [-1.14596715e-02 1.24753128e-05 9.99934336e-01 -1.61895621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.21, Y:-33.29, Z:-1.62 [[ 8.75079442e-01 4.83877989e-01 9.90261681e-03 1.33210924e+02] [-4.83843684e-01 8.75135433e-01 -5.76735617e-03 -3.32894122e+01] [-1.14568276e-02 2.55576226e-04 9.99934336e-01 -1.61586786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:133.26, Y:-33.32, Z:-1.62 [[ 8.80249793e-01 4.74407284e-01 9.90106737e-03 1.33261047e+02] [-4.74372347e-01 8.80305392e-01 -5.77001494e-03 -3.33235759e+01] [-1.14533001e-02 3.82261892e-04 9.99934336e-01 -1.61786880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.32, Y:-33.35, Z:-1.62 [[ 8.87757208e-01 4.60205532e-01 9.89987544e-03 1.33316357e+02] [-4.60169684e-01 8.87812224e-01 -5.77205927e-03 -3.33515734e+01] [-1.14455640e-02 5.68564664e-04 9.99934336e-01 -1.61646312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:-33.38, Z:-1.62 [[ 8.90515624e-01 4.54844967e-01 9.89843457e-03 1.33372916e+02] [-4.54808761e-01 8.90570405e-01 -5.77452913e-03 -3.33803419e+01] [-1.14417684e-02 6.40413649e-04 9.99934336e-01 -1.61743077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.43, Y:-33.41, Z:-1.62 [[ 8.89674610e-01 4.56487833e-01 9.89678891e-03 1.33428183e+02] [-4.56451697e-01 8.89729437e-01 -5.77734820e-03 -3.34083659e+01] [-1.14427536e-02 6.22553918e-04 9.99934336e-01 -1.61955562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:-33.43, Z:-1.62 [[ 8.86887553e-01 4.61879368e-01 9.89537276e-03 1.33487412e+02] [-4.61843538e-01 8.86942580e-01 -5.77977275e-03 -3.34312626e+01] [-1.14461852e-02 5.55894541e-04 9.99934336e-01 -1.62224295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.54, Y:-33.46, Z:-1.62 [[ 8.84714690e-01 4.66027930e-01 9.89371659e-03 1.33543718e+02] [-4.65992327e-01 8.84769864e-01 -5.78260636e-03 -3.34584086e+01] [-1.14485184e-02 5.05560777e-04 9.99934336e-01 -1.62276138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.60, Y:-33.49, Z:-1.62 [[ 8.82368471e-01 4.70455127e-01 9.89218844e-03 1.33600222e+02] [-4.70419771e-01 8.82423804e-01 -5.78521936e-03 -3.34857463e+01] [-1.14507887e-02 4.51214133e-04 9.99934336e-01 -1.61847474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.66, Y:-33.51, Z:-1.62 [[ 8.81061674e-01 4.72897980e-01 9.89072872e-03 1.33655856e+02] [-4.72862750e-01 8.81117088e-01 -5.78771391e-03 -3.35128551e+01] [-1.14518883e-02 4.22375725e-04 9.99934336e-01 -1.61824743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:-33.54, Z:-1.62 [[ 8.79387919e-01 4.76003237e-01 9.88969723e-03 1.33713709e+02] [-4.75968183e-01 8.79443444e-01 -5.78947592e-03 -3.35386682e+01] [-1.14532387e-02 3.84013962e-04 9.99934336e-01 -1.61843662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:-33.57, Z:-1.62 [[ 8.77996702e-01 4.78564538e-01 9.88807894e-03 1.33769835e+02] [-4.78529615e-01 8.78052309e-01 -5.79223853e-03 -3.35678545e+01] [-1.14542105e-02 3.53827720e-04 9.99934336e-01 -1.61876932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:-33.59, Z:-1.62 [[ 8.75965901e-01 4.82271706e-01 9.88645910e-03 1.33827991e+02] [-4.82236987e-01 8.76021636e-01 -5.79500204e-03 -3.35925959e+01] [-1.14555176e-02 3.08607930e-04 9.99934336e-01 -1.62183166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.88, Y:-33.62, Z:-1.62 [[ 8.72718733e-01 4.88123248e-01 9.88473622e-03 1.33882117e+02] [-4.88088870e-01 8.72774678e-01 -5.79793932e-03 -3.36225803e+01] [-1.14572565e-02 2.35340528e-04 9.99934336e-01 -1.62257248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.94, Y:-33.65, Z:-1.62 [[ 8.70518040e-01 4.92037260e-01 9.88315028e-03 1.33937838e+02] [-4.92003103e-01 8.70574121e-01 -5.80064145e-03 -3.36524141e+01] [-1.14581466e-02 1.87022419e-04 9.99934336e-01 -1.62316303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:-33.68, Z:-1.62 [[ 8.68651751e-01 4.95324632e-01 9.88150917e-03 1.33993036e+02] [-4.95290655e-01 8.68707941e-01 -5.80343577e-03 -3.36829987e+01] [-1.14587302e-02 1.46945492e-04 9.99934336e-01 -1.62433727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.05, Y:-33.71, Z:-1.63 [[ 8.66488440e-01 4.99099359e-01 9.87988305e-03 1.34048232e+02] [-4.99065596e-01 8.66544759e-01 -5.80620280e-03 -3.37125105e+01] [-1.14592330e-02 1.00297893e-04 9.99934336e-01 -1.62636012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:-33.74, Z:-1.63 [[ 8.65701174e-01 5.00463682e-01 9.87824117e-03 1.34102967e+02] [-5.00429975e-01 8.65757527e-01 -5.80899482e-03 -3.37444534e+01] [-1.14593526e-02 8.54856516e-05 9.99934336e-01 -1.62787691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:-33.78, Z:-1.63 [[ 8.65148946e-01 5.01417743e-01 9.87661664e-03 1.34156180e+02] [-5.01384067e-01 8.65205317e-01 -5.81175558e-03 -3.37772218e+01] [-1.14594186e-02 7.60559958e-05 9.99934336e-01 -1.62901132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.21, Y:-33.81, Z:-1.63 [[ 8.64852130e-01 5.01929555e-01 9.87499822e-03 1.34209779e+02] [-5.01895880e-01 8.64908502e-01 -5.81450421e-03 -3.38106269e+01] [-1.14594414e-02 7.24654202e-05 9.99934336e-01 -1.63008214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:-33.84, Z:-1.63 [[ 8.64219546e-01 5.03017984e-01 9.87339685e-03 1.34262192e+02] [-5.02984349e-01 8.64275942e-01 -5.81722217e-03 -3.38436840e+01] [-1.14595067e-02 6.11930126e-05 9.99934336e-01 -1.63100561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.31, Y:-33.88, Z:-1.63 [[ 8.63116852e-01 5.04907758e-01 9.87196679e-03 1.34314271e+02] [-5.04874219e-01 8.63173305e-01 -5.81964800e-03 -3.38796885e+01] [-1.14596036e-02 3.89347430e-05 9.99934336e-01 -1.63136534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.37, Y:-33.91, Z:-1.63 [[ 8.62309588e-01 5.06285247e-01 9.87032293e-03 1.34366824e+02] [-5.06251766e-01 8.62366076e-01 -5.82243471e-03 -3.39143290e+01] [-1.14596444e-02 2.38728616e-05 9.99934336e-01 -1.63108407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:-33.95, Z:-1.63 [[ 8.61699199e-01 5.07323466e-01 9.86866895e-03 1.34418516e+02] [-5.07290022e-01 8.61755708e-01 -5.82523675e-03 -3.39496670e+01] [-1.14596611e-02 1.33245588e-05 9.99934336e-01 -1.63207350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:-33.99, Z:-1.63 [[ 8.61394200e-01 5.07841189e-01 9.86702270e-03 1.34469894e+02] [-5.07807747e-01 8.61450710e-01 -5.82802391e-03 -3.39851632e+01] [-1.14596643e-02 9.67543287e-06 9.99934336e-01 -1.63247864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:-34.02, Z:-1.63 [[ 8.60997656e-01 5.08513223e-01 9.86600784e-03 1.34520266e+02] [-5.08479805e-01 8.61054181e-01 -5.82974140e-03 -3.40233917e+01] [-1.14596679e-02 2.72793858e-06 9.99934336e-01 -1.63146941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:-34.06, Z:-1.63 [[ 8.61328336e-01 5.07952942e-01 9.86438776e-03 1.34570268e+02] [-5.07919456e-01 8.61384820e-01 -5.83248144e-03 -3.40602091e+01] [-1.14596600e-02 1.33670699e-05 9.99934336e-01 -1.63340468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:-34.10, Z:-1.64 [[ 8.62290167e-01 5.06318469e-01 9.86289076e-03 1.34621967e+02] [-5.06284847e-01 8.62346570e-01 -5.83501181e-03 -3.40960014e+01] [-1.14596043e-02 3.80411712e-05 9.99934336e-01 -1.63521532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:-34.13, Z:-1.64 [[ 8.64000262e-01 5.03394777e-01 9.86131722e-03 1.34673165e+02] [-5.03360933e-01 8.64056533e-01 -5.83766990e-03 -3.41328113e+01] [-1.14593881e-02 7.99464862e-05 9.99934336e-01 -1.63512325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-34.17, Z:-1.64 [[ 8.68266758e-01 4.95999620e-01 9.85969414e-03 1.34721262e+02] [-4.95965267e-01 8.68322719e-01 -5.84040997e-03 -3.41709701e+01] [-1.14582376e-02 1.80967991e-04 9.99934336e-01 -1.63535335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.77, Y:-34.21, Z:-1.64 [[ 8.71447351e-01 4.90389963e-01 9.85892707e-03 1.34771084e+02] [-4.90355235e-01 8.71503080e-01 -5.84170453e-03 -3.42075410e+01] [-1.14567986e-02 2.56361439e-04 9.99934336e-01 -1.63505366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:-34.25, Z:-1.63 [[ 8.74577883e-01 4.84784856e-01 9.85745965e-03 1.34820728e+02] [-4.84749743e-01 8.74633370e-01 -5.84417966e-03 -3.42464055e+01] [-1.14548330e-02 3.32789248e-04 9.99934336e-01 -1.63317211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.87, Y:-34.28, Z:-1.63 [[ 8.74869679e-01 4.84258096e-01 9.85602039e-03 1.34872817e+02] [-4.84222922e-01 8.74925128e-01 -5.84660591e-03 -3.42821763e+01] [-1.14545461e-02 3.42507244e-04 9.99934336e-01 -1.63419591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:-34.32, Z:-1.64 [[ 8.71595366e-01 4.90126931e-01 9.85438039e-03 1.34924693e+02] [-4.90092099e-01 8.71651031e-01 -5.84936881e-03 -3.43156364e+01] [-1.14565140e-02 2.68728785e-04 9.99934336e-01 -1.63647876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:-34.35, Z:-1.64 [[ 8.67381935e-01 4.97545475e-01 9.85286848e-03 1.34978476e+02] [-4.97511090e-01 8.67437877e-01 -5.85191441e-03 -3.43477915e+01] [-1.14583449e-02 1.73933499e-04 9.99934336e-01 -1.63773317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-34.38, Z:-1.64 [[ 8.61501888e-01 5.07658793e-01 9.85127151e-03 1.35032460e+02] [-5.07625034e-01 8.61558210e-01 -5.85460156e-03 -3.43802796e+01] [-1.14595838e-02 4.29982548e-05 9.99934336e-01 -1.63936029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-34.41, Z:-1.64 [[ 8.58346423e-01 5.12976026e-01 9.84961432e-03 1.35086031e+02] [-5.12942584e-01 8.58402933e-01 -5.85738824e-03 -3.44105726e+01] [-1.14596376e-02 -2.46183834e-05 9.99934336e-01 -1.64108218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:-34.44, Z:-1.64 [[ 8.57486368e-01 5.14412426e-01 9.84807301e-03 1.35140876e+02] [-5.14379049e-01 8.57542917e-01 -5.85997852e-03 -3.44410576e+01] [-1.14595910e-02 -4.07907238e-05 9.99934336e-01 -1.64300577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:-34.47, Z:-1.64 [[ 8.56876043e-01 5.15428458e-01 9.84644116e-03 1.35194886e+02] [-5.15395117e-01 8.56932612e-01 -5.86271920e-03 -3.44706077e+01] [-1.14595489e-02 -5.11840641e-05 9.99934336e-01 -1.64492311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:-34.50, Z:-1.65 [[ 8.56302916e-01 5.16380076e-01 9.84544513e-03 1.35249364e+02] [-5.16346778e-01 8.56359512e-01 -5.86439139e-03 -3.45027186e+01] [-1.14594955e-02 -6.19684187e-05 9.99934336e-01 -1.64544667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:-34.53, Z:-1.65 [[ 8.55998921e-01 5.16883880e-01 9.84387781e-03 1.35303996e+02] [-5.16850586e-01 8.56055518e-01 -5.86702110e-03 -3.45334731e+01] [-1.14594745e-02 -6.56502788e-05 9.99934336e-01 -1.64677508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.36, Y:-34.57, Z:-1.65 [[ 8.56336202e-01 5.16324935e-01 9.84233042e-03 1.35358020e+02] [-5.16291573e-01 8.56392760e-01 -5.86961581e-03 -3.45658538e+01] [-1.14595295e-02 -5.51477507e-05 9.99934336e-01 -1.64813668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.41, Y:-34.60, Z:-1.65 [[ 8.56923709e-01 5.15349315e-01 9.84079813e-03 1.35411857e+02] [-5.15315859e-01 8.56980211e-01 -5.87218366e-03 -3.45987631e+01] [-1.14595951e-02 -3.91059471e-05 9.99934336e-01 -1.64942794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.46, Y:-34.63, Z:-1.65 [[ 8.58169673e-01 5.13271859e-01 9.83928371e-03 1.35463663e+02] [-5.13238238e-01 8.58226077e-01 -5.87472009e-03 -3.46309527e+01] [-1.14596584e-02 -8.39001098e-06 9.99934336e-01 -1.65116800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:-34.66, Z:-1.65 [[ 8.59924049e-01 5.10327182e-01 9.83854860e-03 1.35517684e+02] [-5.10293353e-01 8.59980329e-01 -5.87595095e-03 -3.46617844e+01] [-1.14596157e-02 3.23255795e-05 9.99934336e-01 -1.65316947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:-34.69, Z:-1.65 [[ 8.60705062e-01 5.09008866e-01 9.83717453e-03 1.35572111e+02] [-5.08974925e-01 8.60761274e-01 -5.87825043e-03 -3.46934221e+01] [-1.14595405e-02 5.25647345e-05 9.99934336e-01 -1.65375570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:-34.72, Z:-1.65 [[ 8.63096795e-01 5.04942750e-01 9.83571837e-03 1.35626534e+02] [-5.04908516e-01 8.63152830e-01 -5.88068593e-03 -3.47247289e+01] [-1.14591379e-02 1.09463209e-04 9.99934336e-01 -1.65318026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:-34.76, Z:-1.65 [[ 8.69539476e-01 4.93765518e-01 9.83427695e-03 1.35680481e+02] [-4.93730537e-01 8.69595047e-01 -5.88309542e-03 -3.47578433e+01] [-1.14567082e-02 2.60100868e-04 9.99934336e-01 -1.65168235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:-34.79, Z:-1.65 [[ 8.73953571e-01 4.85909942e-01 9.83279618e-03 1.35733474e+02] [-4.85874434e-01 8.74008807e-01 -5.88556929e-03 -3.47889013e+01] [-1.14538071e-02 3.66210013e-04 9.99934336e-01 -1.65181492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:-34.82, Z:-1.65 [[ 8.79373011e-01 4.76031982e-01 9.83151905e-03 1.35787969e+02] [-4.75995831e-01 8.79427828e-01 -5.88770189e-03 -3.48175919e+01] [-1.14488458e-02 4.97724059e-04 9.99934336e-01 -1.65387469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.84, Y:-34.85, Z:-1.65 [[ 8.82309106e-01 4.70567750e-01 9.83022883e-03 1.35844055e+02] [-4.70531235e-01 8.82363681e-01 -5.88985529e-03 -3.48461051e+01] [-1.14454128e-02 5.71243245e-04 9.99934336e-01 -1.65313940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:-34.88, Z:-1.65 [[ 8.82365899e-01 4.70461284e-01 9.82852654e-03 1.35899140e+02] [-4.70424731e-01 8.82420449e-01 -5.89269456e-03 -3.48752157e+01] [-1.14451775e-02 5.75930780e-04 9.99934336e-01 -1.65309033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:-34.90, Z:-1.65 [[ 8.80232167e-01 4.74441516e-01 9.82747920e-03 1.35955892e+02] [-4.74405191e-01 8.80286868e-01 -5.89444073e-03 -3.49029378e+01] [-1.14475683e-02 5.26269198e-04 9.99934336e-01 -1.65222619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.01, Y:-34.93, Z:-1.65 [[ 8.78181869e-01 4.78225950e-01 9.82579147e-03 1.36011178e+02] [-4.78189829e-01 8.78236705e-01 -5.89725278e-03 -3.49314785e+01] [-1.14495900e-02 4.80266925e-04 9.99934336e-01 -1.65274803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.07, Y:-34.96, Z:-1.65 [[ 8.75388393e-01 4.83320437e-01 9.82423304e-03 1.36068228e+02] [-4.83284606e-01 8.75443420e-01 -5.89984783e-03 -3.49577058e+01] [-1.14520772e-02 4.16757714e-04 9.99934336e-01 -1.65321712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:-34.99, Z:-1.65 [[ 8.73944032e-01 4.85927304e-01 9.82258392e-03 1.36124712e+02] [-4.85891607e-01 8.73999145e-01 -5.90259214e-03 -3.49864585e+01] [-1.14531606e-02 3.85824094e-04 9.99934336e-01 -1.65277164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.18, Y:-35.02, Z:-1.65 [[ 8.72852439e-01 4.87885406e-01 9.82094102e-03 1.36181055e+02] [-4.87849801e-01 8.72907612e-01 -5.90532439e-03 -3.50157074e+01] [-1.14538958e-02 3.63332675e-04 9.99934336e-01 -1.65194298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:-35.04, Z:-1.65 [[ 8.71812668e-01 4.89741008e-01 9.81925937e-03 1.36238158e+02] [-4.89705489e-01 8.71867896e-01 -5.90811929e-03 -3.50434432e+01] [-1.14545453e-02 3.42228031e-04 9.99934336e-01 -1.65296176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.29, Y:-35.07, Z:-1.66 [[ 8.70710246e-01 4.91698365e-01 9.81759196e-03 1.36293894e+02] [-4.91662939e-01 8.70765534e-01 -5.91088875e-03 -3.50723416e+01] [-1.14551950e-02 3.19725275e-04 9.99934336e-01 -1.65562789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:136.35, Y:-35.10, Z:-1.67 [[ 8.69362702e-01 4.94077058e-01 9.81594289e-03 1.36351431e+02] [-4.94041753e-01 8.69418067e-01 -5.91362601e-03 -3.50980477e+01] [-1.14559450e-02 2.91600253e-04 9.99934336e-01 -1.66514091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.41, Y:-35.13, Z:-1.66 [[ 8.65505197e-01 5.00803790e-01 9.81416155e-03 1.36405867e+02] [-5.00768881e-01 8.65560813e-01 -5.91658081e-03 -3.51276330e+01] [-1.14577998e-02 2.06204741e-04 9.99934336e-01 -1.66287150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.46, Y:-35.16, Z:-1.66 [[ 8.62272989e-01 5.06348699e-01 9.81261437e-03 1.36457456e+02] [-5.06314119e-01 8.62328810e-01 -5.91914569e-03 -3.51609779e+01] [-1.14588518e-02 1.35654241e-04 9.99934336e-01 -1.66193359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:-35.19, Z:-1.66 [[ 8.59326345e-01 5.11333525e-01 9.81119992e-03 1.36510465e+02] [-5.11299242e-01 8.59382349e-01 -5.92148927e-03 -3.51947041e+01] [-1.14594280e-02 7.20326569e-05 9.99934336e-01 -1.66038981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.56, Y:-35.23, Z:-1.66 [[ 8.57366091e-01 5.14613603e-01 9.80950676e-03 1.36563697e+02] [-5.14579502e-01 8.57422206e-01 -5.92429283e-03 -3.52277272e+01] [-1.14596106e-02 3.15166781e-05 9.99934336e-01 -1.66107541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:-35.26, Z:-1.66 [[ 8.56115366e-01 5.16691675e-01 9.80783602e-03 1.36615348e+02] [-5.16657679e-01 8.56171544e-01 -5.92705748e-03 -3.52614147e+01] [-1.14596514e-02 6.95119272e-06 9.99934336e-01 -1.66101268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:-35.30, Z:-1.66 [[ 8.55931585e-01 5.16996092e-01 9.80629185e-03 1.36666901e+02] [-5.16962086e-01 8.55987758e-01 -5.92961120e-03 -3.52979424e+01] [-1.14596516e-02 5.86042036e-06 9.99934336e-01 -1.66019681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.72, Y:-35.33, Z:-1.66 [[ 8.57155327e-01 5.14964674e-01 9.80457485e-03 1.36718217e+02] [-5.14930503e-01 8.57211399e-01 -5.93244891e-03 -3.53328023e+01] [-1.14595949e-02 3.63555228e-05 9.99934336e-01 -1.66196556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-35.37, Z:-1.66 [[ 8.61166734e-01 5.08228057e-01 9.80299006e-03 1.36768569e+02] [-5.08193418e-01 8.61222518e-01 -5.93506652e-03 -3.53685284e+01] [-1.14589231e-02 1.29266828e-04 9.99934336e-01 -1.66331545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:-35.41, Z:-1.66 [[ 8.65949010e-01 5.00036233e-01 9.80197116e-03 1.36819390e+02] [-5.00001047e-01 8.66004451e-01 -5.93674879e-03 -3.54063869e+01] [-1.14571401e-02 2.39925891e-04 9.99934336e-01 -1.66132553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:-35.44, Z:-1.66 [[ 8.68680723e-01 4.95275434e-01 9.80030425e-03 1.36871130e+02] [-4.95239913e-01 8.68735950e-01 -5.93949923e-03 -3.54419247e+01] [-1.14555647e-02 3.06026654e-04 9.99934336e-01 -1.66101011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.92, Y:-35.48, Z:-1.66 [[ 8.70687436e-01 4.91739133e-01 9.79866297e-03 1.36923591e+02] [-4.91703357e-01 8.70742499e-01 -5.94220568e-03 -3.54767409e+01] [-1.14541273e-02 3.55768354e-04 9.99934336e-01 -1.66154646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.98, Y:-35.51, Z:-1.66 [[ 8.72536150e-01 4.88451313e-01 9.79701602e-03 1.36976101e+02] [-4.88415299e-01 8.72591057e-01 -5.94491980e-03 -3.55120024e+01] [-1.14525924e-02 4.02144930e-04 9.99934336e-01 -1.66257997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.03, Y:-35.55, Z:-1.66 [[ 8.73433724e-01 4.86844514e-01 9.79537483e-03 1.37028835e+02] [-4.86808369e-01 8.73488545e-01 -5.94762274e-03 -3.55465580e+01] [-1.14517152e-02 4.26383834e-04 9.99934336e-01 -1.66267027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-35.58, Z:-1.66 [[ 8.74085670e-01 4.85673064e-01 9.79371639e-03 1.37082995e+02] [-4.85636816e-01 8.74140422e-01 -5.95035238e-03 -3.55792955e+01] [-1.14510092e-02 4.44928499e-04 9.99934336e-01 -1.66443051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:-35.61, Z:-1.67 [[ 8.74370981e-01 4.85159256e-01 9.79202464e-03 1.37136929e+02] [-4.85122944e-01 8.74425691e-01 -5.95313505e-03 -3.56120229e+01] [-1.14506165e-02 4.54912705e-04 9.99934336e-01 -1.66507226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.19, Y:-35.64, Z:-1.66 [[ 8.75253370e-01 4.83565599e-01 9.79032434e-03 1.37191329e+02] [-4.83529156e-01 8.75307993e-01 -5.95593000e-03 -3.56441269e+01] [-1.14496320e-02 4.79040541e-04 9.99934336e-01 -1.66479632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.25, Y:-35.68, Z:-1.66 [[ 8.76018541e-01 4.82178078e-01 9.78860877e-03 1.37246365e+02] [-4.82141517e-01 8.76073085e-01 -5.95874822e-03 -3.56752761e+01] [-1.14487144e-02 5.00479238e-04 9.99934336e-01 -1.66428432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.30, Y:-35.71, Z:-1.66 [[ 8.77065494e-01 4.80271106e-01 9.78690496e-03 1.37301523e+02] [-4.80234396e-01 8.77119938e-01 -5.96154531e-03 -3.57062885e+01] [-1.14474474e-02 5.28657294e-04 9.99934336e-01 -1.66460101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.36, Y:-35.73, Z:-1.67 [[ 8.80232838e-01 4.74441146e-01 9.78522433e-03 1.37358782e+02] [-4.74404045e-01 8.80287015e-01 -5.96430260e-03 -3.57340236e+01] [-1.14435165e-02 6.07825003e-04 9.99934336e-01 -1.66593344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.41, Y:-35.77, Z:-1.67 [[ 8.79585326e-01 4.75640555e-01 9.78346026e-03 1.37411278e+02] [-4.75603496e-01 8.79639533e-01 -5.96719488e-03 -3.57660410e+01] [-1.14441583e-02 5.95609159e-04 9.99934336e-01 -1.66619373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.47, Y:-35.79, Z:-1.67 [[ 8.79656717e-01 4.75508544e-01 9.78184459e-03 1.37467302e+02] [-4.75471447e-01 8.79710898e-01 -5.96984221e-03 -3.57944666e+01] [-1.14439063e-02 6.00424000e-04 9.99934336e-01 -1.66900588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:-35.82, Z:-1.67 [[ 8.78790001e-01 4.77108458e-01 9.78023358e-03 1.37523581e+02] [-4.77071431e-01 8.78844229e-01 -5.97248032e-03 -3.58209655e+01] [-1.14448227e-02 5.82685964e-04 9.99934336e-01 -1.67177384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:-35.85, Z:-1.67 [[ 8.77887247e-01 4.78767540e-01 9.77874475e-03 1.37579455e+02] [-4.78730587e-01 8.77941527e-01 -5.97491699e-03 -3.58508223e+01] [-1.14457624e-02 5.63919212e-04 9.99934336e-01 -1.67341021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:-35.88, Z:-1.68 [[ 8.75743319e-01 4.82677994e-01 9.77717842e-03 1.37637091e+02] [-4.82641256e-01 8.75797744e-01 -5.97747899e-03 -3.58774358e+01] [-1.14480284e-02 5.15867617e-04 9.99934336e-01 -1.67568925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.69, Y:-35.91, Z:-1.68 [[ 8.72404429e-01 4.88686966e-01 9.77550903e-03 1.37693377e+02] [-4.88650572e-01 8.72459085e-01 -5.98020784e-03 -3.59058267e+01] [-1.14511813e-02 4.40351726e-04 9.99934336e-01 -1.67533050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.75, Y:-35.94, Z:-1.68 [[ 8.69298762e-01 4.94190382e-01 9.77385156e-03 1.37749495e+02] [-4.94154304e-01 8.69353627e-01 -5.98291555e-03 -3.59354824e+01] [-1.14536326e-02 3.71150262e-04 9.99934336e-01 -1.67532321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-35.96, Z:-1.68 [[ 8.63394719e-01 5.04434400e-01 9.77216077e-03 1.37806821e+02] [-5.04398942e-01 8.63449986e-01 -5.98567590e-03 -3.59617797e+01] [-1.14571529e-02 2.38933406e-04 9.99934336e-01 -1.67601655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.86, Y:-35.99, Z:-1.68 [[ 8.58880990e-01 5.12082009e-01 9.77047686e-03 1.37862183e+02] [-5.12047011e-01 8.58936550e-01 -5.98842331e-03 -3.59912986e+01] [-1.14587835e-02 1.40399466e-04 9.99934336e-01 -1.67676166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.92, Y:-36.02, Z:-1.68 [[ 8.52872809e-01 5.22027339e-01 9.76879360e-03 1.37917648e+02] [-5.21992959e-01 8.52928752e-01 -5.99116791e-03 -3.60211432e+01] [-1.14596384e-02 1.04627267e-05 9.99934336e-01 -1.67809236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.97, Y:-36.05, Z:-1.68 [[ 8.49589665e-01 5.27353776e-01 9.76712927e-03 1.37971823e+02] [-5.27319715e-01 8.49645804e-01 -5.99387997e-03 -3.60525848e+01] [-1.14594956e-02 -5.80613505e-05 9.99934336e-01 -1.68052545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:-36.09, Z:-1.68 [[ 8.47401068e-01 5.30863511e-01 9.76540795e-03 1.38025410e+02] [-5.30829650e-01 8.47457328e-01 -5.99668309e-03 -3.60857017e+01] [-1.14591868e-02 -1.02172428e-04 9.99934336e-01 -1.68265060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.08, Y:-36.12, Z:-1.68 [[ 8.46123510e-01 5.32897435e-01 9.76367153e-03 1.38075747e+02] [-5.32863677e-01 8.46179832e-01 -5.99950896e-03 -3.61220733e+01] [-1.14589449e-02 -1.26380338e-04 9.99934336e-01 -1.68362868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:-36.16, Z:-1.69 [[ 8.45972002e-01 5.33137950e-01 9.76206845e-03 1.38126799e+02] [-5.33104178e-01 8.46028315e-01 -6.00211626e-03 -3.61593113e+01] [-1.14589423e-02 -1.26577167e-04 9.99934336e-01 -1.68500147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.18, Y:-36.20, Z:-1.69 [[ 8.46547246e-01 5.32224102e-01 9.76035798e-03 1.38176042e+02] [-5.32190237e-01 8.46603504e-01 -6.00489647e-03 -3.61986997e+01] [-1.14591039e-02 -1.10938658e-04 9.99934336e-01 -1.68738025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.22, Y:-36.24, Z:-1.69 [[ 8.47770347e-01 5.30273710e-01 9.75866369e-03 1.38224505e+02] [-5.30239684e-01 8.47826507e-01 -6.00764862e-03 -3.62398243e+01] [-1.14593519e-02 -8.13243914e-05 9.99934336e-01 -1.68775873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.27, Y:-36.28, Z:-1.69 [[ 8.48955434e-01 5.28374368e-01 9.75697235e-03 1.38274397e+02] [-5.28340185e-01 8.49011498e-01 -6.01039426e-03 -3.62791633e+01] [-1.14595200e-02 -5.24437096e-05 9.99934336e-01 -1.68732918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:-36.32, Z:-1.69 [[ 8.50370371e-01 5.26094162e-01 9.75527235e-03 1.38324233e+02] [-5.26059797e-01 8.50426324e-01 -6.01315220e-03 -3.63181587e+01] [-1.14596247e-02 -1.84501256e-05 9.99934336e-01 -1.68722726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.37, Y:-36.36, Z:-1.69 [[ 8.53505329e-01 5.20992822e-01 9.75357574e-03 1.38371900e+02] [-5.20958091e-01 8.53561056e-01 -6.01590292e-03 -3.63599477e+01] [-1.14595147e-02 5.34010054e-05 9.99934336e-01 -1.68857454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:-36.40, Z:-1.69 [[ 8.55968900e-01 5.16935337e-01 9.75190675e-03 1.38420917e+02] [-5.16900310e-01 8.56024442e-01 -6.01860717e-03 -3.64000864e+01] [-1.14591013e-02 1.10976930e-04 9.99934336e-01 -1.68882188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.47, Y:-36.44, Z:-1.69 [[ 8.60521668e-01 5.09320519e-01 9.75024742e-03 1.38467004e+02] [-5.09284971e-01 8.60576878e-01 -6.02129411e-03 -3.64423735e+01] [-1.14576061e-02 2.15799580e-04 9.99934336e-01 -1.69107502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.52, Y:-36.48, Z:-1.69 [[ 8.64231515e-01 5.02999848e-01 9.74892210e-03 1.38516631e+02] [-5.02963872e-01 8.64286446e-01 -6.02343915e-03 -3.64817482e+01] [-1.14556502e-02 3.02290333e-04 9.99934336e-01 -1.69205503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:-36.52, Z:-1.69 [[ 8.69456083e-01 4.93914071e-01 9.74730365e-03 1.38564888e+02] [-4.93877492e-01 8.69510615e-01 -6.02605703e-03 -3.65219159e+01] [-1.14517384e-02 4.25418057e-04 9.99934336e-01 -1.69201425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.62, Y:-36.55, Z:-1.69 [[ 8.70294726e-01 4.92434879e-01 9.74581095e-03 1.38617863e+02] [-4.92398180e-01 8.70349177e-01 -6.02847018e-03 -3.65549672e+01] [-1.14508875e-02 4.47726226e-04 9.99934336e-01 -1.69194905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497628 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:-36.59, Z:-1.69 [[ 8.71908303e-01 4.89572223e-01 9.74424819e-03 1.38671034e+02] [-4.89535317e-01 8.71962614e-01 -6.03099512e-03 -3.65869384e+01] [-1.14492278e-02 4.88321085e-04 9.99934336e-01 -1.69382886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.72, Y:-36.62, Z:-1.69 [[ 8.73010477e-01 4.87604128e-01 9.74275089e-03 1.38724255e+02] [-4.87567074e-01 8.73064686e-01 -6.03341297e-03 -3.66181658e+01] [-1.14479688e-02 5.16988193e-04 9.99934336e-01 -1.69206621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:-36.65, Z:-1.69 [[ 8.75463876e-01 4.83185379e-01 9.74124310e-03 1.38779671e+02] [-4.83148023e-01 8.75517879e-01 -6.03584637e-03 -3.66471996e+01] [-1.14450652e-02 5.77703113e-04 9.99934336e-01 -1.69415434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.84, Y:-36.68, Z:-1.69 [[ 8.76159858e-01 4.81922240e-01 9.73951833e-03 1.38835565e+02] [-4.81884776e-01 8.76213785e-01 -6.03862821e-03 -3.66754852e+01] [-1.14440495e-02 5.97478032e-04 9.99934336e-01 -1.69484690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:-36.71, Z:-1.69 [[ 8.74692695e-01 4.84580092e-01 9.73779511e-03 1.38889178e+02] [-4.84542761e-01 8.74746714e-01 -6.04140577e-03 -3.67062912e+01] [-1.14456492e-02 5.65995367e-04 9.99934336e-01 -1.69391082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:-36.73, Z:-1.70 [[ 8.71604752e-01 4.90112601e-01 9.73620428e-03 1.38945626e+02] [-4.90075585e-01 8.71658988e-01 -6.04396843e-03 -3.67341700e+01] [-1.14488751e-02 4.96475603e-04 9.99934336e-01 -1.69580263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:-36.76, Z:-1.70 [[ 8.70779040e-01 4.91578176e-01 9.73452833e-03 1.39000350e+02] [-4.91541221e-01 8.70833317e-01 -6.04666655e-03 -3.67649458e+01] [-1.14495609e-02 4.80388553e-04 9.99934336e-01 -1.69716667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.06, Y:-36.80, Z:-1.70 [[ 8.70355398e-01 4.92327892e-01 9.73281807e-03 1.39055962e+02] [-4.92290953e-01 8.70409686e-01 -6.04941814e-03 -3.67953333e+01] [-1.14498364e-02 4.73765454e-04 9.99934336e-01 -1.69874825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:-36.83, Z:-1.70 [[ 8.69984529e-01 4.92982986e-01 9.73111997e-03 1.39109981e+02] [-4.92946057e-01 8.70038825e-01 -6.05214850e-03 -3.68280980e+01] [-1.14500584e-02 4.68358342e-04 9.99934336e-01 -1.69873886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:-36.86, Z:-1.70 [[ 8.68085682e-01 4.96319039e-01 9.72937474e-03 1.39164445e+02] [-4.96282287e-01 8.68140097e-01 -6.05495281e-03 -3.68581109e+01] [-1.14516487e-02 4.27701489e-04 9.99934336e-01 -1.70151301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.22, Y:-36.89, Z:-1.70 [[ 8.66244886e-01 4.99524942e-01 9.72776420e-03 1.39219381e+02] [-4.99488363e-01 8.66299418e-01 -6.05753916e-03 -3.68891277e+01] [-1.14530484e-02 3.88407312e-04 9.99934336e-01 -1.70251022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.27, Y:-36.92, Z:-1.70 [[ 8.63474878e-01 5.04298065e-01 9.72606050e-03 1.39274014e+02] [-5.04261757e-01 8.63529590e-01 -6.06027341e-03 -3.69211026e+01] [-1.14549252e-02 3.28413486e-04 9.99934336e-01 -1.70359605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.33, Y:-36.95, Z:-1.71 [[ 8.59956396e-01 5.10274861e-01 9.72433197e-03 1.39327760e+02] [-5.10238902e-01 8.60011339e-01 -6.06304575e-03 -3.69520534e+01] [-1.14568556e-02 2.52222504e-04 9.99934336e-01 -1.70534837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:-36.98, Z:-1.71 [[ 8.57419272e-01 5.14526636e-01 9.72283314e-03 1.39381116e+02] [-5.14490922e-01 8.57474374e-01 -6.06544836e-03 -3.69844338e+01] [-1.14579150e-02 1.98322928e-04 9.99934336e-01 -1.70618866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:-37.02, Z:-1.71 [[ 8.55573090e-01 5.17590752e-01 9.72112867e-03 1.39433687e+02] [-5.17555205e-01 8.55628300e-01 -6.06817889e-03 -3.70176382e+01] [-1.14585061e-02 1.60549830e-04 9.99934336e-01 -1.70527101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.49, Y:-37.05, Z:-1.70 [[ 8.54065946e-01 5.20073926e-01 9.71963828e-03 1.39486025e+02] [-5.20038512e-01 8.54121241e-01 -6.07056516e-03 -3.70522150e+01] [-1.14588922e-02 1.30076740e-04 9.99934336e-01 -1.70465020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.54, Y:-37.09, Z:-1.71 [[ 8.54040214e-01 5.20116212e-01 9.71792275e-03 1.39538936e+02] [-5.20080769e-01 8.54095491e-01 -6.07331019e-03 -3.70864018e+01] [-1.14588611e-02 1.32746400e-04 9.99934336e-01 -1.70725565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.59, Y:-37.12, Z:-1.71 [[ 8.55107086e-01 5.18360364e-01 9.71622063e-03 1.39590463e+02] [-5.18324777e-01 8.55162270e-01 -6.07603205e-03 -3.71223588e+01] [-1.14585195e-02 1.59500173e-04 9.99934336e-01 -1.70795971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:-37.16, Z:-1.71 [[ 8.58862986e-01 5.12113267e-01 9.71453274e-03 1.39638439e+02] [-5.12077248e-01 8.58917890e-01 -6.07872950e-03 -3.71600405e+01] [-1.14569840e-02 2.46204581e-04 9.99934336e-01 -1.70639269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-37.20, Z:-1.71 [[ 8.63183924e-01 5.04796164e-01 9.71318459e-03 1.39688999e+02] [-5.04759656e-01 8.63238503e-01 -6.08088295e-03 -3.71978218e+01] [-1.14544013e-02 3.46096703e-04 9.99934336e-01 -1.70578998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:-37.23, Z:-1.71 [[ 8.65167150e-01 5.01389560e-01 9.71144112e-03 1.39740525e+02] [-5.01352806e-01 8.65221563e-01 -6.08366607e-03 -3.72348320e+01] [-1.14528349e-02 3.94529783e-04 9.99934336e-01 -1.70671594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:-37.27, Z:-1.71 [[ 8.66404733e-01 4.99247994e-01 9.70969163e-03 1.39790795e+02] [-4.99211074e-01 8.66459035e-01 -6.08645703e-03 -3.72725490e+01] [-1.14517015e-02 4.26149598e-04 9.99934336e-01 -1.70708089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.84, Y:-37.31, Z:-1.71 [[ 8.66515942e-01 4.99054985e-01 9.70794285e-03 1.39842718e+02] [-4.99018021e-01 8.66570214e-01 -6.08924506e-03 -3.73074750e+01] [-1.14514822e-02 4.31989491e-04 9.99934336e-01 -1.70740063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.89, Y:-37.34, Z:-1.71 [[ 8.66170158e-01 4.99654928e-01 9.70618694e-03 1.39894414e+02] [-4.99617971e-01 8.66224434e-01 -6.09204269e-03 -3.73410996e+01] [-1.14516554e-02 4.27360160e-04 9.99934336e-01 -1.70889085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.95, Y:-37.38, Z:-1.71 [[ 8.66198869e-01 4.99605184e-01 9.70456615e-03 1.39946361e+02] [-4.99568195e-01 8.66253124e-01 -6.09462349e-03 -3.73761245e+01] [-1.14515162e-02 4.31063377e-04 9.99934336e-01 -1.71008588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:-37.41, Z:-1.71 [[ 8.66704088e-01 4.98728261e-01 9.70282459e-03 1.39999931e+02] [-4.98691186e-01 8.66758284e-01 -6.09739485e-03 -3.74099176e+01] [-1.14509467e-02 4.45923937e-04 9.99934336e-01 -1.71229179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:-37.44, Z:-1.71 [[ 8.66838618e-01 4.98494433e-01 9.70105659e-03 1.40051843e+02] [-4.98457312e-01 8.66892782e-01 -6.10020647e-03 -3.74427693e+01] [-1.14506949e-02 4.52331957e-04 9.99934336e-01 -1.71445933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:-37.48, Z:-1.71 [[ 8.67305126e-01 4.97682368e-01 9.69942479e-03 1.40104997e+02] [-4.97645168e-01 8.67359235e-01 -6.10279996e-03 -3.74763612e+01] [-1.14501416e-02 4.66117810e-04 9.99934336e-01 -1.71441157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:-37.51, Z:-1.71 [[ 8.67459997e-01 4.97412412e-01 9.69771754e-03 1.40158833e+02] [-4.97375164e-01 8.67514074e-01 -6.10551167e-03 -3.75094152e+01] [-1.14498637e-02 4.72883287e-04 9.99934336e-01 -1.71442830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:-37.54, Z:-1.71 [[ 8.66897660e-01 4.98391848e-01 9.69603648e-03 1.40212456e+02] [-4.98354631e-01 8.66951759e-01 -6.10818017e-03 -3.75429931e+01] [-1.14502631e-02 4.63102417e-04 9.99934336e-01 -1.71386474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:-37.58, Z:-1.71 [[ 8.63329526e-01 5.04547470e-01 9.69428235e-03 1.40266378e+02] [-5.04510608e-01 8.63383867e-01 -6.11096288e-03 -3.75757398e+01] [-1.14531578e-02 3.84906403e-04 9.99934336e-01 -1.71327776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:-37.61, Z:-1.71 [[ 8.59396412e-01 5.11218018e-01 9.69252742e-03 1.40319772e+02] [-5.11181547e-01 8.59451016e-01 -6.11374508e-03 -3.76073643e+01] [-1.14557092e-02 2.99489432e-04 9.99934336e-01 -1.71404746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:-37.64, Z:-1.72 [[ 8.52834248e-01 5.22091775e-01 9.69144375e-03 1.40374460e+02] [-5.22055981e-01 8.52889298e-01 -6.11546242e-03 -3.76379828e+01] [-1.14585613e-02 1.55999622e-04 9.99934336e-01 -1.71708314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:-37.67, Z:-1.72 [[ 8.48750023e-01 5.28705481e-01 9.69090901e-03 1.40427344e+02] [-5.28670106e-01 8.48805343e-01 -6.11630969e-03 -3.76702536e+01] [-1.14594218e-02 6.79240995e-05 9.99934336e-01 -1.71979769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.48, Y:-37.70, Z:-1.72 [[ 8.47576603e-01 5.30584599e-01 9.68943382e-03 1.40480112e+02] [-5.30549320e-01 8.47631985e-01 -6.11864578e-03 -3.77037449e+01] [-1.14595332e-02 4.52984812e-05 9.99934336e-01 -1.72194318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:-37.74, Z:-1.72 [[ 8.47690343e-01 5.30402890e-01 9.68795223e-03 1.40532387e+02] [-5.30367572e-01 8.47745700e-01 -6.12099076e-03 -3.77392364e+01] [-1.14595110e-02 5.05290627e-05 9.99934336e-01 -1.72286061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.58, Y:-37.78, Z:-1.72 [[ 8.48741396e-01 5.28719415e-01 9.68625058e-03 1.40582882e+02] [-5.28683956e-01 8.48796663e-01 -6.12368237e-03 -3.77770619e+01] [-1.14593669e-02 7.64574396e-05 9.99934336e-01 -1.72165075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.63, Y:-37.81, Z:-1.72 [[ 8.49166406e-01 5.28036576e-01 9.68453018e-03 1.40634133e+02] [-5.28001042e-01 8.49221624e-01 -6.12640196e-03 -3.78124998e+01] [-1.14592768e-02 8.88927003e-05 9.99934336e-01 -1.72162677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:-37.85, Z:-1.72 [[ 8.49532348e-01 5.27447656e-01 9.68299674e-03 1.40685821e+02] [-5.27412057e-01 8.49587523e-01 -6.12882466e-03 -3.78485793e+01] [-1.14591874e-02 9.97055817e-05 9.99934336e-01 -1.72218878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:-37.89, Z:-1.72 [[ 8.49838223e-01 5.26954711e-01 9.68126326e-03 1.40737422e+02] [-5.26919048e-01 8.49893358e-01 -6.13156168e-03 -3.78851783e+01] [-1.14590967e-02 1.09593461e-04 9.99934336e-01 -1.72212185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.897628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:-37.92, Z:-1.73 [[ 8.50029412e-01 5.26646281e-01 9.67953644e-03 1.40787813e+02] [-5.26610567e-01 8.50084514e-01 -6.13428651e-03 -3.79219652e+01] [-1.14590232e-02 1.16977782e-04 9.99934336e-01 -1.72767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:-37.95, Z:-1.73 [[ 8.47440753e-01 5.30801758e-01 9.67803285e-03 1.40840315e+02] [-5.30766288e-01 8.47496011e-01 -6.13665780e-03 -3.79533022e+01] [-1.14594430e-02 6.36803397e-05 9.99934336e-01 -1.72844922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.89, Y:-37.98, Z:-1.73 [[ 8.45528411e-01 5.33842738e-01 9.67665932e-03 1.40892467e+02] [-5.33807441e-01 8.45583781e-01 -6.13882290e-03 -3.79849523e+01] [-1.14595922e-02 2.50764181e-05 9.99934336e-01 -1.73149881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.94, Y:-38.02, Z:-1.73 [[ 8.45990922e-01 5.33109508e-01 9.67531907e-03 1.40944892e+02] [-5.33074139e-01 8.46046247e-01 -6.14093452e-03 -3.80184594e+01] [-1.14595580e-02 3.75124713e-05 9.99934336e-01 -1.73109508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.00, Y:-38.05, Z:-1.73 [[ 8.48603666e-01 5.28940673e-01 9.67380542e-03 1.40996197e+02] [-5.28905005e-01 8.48658798e-01 -6.14331805e-03 -3.80528632e+01] [-1.14592109e-02 9.67181105e-05 9.99934336e-01 -1.72718282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:-38.09, Z:-1.72 [[ 8.50681213e-01 5.25592922e-01 9.67228948e-03 1.41048121e+02] [-5.25557010e-01 8.50736187e-01 -6.14570388e-03 -3.80861485e+01] [-1.14587051e-02 1.44695293e-04 9.99934336e-01 -1.72451256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.10, Y:-38.12, Z:-1.72 [[ 8.52548879e-01 5.22558018e-01 9.67089029e-03 1.41100451e+02] [-5.22521885e-01 8.52603708e-01 -6.14790486e-03 -3.81195733e+01] [-1.14580739e-02 1.88137574e-04 9.99934336e-01 -1.72225999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:-38.15, Z:-1.72 [[ 8.52252865e-01 5.23040684e-01 9.66936638e-03 1.41153675e+02] [-5.23004555e-01 8.52307696e-01 -6.15030072e-03 -3.81523418e+01] [-1.14581329e-02 1.84488748e-04 9.99934336e-01 -1.72317278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:-38.18, Z:-1.73 [[ 8.50165403e-01 5.26426941e-01 9.66764186e-03 1.41207787e+02] [-5.26391000e-01 8.50220357e-01 -6.15301030e-03 -3.81836815e+01] [-1.14587363e-02 1.42116812e-04 9.99934336e-01 -1.72584679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.26, Y:-38.22, Z:-1.73 [[ 8.47506113e-01 5.30697615e-01 9.66589316e-03 1.41260972e+02] [-5.30661920e-01 8.47561227e-01 -6.15575613e-03 -3.82156052e+01] [-1.14592814e-02 8.77195301e-05 9.99934336e-01 -1.72874120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.31, Y:-38.25, Z:-1.73 [[ 8.45872500e-01 5.33297584e-01 9.66438196e-03 1.41312750e+02] [-5.33262031e-01 8.45927706e-01 -6.15812777e-03 -3.82473101e+01] [-1.14594831e-02 5.53429860e-05 9.99934336e-01 -1.73114431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.37, Y:-38.28, Z:-1.73 [[ 8.44143397e-01 5.36030365e-01 9.66299943e-03 1.41366713e+02] [-5.35994966e-01 8.44198701e-01 -6.16029640e-03 -3.82799964e+01] [-1.14595975e-02 2.08544838e-05 9.99934336e-01 -1.73233289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.42, Y:-38.31, Z:-1.73 [[ 8.43773958e-01 5.36611747e-01 9.66131715e-03 1.41418874e+02] [-5.36576356e-01 8.43829268e-01 -6.16293362e-03 -3.83139225e+01] [-1.14596048e-02 1.60885490e-05 9.99934336e-01 -1.73114389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.47, Y:-38.35, Z:-1.73 [[ 8.43976880e-01 5.36292563e-01 9.65982253e-03 1.41468469e+02] [-5.36257124e-01 8.44032160e-01 -6.16527541e-03 -3.83491837e+01] [-1.14595922e-02 2.32012564e-05 9.99934336e-01 -1.73006236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:-38.38, Z:-1.73 [[ 8.43116265e-01 5.37644555e-01 9.65901418e-03 1.41520573e+02] [-5.37609190e-01 8.43171592e-01 -6.16654158e-03 -3.83847242e+01] [-1.14596139e-02 6.33672045e-06 9.99934336e-01 -1.73159313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:-38.42, Z:-1.74 [[ 8.39955594e-01 5.42569199e-01 9.65736288e-03 1.41572289e+02] [-5.42534129e-01 8.40011108e-01 -6.16912657e-03 -3.84191029e+01] [-1.14594702e-02 -5.76565877e-05 9.99934336e-01 -1.73686607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:-38.45, Z:-1.74 [[ 8.40098098e-01 5.42348549e-01 9.65590503e-03 1.41625114e+02] [-5.42313438e-01 8.40153586e-01 -6.17140756e-03 -3.84525607e+01] [-1.14594972e-02 -5.19393023e-05 9.99934336e-01 -1.73755033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:-38.49, Z:-1.74 [[ 8.39950645e-01 5.42576916e-01 9.65422788e-03 1.41678464e+02] [-5.42541790e-01 8.40006124e-01 -6.17403008e-03 -3.84867894e+01] [-1.14594967e-02 -5.19415210e-05 9.99934336e-01 -1.73827816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:-38.52, Z:-1.74 [[ 8.41852997e-01 5.39620570e-01 9.65254882e-03 1.41729875e+02] [-5.39585219e-01 8.41908333e-01 -6.17665403e-03 -3.85207449e+01] [-1.14596109e-02 -8.53796608e-06 9.99934336e-01 -1.73742922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:-38.56, Z:-1.73 [[ 8.45286333e-01 5.34226422e-01 9.65117386e-03 1.41781197e+02] [-5.34190693e-01 8.45341426e-01 -6.17880169e-03 -3.85554371e+01] [-1.14594162e-02 6.72893696e-05 9.99934336e-01 -1.73482217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:-38.59, Z:-1.73 [[ 8.50894990e-01 5.25247180e-01 9.64965531e-03 1.41833308e+02] [-5.25210843e-01 8.50949683e-01 -6.18117237e-03 -3.85890385e+01] [-1.14580145e-02 1.91425001e-04 9.99934336e-01 -1.73155539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:-38.62, Z:-1.73 [[ 8.56287734e-01 5.16408975e-01 9.64815428e-03 1.41886453e+02] [-5.16372048e-01 8.56342030e-01 -6.18351442e-03 -3.86214808e+01] [-1.14553424e-02 3.12830371e-04 9.99934336e-01 -1.73139850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:-38.65, Z:-1.73 [[ 8.62012806e-01 5.06794689e-01 9.64709552e-03 1.41940651e+02] [-5.06757138e-01 8.62066672e-01 -6.18516578e-03 -3.86513220e+01] [-1.14510487e-02 4.42957591e-04 9.99934336e-01 -1.73467486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-38.68, Z:-1.74 [[ 8.62863754e-01 5.05344541e-01 9.64553028e-03 1.41994386e+02] [-5.05306872e-01 8.62917539e-01 -6.18760576e-03 -3.86843220e+01] [-1.14501700e-02 4.65108002e-04 9.99934336e-01 -1.73633645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:-38.72, Z:-1.74 [[ 8.63530242e-01 5.04204839e-01 9.64376019e-03 1.42046853e+02] [-5.04167068e-01 8.63583954e-01 -6.19036332e-03 -3.87162368e+01] [-1.14494077e-02 4.83499632e-04 9.99934336e-01 -1.73908148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:-38.75, Z:-1.74 [[ 8.64145365e-01 5.03149896e-01 9.64212874e-03 1.42102292e+02] [-5.03112032e-01 8.64199012e-01 -6.19290343e-03 -3.87470639e+01] [-1.14486768e-02 5.00497820e-04 9.99934336e-01 -1.73852983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:-38.78, Z:-1.74 [[ 8.63264768e-01 5.04659295e-01 9.64037197e-03 1.42156723e+02] [-5.04621494e-01 8.63318459e-01 -6.19563695e-03 -3.87781210e+01] [-1.14493969e-02 4.83736190e-04 9.99934336e-01 -1.73936640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:-38.81, Z:-1.74 [[ 8.60433203e-01 5.09472080e-01 9.63860047e-03 1.42210466e+02] [-5.09434549e-01 8.60487083e-01 -6.19839166e-03 -3.88069978e+01] [-1.14517987e-02 4.23065904e-04 9.99934337e-01 -1.73879926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:-38.84, Z:-1.74 [[ 8.57707592e-01 5.14047480e-01 9.63718551e-03 1.42265428e+02] [-5.14010211e-01 8.57761654e-01 -6.20059085e-03 -3.88374793e+01] [-1.14538063e-02 3.64682089e-04 9.99934337e-01 -1.73891438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:-38.87, Z:-1.74 [[ 8.54777727e-01 5.18904804e-01 9.63544499e-03 1.42319372e+02] [-5.18867812e-01 8.54831979e-01 -6.20329436e-03 -3.88683412e+01] [-1.14556058e-02 3.02915592e-04 9.99934337e-01 -1.74158349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:-38.90, Z:-1.74 [[ 8.51939520e-01 5.23551566e-01 9.63386935e-03 1.42372066e+02] [-5.23514843e-01 8.51993954e-01 -6.20574040e-03 -3.88997808e+01] [-1.14570236e-02 2.43441901e-04 9.99934337e-01 -1.74362980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:-38.93, Z:-1.74 [[ 8.48575780e-01 5.28986164e-01 9.63243058e-03 1.42425078e+02] [-5.28949764e-01 8.48630431e-01 -6.20797283e-03 -3.89315597e+01] [-1.14583054e-02 1.72863506e-04 9.99934337e-01 -1.74324941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81762799999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:-38.96, Z:-1.74 [[ 8.44627191e-01 5.35268300e-01 9.63090826e-03 1.42479164e+02] [-5.35232280e-01 8.44682093e-01 -6.21033362e-03 -3.89621949e+01] [-1.14592505e-02 9.06436598e-05 9.99934337e-01 -1.74216756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:-38.99, Z:-1.74 [[ 8.38573608e-01 5.44703203e-01 9.62936121e-03 1.42534302e+02] [-5.44667772e-01 8.38628893e-01 -6.21273146e-03 -3.89933076e+01] [-1.14595553e-02 -3.49700784e-05 9.99934337e-01 -1.74290241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:-39.03, Z:-1.74 [[ 8.33878513e-01 5.51864054e-01 9.62759556e-03 1.42586473e+02] [-5.51829067e-01 8.33934079e-01 -6.21546641e-03 -3.90276098e+01] [-1.14588725e-02 -1.29843178e-04 9.99934337e-01 -1.74171941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:142.64, Y:-39.06, Z:-1.75 [[ 8.31077477e-01 5.56073348e-01 9.62595347e-03 1.42639171e+02] [-5.56038612e-01 8.31133201e-01 -6.21800849e-03 -3.90617070e+01] [-1.14581183e-02 -1.84755002e-04 9.99934337e-01 -1.74509205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.69, Y:-39.10, Z:-1.75 [[ 8.28520384e-01 5.59876189e-01 9.62419996e-03 1.42691021e+02] [-5.59841678e-01 8.28576247e-01 -6.22072138e-03 -3.90967441e+01] [-1.14572173e-02 -2.34033785e-04 9.99934337e-01 -1.74729507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:-39.13, Z:-1.75 [[ 8.28626562e-01 5.59719046e-01 9.62337336e-03 1.42741595e+02] [-5.59684510e-01 8.28682410e-01 -6.22199986e-03 -3.91340224e+01] [-1.14572921e-02 -2.30338652e-04 9.99934337e-01 -1.74734887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.79, Y:-39.17, Z:-1.75 [[ 8.30959628e-01 5.56249513e-01 9.62160922e-03 1.42791858e+02] [-5.56214712e-01 8.31015311e-01 -6.22472670e-03 -3.91724316e+01] [-1.14582058e-02 -1.79184013e-04 9.99934337e-01 -1.74623819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:-39.21, Z:-1.75 [[ 8.34315639e-01 5.51203115e-01 9.61981381e-03 1.42842630e+02] [-5.51167945e-01 8.34371089e-01 -6.22750013e-03 -3.92098536e+01] [-1.14591120e-02 -1.06432258e-04 9.99934337e-01 -1.74645288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:-39.25, Z:-1.74 [[ 8.40594662e-01 5.41579273e-01 9.61800355e-03 1.42890556e+02] [-5.41543436e-01 8.40649683e-01 -6.23029471e-03 -3.92508686e+01] [-1.14595701e-02 2.85857873e-05 9.99934337e-01 -1.74484843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.94, Y:-39.29, Z:-1.74 [[ 8.46792027e-01 5.31837185e-01 9.61620548e-03 1.42939633e+02] [-5.31800684e-01 8.46846610e-01 -6.23306872e-03 -3.92902478e+01] [-1.14584287e-02 1.64208252e-04 9.99934337e-01 -1.74330083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:-39.33, Z:-1.75 [[ 8.49855830e-01 5.26927540e-01 9.61440968e-03 1.42991241e+02] [-5.26890692e-01 8.49910179e-01 -6.23583749e-03 -3.93257066e+01] [-1.14572192e-02 2.33819870e-04 9.99934337e-01 -1.74530201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:-39.36, Z:-1.75 [[ 8.50881033e-01 5.25270469e-01 9.61264509e-03 1.43044669e+02] [-5.25233484e-01 8.50935290e-01 -6.23855645e-03 -3.93596425e+01] [-1.14566684e-02 2.59386286e-04 9.99934337e-01 -1.74825515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.09, Y:-39.40, Z:-1.75 [[ 8.53735638e-01 5.20617989e-01 9.61088771e-03 1.43094718e+02] [-5.20580679e-01 8.53789672e-01 -6.24126262e-03 -3.93960056e+01] [-1.14549903e-02 3.25145876e-04 9.99934337e-01 -1.75194206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.15, Y:-39.43, Z:-1.75 [[ 8.56126543e-01 5.16676885e-01 9.60934658e-03 1.43147226e+02] [-5.16639299e-01 8.56180385e-01 -6.24363451e-03 -3.94300735e+01] [-1.14532757e-02 3.80775143e-04 9.99934337e-01 -1.75421503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:-39.46, Z:-1.76 [[ 8.59424424e-01 5.11172506e-01 9.60879474e-03 1.43201006e+02] [-5.11134566e-01 8.59478017e-01 -6.24448368e-03 -3.94618737e+01] [-1.14505562e-02 4.55274656e-04 9.99934337e-01 -1.75659782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.25, Y:-39.49, Z:-1.75 [[ 8.61114184e-01 5.08320831e-01 9.60701326e-03 1.43253129e+02] [-5.08282683e-01 8.61167629e-01 -6.24722325e-03 -3.94937626e+01] [-1.14488425e-02 4.96494075e-04 9.99934337e-01 -1.75252397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.31, Y:-39.53, Z:-1.75 [[ 8.62400365e-01 5.06135696e-01 9.60559198e-03 1.43307718e+02] [-5.06097388e-01 8.62453697e-01 -6.24940781e-03 -3.95251552e+01] [-1.14474267e-02 5.28126561e-04 9.99934337e-01 -1.75165349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-39.55, Z:-1.75 [[ 8.61604040e-01 5.07490143e-01 9.60383542e-03 1.43363602e+02] [-5.07451889e-01 8.61657409e-01 -6.25210606e-03 -3.95549661e+01] [-1.14480981e-02 5.13355412e-04 9.99934337e-01 -1.75305462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:-39.58, Z:-1.75 [[ 8.58004002e-01 5.13553243e-01 9.60209255e-03 1.43420553e+02] [-5.13515336e-01 8.58057619e-01 -6.25478163e-03 -3.95819072e+01] [-1.14513121e-02 4.35805881e-04 9.99934337e-01 -1.75298506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:-39.61, Z:-1.75 [[ 8.52293872e-01 5.22975133e-01 9.60035630e-03 1.43478470e+02] [-5.22937790e-01 8.52347882e-01 -6.25744544e-03 -3.96090006e+01] [-1.14553317e-02 3.12793293e-04 9.99934337e-01 -1.75429613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:-39.63, Z:-1.76 [[ 8.49509823e-01 5.27485477e-01 9.59858993e-03 1.43540686e+02] [-5.27448390e-01 8.49564010e-01 -6.26015378e-03 -3.96294220e+01] [-1.14567568e-02 2.55301329e-04 9.99934337e-01 -1.76052035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.59, Y:-39.66, Z:-1.76 [[ 8.43617559e-01 5.36858750e-01 9.59669661e-03 1.43591559e+02] [-5.36822232e-01 8.43672131e-01 -6.26305487e-03 -3.96636647e+01] [-1.14588413e-02 1.31902961e-04 9.99934337e-01 -1.75919720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.65, Y:-39.69, Z:-1.76 [[ 8.42269046e-01 5.38971972e-01 9.59518911e-03 1.43648528e+02] [-5.38935565e-01 8.42323692e-01 -6.26536356e-03 -3.96919443e+01] [-1.14591105e-02 1.05933134e-04 9.99934337e-01 -1.76106359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.70, Y:-39.73, Z:-1.76 [[ 8.36458753e-01 5.47945912e-01 9.59331585e-03 1.43700117e+02] [-5.47910059e-01 8.36513764e-01 -6.26823052e-03 -3.97253452e+01] [-1.14595920e-02 -1.31579668e-05 9.99934337e-01 -1.76091414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.75, Y:-39.76, Z:-1.76 [[ 8.34107277e-01 5.51518844e-01 9.59240610e-03 1.43753107e+02] [-5.51483210e-01 8.34162431e-01 -6.26962242e-03 -3.97580894e+01] [-1.14594397e-02 -6.05132228e-05 9.99934337e-01 -1.76195324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.81, Y:-39.79, Z:-1.76 [[ 8.32251143e-01 5.54315832e-01 9.59130966e-03 1.43805960e+02] [-5.54280364e-01 8.32306403e-01 -6.27129931e-03 -3.97926358e+01] [-1.14591889e-02 -9.69785883e-05 9.99934337e-01 -1.76108720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.86, Y:-39.83, Z:-1.76 [[ 8.30968952e-01 5.56236139e-01 9.58952628e-03 1.43857668e+02] [-5.56200767e-01 8.31024274e-01 -6.27402512e-03 -3.98280423e+01] [-1.14589686e-02 -1.20181795e-04 9.99934337e-01 -1.76106177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:-39.86, Z:-1.76 [[ 8.31253847e-01 5.55810325e-01 9.58770709e-03 1.43909054e+02] [-5.55774893e-01 8.31309130e-01 -6.27680389e-03 -3.98629048e+01] [-1.14590609e-02 -1.10989499e-04 9.99934337e-01 -1.76214052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-39.90, Z:-1.76 [[ 8.33205046e-01 5.52881053e-01 9.58602768e-03 1.43958969e+02] [-5.52845397e-01 8.33260185e-01 -6.27936766e-03 -3.99008318e+01] [-1.14593986e-02 -6.75904572e-05 9.99934337e-01 -1.76335390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:-39.94, Z:-1.76 [[ 8.34216786e-01 5.51353331e-01 9.58426120e-03 1.44010234e+02] [-5.51317543e-01 8.34271840e-01 -6.28206271e-03 -3.99368041e+01] [-1.14595154e-02 -4.33691657e-05 9.99934337e-01 -1.76387857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:-39.97, Z:-1.76 [[ 8.37063853e-01 5.47021281e-01 9.58250340e-03 1.44060602e+02] [-5.46985178e-01 8.37118700e-01 -6.28474287e-03 -3.99747273e+01] [-1.14595809e-02 1.92437516e-05 9.99934337e-01 -1.76464667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:-40.02, Z:-1.76 [[ 8.42754000e-01 5.38213624e-01 9.58075926e-03 1.44108848e+02] [-5.38176917e-01 8.42808445e-01 -6.28740059e-03 -4.00150349e+01] [-1.14587095e-02 1.42588521e-04 9.99934337e-01 -1.76356216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:-40.06, Z:-1.76 [[ 8.48561423e-01 5.29010164e-01 9.57899159e-03 1.44156827e+02] [-5.28972837e-01 8.48615445e-01 -6.29009253e-03 -4.00550229e+01] [-1.14564031e-02 2.70503516e-04 9.99934337e-01 -1.76191978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:-40.09, Z:-1.76 [[ 8.53791668e-01 5.20526715e-01 9.57736155e-03 1.44206157e+02] [-5.20488823e-01 8.53845295e-01 -6.29257347e-03 -4.00923172e+01] [-1.14530377e-02 3.87637159e-04 9.99934337e-01 -1.76358781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.26, Y:-40.13, Z:-1.76 [[ 8.58819601e-01 5.12188624e-01 9.57629112e-03 1.44255446e+02] [-5.12150194e-01 8.58872844e-01 -6.29420206e-03 -4.01306818e+01] [-1.14486351e-02 5.01084747e-04 9.99934337e-01 -1.76426689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:-40.17, Z:-1.77 [[ 8.60184543e-01 5.09892996e-01 9.57524223e-03 1.44307552e+02] [-5.09854406e-01 8.60237669e-01 -6.29579731e-03 -4.01666994e+01] [-1.14471670e-02 5.33568092e-04 9.99934337e-01 -1.76530871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:-40.20, Z:-1.77 [[ 8.63306827e-01 5.04588614e-01 9.57358638e-03 1.44357793e+02] [-5.04549669e-01 8.63359695e-01 -6.29831425e-03 -4.02028200e+01] [-1.14435063e-02 6.07027852e-04 9.99934337e-01 -1.76600459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.41, Y:-40.24, Z:-1.77 [[ 8.62714075e-01 5.05601425e-01 9.57202274e-03 1.44409431e+02] [-5.05562517e-01 8.62766969e-01 -6.30068973e-03 -4.02360815e+01] [-1.14440628e-02 5.96437812e-04 9.99934337e-01 -1.76766627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:144.46, Y:-40.27, Z:-1.77 [[ 8.61140197e-01 5.08277449e-01 9.57059533e-03 1.44460958e+02] [-5.08238681e-01 8.61193194e-01 -6.30285719e-03 -4.02699320e+01] [-1.14457317e-02 5.63496940e-04 9.99934337e-01 -1.77056066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.51, Y:-40.30, Z:-1.76 [[ 8.58334024e-01 5.13002073e-01 9.56955820e-03 1.44513103e+02] [-5.12963579e-01 8.58387221e-01 -6.30443146e-03 -4.03033544e+01] [-1.14485729e-02 5.02473195e-04 9.99934337e-01 -1.76404952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.57, Y:-40.33, Z:-1.76 [[ 8.54187634e-01 5.19876851e-01 9.56797625e-03 1.44567492e+02] [-5.19838758e-01 8.54241119e-01 -6.30683140e-03 -4.03343456e+01] [-1.14521344e-02 4.13412494e-04 9.99934337e-01 -1.76386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:-40.37, Z:-1.76 [[ 8.51121303e-01 5.24881902e-01 9.56641894e-03 1.44620526e+02] [-5.24844098e-01 8.51174992e-01 -6.30919270e-03 -4.03660852e+01] [-1.14542776e-02 3.49009793e-04 9.99934337e-01 -1.76459544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:-40.40, Z:-1.77 [[ 8.46179368e-01 5.32812333e-01 9.56531852e-03 1.44673806e+02] [-5.32775014e-01 8.46233395e-01 -6.31086059e-03 -4.03972246e+01] [-1.14569963e-02 2.43957320e-04 9.99934337e-01 -1.76544482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:-40.43, Z:-1.77 [[ 8.43437989e-01 5.37141409e-01 9.56374430e-03 1.44727436e+02] [-5.37104339e-01 8.43492188e-01 -6.31324533e-03 -4.04301508e+01] [-1.14580491e-02 1.88102383e-04 9.99934337e-01 -1.76743077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:-40.46, Z:-1.77 [[ 8.41182968e-01 5.40666056e-01 9.56196591e-03 1.44779992e+02] [-5.40629183e-01 8.41237300e-01 -6.31593772e-03 -4.04630451e+01] [-1.14586955e-02 1.43381424e-04 9.99934337e-01 -1.76959189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:-40.50, Z:-1.77 [[ 8.40350482e-01 5.41959092e-01 9.56086870e-03 1.44832190e+02] [-5.41922284e-01 8.40404858e-01 -6.31759821e-03 -4.04976276e+01] [-1.14588803e-02 1.27748893e-04 9.99934337e-01 -1.76970087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:-40.53, Z:-1.77 [[ 8.37773212e-01 5.45934674e-01 9.55914248e-03 1.44884874e+02] [-5.45898094e-01 8.37827743e-01 -6.32020907e-03 -4.05322299e+01] [-1.14593360e-02 7.65842002e-05 9.99934337e-01 -1.77264441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.94, Y:-40.57, Z:-1.77 [[ 8.34685214e-01 5.50644394e-01 9.55743957e-03 1.44936377e+02] [-5.50608093e-01 8.34739930e-01 -6.32278316e-03 -4.05675662e+01] [-1.14595815e-02 1.51300430e-05 9.99934337e-01 -1.77275975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:-40.61, Z:-1.77 [[ 8.30314935e-01 5.57212526e-01 9.55563531e-03 1.44986407e+02] [-5.57176626e-01 8.30369915e-01 -6.32550876e-03 -4.06052483e+01] [-1.14593648e-02 -7.20122470e-05 9.99934337e-01 -1.77295979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.04, Y:-40.64, Z:-1.78 [[ 8.28148631e-01 5.60427128e-01 9.55407164e-03 1.45037041e+02] [-5.60391413e-01 8.28203732e-01 -6.32786967e-03 -4.06419206e+01] [-1.14590276e-02 -1.13603108e-04 9.99934337e-01 -1.77541050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:-40.68, Z:-1.77 [[ 8.26005262e-01 5.63581454e-01 9.55252235e-03 1.45086483e+02] [-5.63545924e-01 8.26060482e-01 -6.33020760e-03 -4.06801829e+01] [-1.14585488e-02 -1.54500242e-04 9.99934337e-01 -1.77440795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.14, Y:-40.72, Z:-1.78 [[ 8.25777318e-01 5.63915420e-01 9.55092702e-03 1.45135569e+02] [-5.63879884e-01 8.25832534e-01 -6.33261369e-03 -4.07179002e+01] [-1.14585248e-02 -1.56246879e-04 9.99934337e-01 -1.77540157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:-40.76, Z:-1.78 [[ 8.26786397e-01 5.62434942e-01 9.54933182e-03 1.45184695e+02] [-5.62399279e-01 8.26841532e-01 -6.33501828e-03 -4.07571366e+01] [-1.14588198e-02 -1.32830398e-04 9.99934337e-01 -1.77609808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.23, Y:-40.80, Z:-1.77 [[ 8.29544430e-01 5.58359078e-01 9.54875850e-03 1.45231432e+02] [-5.58323134e-01 8.29599382e-01 -6.33588233e-03 -4.07985785e+01] [-1.14593416e-02 -7.53968775e-05 9.99934337e-01 -1.77367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:-40.84, Z:-1.77 [[ 8.31971247e-01 5.54736601e-01 9.54716539e-03 1.45278925e+02] [-5.54700391e-01 8.32026023e-01 -6.33828198e-03 -4.08368210e+01] [-1.14595671e-02 -2.25480087e-05 9.99934337e-01 -1.77148515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:-40.88, Z:-1.77 [[ 8.35762258e-01 5.49008483e-01 9.54638257e-03 1.45326126e+02] [-5.48971884e-01 8.35816775e-01 -6.33946080e-03 -4.08780340e+01] [-1.14594445e-02 5.75864479e-05 9.99934337e-01 -1.76930628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:-40.91, Z:-1.77 [[ 8.34891802e-01 5.50331333e-01 9.54478966e-03 1.45377308e+02] [-5.50294793e-01 8.34946359e-01 -6.34185820e-03 -4.09121775e+01] [-1.14595107e-02 4.23173742e-05 9.99934337e-01 -1.76997820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:-40.95, Z:-1.77 [[ 8.33214152e-01 5.52868073e-01 9.54310929e-03 1.45428050e+02] [-5.52831669e-01 8.33268801e-01 -6.34438579e-03 -4.09462914e+01] [-1.14595836e-02 1.04989954e-05 9.99934337e-01 -1.77273863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:-40.98, Z:-1.78 [[ 8.32025670e-01 5.54655065e-01 9.54167360e-03 1.45481187e+02] [-5.54618755e-01 8.32080380e-01 -6.34654427e-03 -4.09790946e+01] [-1.14595823e-02 -1.15033789e-05 9.99934337e-01 -1.77740167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.53, Y:-41.01, Z:-1.78 [[ 8.33680022e-01 5.52165380e-01 9.54010999e-03 1.45533736e+02] [-5.52128879e-01 8.33734605e-01 -6.34889382e-03 -4.10128238e+01] [-1.14595592e-02 2.55756993e-05 9.99934337e-01 -1.77945425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:-41.05, Z:-1.78 [[ 8.37945331e-01 5.45670815e-01 9.53856004e-03 1.45584954e+02] [-5.45633864e-01 8.37999611e-01 -6.35122160e-03 -4.10465564e+01] [-1.14589859e-02 1.17415111e-04 9.99934337e-01 -1.78121518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:-41.08, Z:-1.78 [[ 8.39007981e-01 5.44035524e-01 9.53714067e-03 1.45636625e+02] [-5.43998443e-01 8.39062172e-01 -6.35335225e-03 -4.10802969e+01] [-1.14587033e-02 1.42323561e-04 9.99934337e-01 -1.77798563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:-41.11, Z:-1.78 [[ 8.41701083e-01 5.39859574e-01 9.53564445e-03 1.45688908e+02] [-5.39822199e-01 8.41755071e-01 -6.35559710e-03 -4.11144272e+01] [-1.14578070e-02 2.01960405e-04 9.99934337e-01 -1.77918891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.74, Y:-41.15, Z:-1.78 [[ 8.42138497e-01 5.39177014e-01 9.53415440e-03 1.45741439e+02] [-5.39139570e-01 8.42192438e-01 -6.35783156e-03 -4.11470804e+01] [-1.14575894e-02 2.13934812e-04 9.99934337e-01 -1.77677242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:-41.18, Z:-1.78 [[ 8.41012312e-01 5.40931993e-01 9.53258872e-03 1.45795091e+02] [-5.40894636e-01 8.41066312e-01 -6.36017819e-03 -4.11799781e+01] [-1.14579631e-02 1.92862059e-04 9.99934337e-01 -1.77832804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.85, Y:-41.21, Z:-1.78 [[ 8.38602308e-01 5.44660750e-01 9.53079864e-03 1.45848230e+02] [-5.44623602e-01 8.38656453e-01 -6.36285952e-03 -4.12128212e+01] [-1.14586656e-02 1.45210798e-04 9.99934337e-01 -1.78160731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.90, Y:-41.25, Z:-1.78 [[ 8.34605645e-01 5.50765477e-01 9.52924563e-03 1.45900842e+02] [-5.50728698e-01 8.34660042e-01 -6.36518452e-03 -4.12451342e+01] [-1.14594044e-02 6.43898963e-05 9.99934337e-01 -1.78422775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.95, Y:-41.28, Z:-1.78 [[ 8.32007069e-01 5.54683207e-01 9.52768756e-03 1.45954215e+02] [-5.54646658e-01 8.32061620e-01 -6.36751586e-03 -4.12791313e+01] [-1.14595773e-02 1.33181443e-05 9.99934337e-01 -1.78469274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.01, Y:-41.31, Z:-1.78 [[ 8.29763968e-01 5.58033167e-01 9.52588617e-03 1.46005655e+02] [-5.57996807e-01 8.29818645e-01 -6.37020962e-03 -4.13123213e+01] [-1.14595462e-02 -2.96436610e-05 9.99934337e-01 -1.78446698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.06, Y:-41.35, Z:-1.79 [[ 8.30235204e-01 5.57331850e-01 9.52444744e-03 1.46057027e+02] [-5.57295419e-01 8.30289834e-01 -6.37236001e-03 -4.13475331e+01] [-1.14595711e-02 -1.73733126e-05 9.99934337e-01 -1.78630553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.11, Y:-41.38, Z:-1.79 [[ 8.33273101e-01 5.52779573e-01 9.52281409e-03 1.46106928e+02] [-5.52742816e-01 8.33327512e-01 -6.37479995e-03 -4.13837381e+01] [-1.14594822e-02 4.82822453e-05 9.99934337e-01 -1.78534275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:-41.42, Z:-1.79 [[ 8.35693665e-01 5.49113323e-01 9.52138945e-03 1.46157622e+02] [-5.49076303e-01 8.35747898e-01 -6.37692708e-03 -4.14205036e+01] [-1.14591368e-02 1.01188241e-04 9.99934337e-01 -1.78553211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:-41.46, Z:-1.79 [[ 8.38124007e-01 5.45396667e-01 9.51967208e-03 1.46207716e+02] [-5.45359377e-01 8.38178055e-01 -6.37948979e-03 -4.14572057e+01] [-1.14585327e-02 1.55161103e-04 9.99934337e-01 -1.78747714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:-41.49, Z:-1.79 [[ 8.39650589e-01 5.43043546e-01 9.51817003e-03 1.46258539e+02] [-5.43006079e-01 8.39704514e-01 -6.38173005e-03 -4.14937457e+01] [-1.14580077e-02 1.89999206e-04 9.99934337e-01 -1.79144698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.31, Y:-41.53, Z:-1.79 [[ 8.41348424e-01 5.40409331e-01 9.51763923e-03 1.46308743e+02] [-5.40371686e-01 8.41402225e-01 -6.38252158e-03 -4.15316381e+01] [-1.14573370e-02 2.26861708e-04 9.99934337e-01 -1.79119734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.36, Y:-41.57, Z:-1.79 [[ 8.42003282e-01 5.39388469e-01 9.51591295e-03 1.46360280e+02] [-5.39350730e-01 8.42057017e-01 -6.38509432e-03 -4.15674103e+01] [-1.14569875e-02 2.43855776e-04 9.99934337e-01 -1.79166158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377628 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:146.41, Y:-41.60, Z:-1.79 [[ 8.42713728e-01 5.38277858e-01 9.51420058e-03 1.46410581e+02] [-5.38240020e-01 8.42767393e-01 -6.38764484e-03 -4.16030696e+01] [-1.14565858e-02 2.62032497e-04 9.99934337e-01 -1.79020215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:-41.64, Z:-1.78 [[ 8.42654079e-01 5.38371260e-01 9.51259189e-03 1.46460203e+02] [-5.38333401e-01 8.42707729e-01 -6.39003964e-03 -4.16383288e+01] [-1.14565484e-02 2.63647026e-04 9.99934337e-01 -1.78495968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:-41.67, Z:-1.78 [[ 8.41250987e-01 5.40561101e-01 9.51172827e-03 1.46512556e+02] [-5.40523367e-01 8.41304725e-01 -6.39132489e-03 -4.16725330e+01] [-1.14571636e-02 2.35396983e-04 9.99934337e-01 -1.78374490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:-41.71, Z:-1.79 [[ 8.39010691e-01 5.44031820e-01 9.50993184e-03 1.46565878e+02] [-5.43994278e-01 8.39064564e-01 -6.39399676e-03 -4.17054574e+01] [-1.14579845e-02 1.91283144e-04 9.99934337e-01 -1.78584786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.62, Y:-41.74, Z:-1.79 [[ 8.35374441e-01 5.49599072e-01 9.50812207e-03 1.46619209e+02] [-5.49561858e-01 8.35428540e-01 -6.39668683e-03 -4.17371561e+01] [-1.14589697e-02 1.18327449e-04 9.99934337e-01 -1.78906449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.67, Y:-41.77, Z:-1.79 [[ 8.33547970e-01 5.52365285e-01 9.50652681e-03 1.46671586e+02] [-5.52328224e-01 8.33602175e-01 -6.39905677e-03 -4.17699193e+01] [-1.14592782e-02 8.31977131e-05 9.99934337e-01 -1.79158143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.72, Y:-41.80, Z:-1.79 [[ 8.31876453e-01 5.54879467e-01 9.50495591e-03 1.46723767e+02] [-5.54842543e-01 8.31930751e-01 -6.40138929e-03 -4.18043423e+01] [-1.14594646e-02 5.14111080e-05 9.99934337e-01 -1.79230633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.77, Y:-41.84, Z:-1.79 [[ 8.31621414e-01 5.55261661e-01 9.50318047e-03 1.46774636e+02] [-5.55224732e-01 8.31675709e-01 -6.40402392e-03 -4.18393080e+01] [-1.14594733e-02 4.93225953e-05 9.99934337e-01 -1.78957820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.83, Y:-41.87, Z:-1.79 [[ 8.31443834e-01 5.55527561e-01 9.50160554e-03 1.46826604e+02] [-5.55490623e-01 8.31498122e-01 -6.40635979e-03 -4.18738539e+01] [-1.14594766e-02 4.84755587e-05 9.99934337e-01 -1.78880223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:-41.91, Z:-1.79 [[ 8.31066594e-01 5.56091779e-01 9.50002224e-03 1.46878829e+02] [-5.56054850e-01 8.31120889e-01 -6.40870681e-03 -4.19090831e+01] [-1.14594961e-02 4.35286943e-05 9.99934337e-01 -1.79027670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:-41.95, Z:-1.79 [[ 8.29810768e-01 5.57964043e-01 9.49823098e-03 1.46930678e+02] [-5.57927206e-01 8.29865126e-01 -6.41136050e-03 -4.19452752e+01] [-1.14595593e-02 2.08945047e-05 9.99934337e-01 -1.79080893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:-41.98, Z:-1.79 [[ 8.27387592e-01 5.61551057e-01 9.49645706e-03 1.46982164e+02] [-5.61514427e-01 8.27442088e-01 -6.41398695e-03 -4.19795905e+01] [-1.14595494e-02 -2.55444165e-05 9.99934337e-01 -1.79231524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.03, Y:-42.02, Z:-1.79 [[ 8.25235560e-01 5.64708878e-01 9.49493581e-03 1.47034285e+02] [-5.64672430e-01 8.25290179e-01 -6.41623814e-03 -4.20151968e+01] [-1.14593839e-02 -6.66206001e-05 9.99934337e-01 -1.79195361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:-42.05, Z:-1.79 [[ 8.21956622e-01 5.69470976e-01 9.49311618e-03 1.47085477e+02] [-5.69434813e-01 8.22011430e-01 -6.41892923e-03 -4.20508120e+01] [-1.14588439e-02 -1.29629447e-04 9.99934337e-01 -1.79365606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:-42.09, Z:-1.79 [[ 8.20692791e-01 5.71290867e-01 9.49143541e-03 1.47136834e+02] [-5.71254797e-01 8.20747661e-01 -6.42141356e-03 -4.20869451e+01] [-1.14585683e-02 -1.52020188e-04 9.99934337e-01 -1.79496377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:-42.12, Z:-1.79 [[ 8.20310654e-01 5.71839466e-01 9.48976748e-03 1.47187326e+02] [-5.71803404e-01 8.20365529e-01 -6.42387754e-03 -4.21249534e+01] [-1.14585048e-02 -1.56706164e-04 9.99934337e-01 -1.79378482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:-42.16, Z:-1.79 [[ 8.20914140e-01 5.70972814e-01 9.48795705e-03 1.47237711e+02] [-5.70936663e-01 8.20968955e-01 -6.42655041e-03 -4.21629474e+01] [-1.14587038e-02 -1.41376442e-04 9.99934337e-01 -1.79339810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.397628 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:-42.20, Z:-1.79 [[ 8.21462750e-01 5.70183272e-01 9.48612909e-03 1.47288982e+02] [-5.70147037e-01 8.21517511e-01 -6.42924749e-03 -4.21995992e+01] [-1.14588705e-02 -1.27101072e-04 9.99934337e-01 -1.79389783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:147.34, Y:-42.23, Z:-1.80 [[ 8.27097216e-01 5.61978864e-01 9.48431470e-03 1.47341994e+02] [-5.61942055e-01 8.27151592e-01 -6.43192293e-03 -4.22318741e+01] [-1.14595708e-02 -9.80974626e-06 9.99934337e-01 -1.80228028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.39, Y:-42.27, Z:-1.80 [[ 8.25053116e-01 5.64975606e-01 9.48261792e-03 1.47386457e+02] [-5.64938966e-01 8.25107607e-01 -6.43442354e-03 -4.22745661e+01] [-1.14594725e-02 -4.83591672e-05 9.99934337e-01 -1.79790074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:147.44, Y:-42.31, Z:-1.80 [[ 8.24987180e-01 5.65071899e-01 9.48166711e-03 1.47436508e+02] [-5.65035250e-01 8.25041664e-01 -6.43582433e-03 -4.23112054e+01] [-1.14594739e-02 -4.80035808e-05 9.99934337e-01 -1.79906110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.49, Y:-42.35, Z:-1.80 [[ 8.25494007e-01 5.64331262e-01 9.48009281e-03 1.47488021e+02] [-5.64294537e-01 8.25548439e-01 -6.43814247e-03 -4.23452784e+01] [-1.14595209e-02 -3.49165661e-05 9.99934337e-01 -1.80089062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:-42.38, Z:-1.80 [[ 8.28173180e-01 5.60392132e-01 9.47853046e-03 1.47539690e+02] [-5.60355122e-01 8.28227419e-01 -6.44044181e-03 -4.23802963e+01] [-1.14595517e-02 2.24580751e-05 9.99934337e-01 -1.79999992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:-42.42, Z:-1.80 [[ 8.31688925e-01 5.55160985e-01 9.47695608e-03 1.47590023e+02] [-5.55123608e-01 8.31742911e-01 -6.44275764e-03 -4.24155243e+01] [-1.14591587e-02 9.74881242e-05 9.99934337e-01 -1.79830144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.64, Y:-42.45, Z:-1.80 [[ 8.32499985e-01 5.53944031e-01 9.47551727e-03 1.47641921e+02] [-5.53906551e-01 8.32553900e-01 -6.44487304e-03 -4.24507362e+01] [-1.14589778e-02 1.16805616e-04 9.99934337e-01 -1.79846570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.69, Y:-42.48, Z:-1.80 [[ 8.34910167e-01 5.50304698e-01 9.47376771e-03 1.47694950e+02] [-5.50266953e-01 8.34963898e-01 -6.44744382e-03 -4.24832857e+01] [-1.14583126e-02 1.69935106e-04 9.99934337e-01 -1.79983059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.75, Y:-42.52, Z:-1.80 [[ 8.36553794e-01 5.47802910e-01 9.47215028e-03 1.47747794e+02] [-5.47764977e-01 8.36607393e-01 -6.44981916e-03 -4.25172935e+01] [-1.14577007e-02 2.07108509e-04 9.99934337e-01 -1.80050021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.80, Y:-42.55, Z:-1.80 [[ 8.38155759e-01 5.45348728e-01 9.47037828e-03 1.47800702e+02] [-5.45310609e-01 8.38209225e-01 -6.45241997e-03 -4.25516263e+01] [-1.14569775e-02 2.43835212e-04 9.99934337e-01 -1.80052539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:-42.58, Z:-1.80 [[ 8.40429225e-01 5.41838597e-01 9.46854637e-03 1.47853948e+02] [-5.41800225e-01 8.40482509e-01 -6.45510707e-03 -4.25835623e+01] [-1.14557738e-02 2.95000079e-04 9.99934337e-01 -1.80127524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:-42.61, Z:-1.80 [[ 8.41455539e-01 5.40243421e-01 9.46685574e-03 1.47908120e+02] [-5.40204920e-01 8.41508730e-01 -6.45758555e-03 -4.26149555e+01] [-1.14551099e-02 3.19729076e-04 9.99934337e-01 -1.80058096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:-42.65, Z:-1.80 [[ 8.40837588e-01 5.41204721e-01 9.46570491e-03 1.47962170e+02] [-5.41166262e-01 8.40890810e-01 -6.45927202e-03 -4.26473146e+01] [-1.14554128e-02 3.08678555e-04 9.99934337e-01 -1.80067784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:-42.68, Z:-1.80 [[ 8.38231998e-01 5.45231650e-01 9.46389381e-03 1.48018322e+02] [-5.45193417e-01 8.38285382e-01 -6.46192449e-03 -4.26768010e+01] [-1.14566896e-02 2.56939272e-04 9.99934337e-01 -1.80186109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.07, Y:-42.71, Z:-1.80 [[ 8.35844407e-01 5.48884867e-01 9.46204782e-03 1.48072645e+02] [-5.48846836e-01 8.35897936e-01 -6.46462640e-03 -4.27082778e+01] [-1.14576418e-02 2.10206810e-04 9.99934337e-01 -1.80362411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.13, Y:-42.74, Z:-1.81 [[ 8.32023588e-01 5.54659584e-01 9.46019740e-03 1.48127582e+02] [-5.54621895e-01 8.32077357e-01 -6.46733314e-03 -4.27395165e+01] [-1.14587844e-02 1.34141115e-04 9.99934337e-01 -1.80508178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.18, Y:-42.77, Z:-1.81 [[ 8.29336096e-01 5.58670009e-01 9.45834019e-03 1.48181150e+02] [-5.58632549e-01 8.29390025e-01 -6.47004812e-03 -4.27729962e+01] [-1.14592749e-02 8.21077586e-05 9.99934337e-01 -1.80578297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.23, Y:-42.80, Z:-1.81 [[ 8.25384748e-01 5.64491446e-01 9.45648776e-03 1.48233440e+02] [-5.64454335e-01 8.25438918e-01 -6.47275447e-03 -4.28042330e+01] [-1.14595676e-02 4.75730686e-06 9.99934337e-01 -1.80912882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:-42.84, Z:-1.81 [[ 8.22708690e-01 5.68384565e-01 9.45500560e-03 1.48285952e+02] [-5.68347685e-01 8.22763018e-01 -6.47491879e-03 -4.28383884e+01] [-1.14594728e-02 -4.67585864e-05 9.99934337e-01 -1.80903051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:-42.87, Z:-1.81 [[ 8.23351445e-01 5.67453113e-01 9.45314783e-03 1.48339095e+02] [-5.67416141e-01 8.23405710e-01 -6.47762993e-03 -4.28714903e+01] [-1.14595272e-02 -3.05026925e-05 9.99934337e-01 -1.81101626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.39, Y:-42.91, Z:-1.81 [[ 8.23019244e-01 5.67934855e-01 9.45115848e-03 1.48390046e+02] [-5.67897881e-01 8.23073508e-01 -6.48053119e-03 -4.29090497e+01] [-1.14595177e-02 -3.36909876e-05 9.99934337e-01 -1.81065204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:-42.95, Z:-1.81 [[ 8.22190851e-01 5.69133479e-01 9.44916159e-03 1.48439445e+02] [-5.69096551e-01 8.22245146e-01 -6.48344152e-03 -4.29458802e+01] [-1.14594709e-02 -4.68589696e-05 9.99934337e-01 -1.80930783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.49, Y:-42.98, Z:-1.81 [[ 8.22587086e-01 5.68560669e-01 9.44732209e-03 1.48490438e+02] [-5.68523672e-01 8.22641334e-01 -6.48612083e-03 -4.29826430e+01] [-1.14595108e-02 -3.56270121e-05 9.99934337e-01 -1.81142589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.54, Y:-43.02, Z:-1.82 [[ 8.25176084e-01 5.64796612e-01 9.44552035e-03 1.48539559e+02] [-5.64759338e-01 8.25230141e-01 -6.48874359e-03 -4.30213677e+01] [-1.14595485e-02 1.99102016e-05 9.99934337e-01 -1.81535764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.59, Y:-43.06, Z:-1.82 [[ 8.28391330e-01 5.60070189e-01 9.44390068e-03 1.48587572e+02] [-5.60032580e-01 8.28445155e-01 -6.49110004e-03 -4.30592518e+01] [-1.14592254e-02 8.82789326e-05 9.99934337e-01 -1.81787727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:-43.10, Z:-1.82 [[ 8.32623580e-01 5.53758806e-01 9.44242092e-03 1.48636441e+02] [-5.53720764e-01 8.32677100e-01 -6.49325190e-03 -4.30987017e+01] [-1.14581831e-02 1.77970115e-04 9.99934337e-01 -1.81862041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:-43.14, Z:-1.82 [[ 8.40290261e-01 5.42054565e-01 9.44063847e-03 1.48684376e+02] [-5.42015748e-01 8.40343223e-01 -6.49584239e-03 -4.31407126e+01] [-1.14544776e-02 3.41418371e-04 9.99934337e-01 -1.81707873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:-43.18, Z:-1.81 [[ 8.47744376e-01 5.30321017e-01 9.43880328e-03 1.48731426e+02] [-5.30281439e-01 8.47796771e-01 -6.49850792e-03 -4.31821280e+01] [-1.14484823e-02 5.03851362e-04 9.99934337e-01 -1.81474160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.78, Y:-43.22, Z:-1.81 [[ 8.51318562e-01 5.24564243e-01 9.43722139e-03 1.48781967e+02] [-5.24524285e-01 8.51370668e-01 -6.50080435e-03 -4.32200631e+01] [-1.14446630e-02 5.84203603e-04 9.99934337e-01 -1.81448904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.84, Y:-43.25, Z:-1.82 [[ 8.52047287e-01 5.23379781e-01 9.43536889e-03 1.48835171e+02] [-5.23339721e-01 8.52099314e-01 -6.50349199e-03 -4.32536537e+01] [-1.14436676e-02 6.03379374e-04 9.99934337e-01 -1.81573530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:-43.29, Z:-1.82 [[ 8.51288655e-01 5.24612842e-01 9.43353492e-03 1.48886945e+02] [-5.24572828e-01 8.51340718e-01 -6.50615114e-03 -4.32886361e+01] [-1.14443628e-02 5.90036562e-04 9.99934337e-01 -1.81740144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31762799999998 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:-43.32, Z:-1.82 [[ 8.48554872e-01 5.29023319e-01 9.43169525e-03 1.48940232e+02] [-5.28983547e-01 8.48607119e-01 -6.50881694e-03 -4.33209525e+01] [-1.14471197e-02 5.33876722e-04 9.99934337e-01 -1.82321359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:-43.35, Z:-1.82 [[ 8.43483770e-01 5.37071879e-01 9.43004014e-03 1.48995966e+02] [-5.37032579e-01 8.43536373e-01 -6.51121400e-03 -4.33482504e+01] [-1.14515718e-02 4.27864565e-04 9.99934337e-01 -1.82452715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:-43.38, Z:-1.82 [[ 8.39950335e-01 5.42581355e-01 9.42911880e-03 1.49050617e+02] [-5.42542385e-01 8.40003183e-01 -6.51254794e-03 -4.33796839e+01] [-1.14540769e-02 3.54520216e-04 9.99934337e-01 -1.82426188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.10, Y:-43.41, Z:-1.82 [[ 8.36446574e-01 5.47967385e-01 9.42723396e-03 1.49103442e+02] [-5.47928725e-01 8.36499650e-01 -6.51527521e-03 -4.34121863e+01] [-1.14560362e-02 2.84227355e-04 9.99934337e-01 -1.82329421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.16, Y:-43.44, Z:-1.83 [[ 8.33169522e-01 5.52937345e-01 9.42549036e-03 1.49158929e+02] [-5.52898972e-01 8.33222806e-01 -6.51779665e-03 -4.34392543e+01] [-1.14574667e-02 2.19085589e-04 9.99934337e-01 -1.82710175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.21, Y:-43.47, Z:-1.82 [[ 8.26817095e-01 5.62391927e-01 9.42401243e-03 1.49212239e+02] [-5.62354139e-01 8.26870796e-01 -6.51993287e-03 -4.34728744e+01] [-1.14591983e-02 9.11595577e-05 9.99934337e-01 -1.82342411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.26, Y:-43.51, Z:-1.83 [[ 8.23999712e-01 5.66511869e-01 9.42216592e-03 1.49264699e+02] [-5.66474320e-01 8.24053579e-01 -6.52260024e-03 -4.35070670e+01] [-1.14595000e-02 3.72056923e-05 9.99934337e-01 -1.82598926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:-43.54, Z:-1.82 [[ 8.20831571e-01 5.71092628e-01 9.42033462e-03 1.49316580e+02] [-5.71055349e-01 8.20885625e-01 -6.52524405e-03 -4.35423944e+01] [-1.14595360e-02 -2.34061475e-05 9.99934337e-01 -1.82484308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:-43.58, Z:-1.83 [[ 8.17637526e-01 5.75656293e-01 9.41847309e-03 1.49368850e+02] [-5.75619285e-01 8.17691766e-01 -6.52792985e-03 -4.35778436e+01] [-1.14592518e-02 -8.39743295e-05 9.99934337e-01 -1.82625245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:-43.61, Z:-1.83 [[ 8.16462807e-01 5.77321238e-01 9.41658911e-03 1.49420635e+02] [-5.77284309e-01 8.16517102e-01 -6.53064638e-03 -4.36141156e+01] [-1.14590869e-02 -1.04019260e-04 9.99934337e-01 -1.82778158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:-43.65, Z:-1.83 [[ 8.15596078e-01 5.78545073e-01 9.41468669e-03 1.49469847e+02] [-5.78508194e-01 8.15650406e-01 -6.53338778e-03 -4.36540584e+01] [-1.14589523e-02 -1.17867946e-04 9.99934337e-01 -1.82821598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:-43.69, Z:-1.83 [[ 8.15375496e-01 5.78855940e-01 9.41281404e-03 1.49519159e+02] [-5.78819050e-01 8.15429817e-01 -6.53608464e-03 -4.36925387e+01] [-1.14589407e-02 -1.18952826e-04 9.99934337e-01 -1.82938371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.57, Y:-43.73, Z:-1.83 [[ 8.15641440e-01 5.78481180e-01 9.41095149e-03 1.49567347e+02] [-5.78444234e-01 8.15695723e-01 -6.53876532e-03 -4.37325320e+01] [-1.14590256e-02 -1.10422665e-04 9.99934337e-01 -1.83263889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-43.77, Z:-1.83 [[ 8.17327310e-01 5.76096813e-01 9.40909462e-03 1.49615651e+02] [-5.76059678e-01 8.17381464e-01 -6.54143622e-03 -4.37721276e+01] [-1.14593201e-02 -7.37055519e-05 9.99934337e-01 -1.83446034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:-43.81, Z:-1.83 [[ 8.21722877e-01 5.69809621e-01 9.40795066e-03 1.49660962e+02] [-5.69772053e-01 8.21776731e-01 -6.54308105e-03 -4.38145968e+01] [-1.14595455e-02 1.62120244e-05 9.99934337e-01 -1.83482505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:-43.85, Z:-1.84 [[ 8.25912725e-01 5.63719517e-01 9.40628012e-03 1.49709455e+02] [-5.63681524e-01 8.25966280e-01 -6.54548173e-03 -4.38549770e+01] [-1.14590860e-02 1.03850333e-04 9.99934337e-01 -1.83527516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:-43.89, Z:-1.83 [[ 8.30436803e-01 5.57033455e-01 9.40454516e-03 1.49759365e+02] [-5.56995004e-01 8.30490030e-01 -6.54797357e-03 -4.38935213e+01] [-1.14578213e-02 1.99393571e-04 9.99934337e-01 -1.83245942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.81, Y:-43.93, Z:-1.83 [[ 8.34050467e-01 5.51608020e-01 9.40271160e-03 1.49810122e+02] [-5.51569193e-01 8.34103420e-01 -6.55060546e-03 -4.39303772e+01] [-1.14562004e-02 2.77289493e-04 9.99934337e-01 -1.82958736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.86, Y:-43.97, Z:-1.83 [[ 8.36685836e-01 5.47602443e-01 9.40086095e-03 1.49862499e+02] [-5.47563332e-01 8.36738580e-01 -6.55326028e-03 -4.39653622e+01] [-1.14546444e-02 3.35453306e-04 9.99934337e-01 -1.83136262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-44.00, Z:-1.83 [[ 8.40048050e-01 5.42430580e-01 9.39896396e-03 1.49914224e+02] [-5.42391114e-01 8.40100529e-01 -6.55597990e-03 -4.40007326e+01] [-1.14522386e-02 4.09423594e-04 9.99934337e-01 -1.83299431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-44.03, Z:-1.84 [[ 8.44295323e-01 5.35795765e-01 9.39708693e-03 1.49968143e+02] [-5.35755858e-01 8.44347467e-01 -6.55866925e-03 -4.40329240e+01] [-1.14485138e-02 5.02909405e-04 9.99934337e-01 -1.83601248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.02, Y:-44.07, Z:-1.84 [[ 8.45337113e-01 5.34150630e-01 9.39522349e-03 1.50021056e+02] [-5.34110591e-01 8.45389156e-01 -6.56133753e-03 -4.40656011e+01] [-1.14473626e-02 5.28453757e-04 9.99934337e-01 -1.83778636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.08, Y:-44.10, Z:-1.84 [[ 8.44136922e-01 5.36045352e-01 9.39350356e-03 1.50076356e+02] [-5.36005402e-01 8.44189034e-01 -6.56379893e-03 -4.40967797e+01] [-1.14483866e-02 5.05776375e-04 9.99934337e-01 -1.83778850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.13, Y:-44.13, Z:-1.84 [[ 8.41692157e-01 5.39876014e-01 9.39165009e-03 1.50130783e+02] [-5.39836272e-01 8.41744427e-01 -6.56644984e-03 -4.41294101e+01] [-1.14504379e-02 4.56975953e-04 9.99934337e-01 -1.83779905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.19, Y:-44.16, Z:-1.84 [[ 8.38463505e-01 5.44876851e-01 9.38980830e-03 1.50185376e+02] [-5.44837392e-01 8.38515989e-01 -6.56908249e-03 -4.41617721e+01] [-1.14528454e-02 3.92017269e-04 9.99934337e-01 -1.83853892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.24, Y:-44.19, Z:-1.84 [[ 8.33155076e-01 5.52959750e-01 9.38798288e-03 1.50240276e+02] [-5.52920771e-01 8.33207918e-01 -6.57169019e-03 -4.41909755e+01] [-1.14560218e-02 2.84426313e-04 9.99934337e-01 -1.83900694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:-44.22, Z:-1.84 [[ 8.29465840e-01 5.58478574e-01 9.38629406e-03 1.50293999e+02] [-5.58439920e-01 8.29518919e-01 -6.57410144e-03 -4.42235116e+01] [-1.14576033e-02 2.11311271e-04 9.99934337e-01 -1.83887332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.35, Y:-44.26, Z:-1.84 [[ 8.23632122e-01 5.67046786e-01 9.38453676e-03 1.50348080e+02] [-5.67008655e-01 8.23685579e-01 -6.57660902e-03 -4.42553540e+01] [-1.14591526e-02 9.55928748e-05 9.99934337e-01 -1.84004174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.40, Y:-44.29, Z:-1.84 [[ 8.19418321e-01 5.73119168e-01 9.38269905e-03 1.50400164e+02] [-5.73081403e-01 8.19472037e-01 -6.57922980e-03 -4.42893291e+01] [-1.14595422e-02 1.40910954e-05 9.99934337e-01 -1.84448310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:-44.33, Z:-1.85 [[ 8.18361728e-01 5.74626905e-01 9.38099677e-03 1.50450599e+02] [-5.74589211e-01 8.18415494e-01 -6.58165611e-03 -4.43260270e+01] [-1.14595498e-02 -4.04406706e-06 9.99934337e-01 -1.84729952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.50, Y:-44.36, Z:-1.85 [[ 8.18257226e-01 5.74775721e-01 9.37988153e-03 1.50500528e+02] [-5.74738019e-01 8.18310987e-01 -6.58324511e-03 -4.43646323e+01] [-1.14595496e-02 -4.18664648e-06 9.99934337e-01 -1.84854372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:-44.40, Z:-1.85 [[ 8.18661035e-01 5.74200455e-01 9.37800602e-03 1.50549471e+02] [-5.74162685e-01 8.18714747e-01 -6.58591574e-03 -4.44036197e+01] [-1.14595476e-02 7.13147992e-06 9.99934337e-01 -1.84892690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:-44.44, Z:-1.85 [[ 8.19085978e-01 5.73594149e-01 9.37613531e-03 1.50597867e+02] [-5.73556309e-01 8.19139641e-01 -6.58857793e-03 -4.44435096e+01] [-1.14595339e-02 1.88702467e-05 9.99934337e-01 -1.84917554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.65, Y:-44.49, Z:-1.85 [[ 8.19382139e-01 5.73171033e-01 9.37429134e-03 1.50645046e+02] [-5.73133135e-01 8.19435761e-01 -6.59120050e-03 -4.44855883e+01] [-1.14595148e-02 2.79949733e-05 9.99934337e-01 -1.85154699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.69, Y:-44.53, Z:-1.85 [[ 8.19231549e-01 5.73386280e-01 9.37243719e-03 1.50693597e+02] [-5.73348366e-01 8.19285160e-01 -6.59383598e-03 -4.45260276e+01] [-1.14595138e-02 2.82069177e-05 9.99934337e-01 -1.85234150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.74, Y:-44.57, Z:-1.85 [[ 8.18568517e-01 5.74332460e-01 9.37056330e-03 1.50740445e+02] [-5.74294577e-01 8.18622150e-01 -6.59649792e-03 -4.45678759e+01] [-1.14595336e-02 1.82218332e-05 9.99934337e-01 -1.85298919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:-44.61, Z:-1.85 [[ 8.17996744e-01 5.75146548e-01 9.36882639e-03 1.50788661e+02] [-5.75108691e-01 8.18050394e-01 -6.59896388e-03 -4.46083547e+01] [-1.14595434e-02 9.83748869e-06 9.99934337e-01 -1.85377675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:-44.65, Z:-1.85 [[ 8.15493334e-01 5.78690661e-01 9.36699332e-03 1.50837937e+02] [-5.78653006e-01 8.15547128e-01 -6.60156483e-03 -4.46476396e+01] [-1.14594884e-02 -3.67067297e-05 9.99934337e-01 -1.85272487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:-44.68, Z:-1.85 [[ 8.13314782e-01 5.81748537e-01 9.36512874e-03 1.50889700e+02] [-5.81711054e-01 8.13368695e-01 -6.60420890e-03 -4.46829179e+01] [-1.14592914e-02 -7.64981815e-05 9.99934337e-01 -1.85370359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:-44.72, Z:-1.86 [[ 8.14892462e-01 5.79536544e-01 9.36323908e-03 1.50941994e+02] [-5.79498884e-01 8.14946252e-01 -6.60688692e-03 -4.47159791e+01] [-1.14594690e-02 -4.20842425e-05 9.99934337e-01 -1.85711546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:-44.75, Z:-1.86 [[ 8.16417451e-01 5.77386272e-01 9.36149364e-03 1.50993902e+02] [-5.77348442e-01 8.16471122e-01 -6.60935916e-03 -4.47513613e+01] [-1.14595425e-02 -8.84761420e-06 9.99934337e-01 -1.85740413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:-44.79, Z:-1.86 [[ 8.16844656e-01 5.76781765e-01 9.35965370e-03 1.51045879e+02] [-5.76743866e-01 8.16898277e-01 -6.61196371e-03 -4.47875949e+01] [-1.14595451e-02 2.82436309e-06 9.99934337e-01 -1.85580736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.10, Y:-44.82, Z:-1.86 [[ 8.16356743e-01 5.77472164e-01 9.35777559e-03 1.51096091e+02] [-5.77434280e-01 8.16410374e-01 -6.61462069e-03 -4.48233540e+01] [-1.14595444e-02 -3.61020419e-06 9.99934337e-01 -1.85679336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.15, Y:-44.86, Z:-1.86 [[ 8.15929956e-01 5.78075047e-01 9.35662038e-03 1.51145970e+02] [-5.78037183e-01 8.15983603e-01 -6.61625437e-03 -4.48601658e+01] [-1.14595404e-02 -1.00743467e-05 9.99934337e-01 -1.85774701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:-44.90, Z:-1.86 [[ 8.15351992e-01 5.78889985e-01 9.35494417e-03 1.51196683e+02] [-5.78852147e-01 8.15405657e-01 -6.61862358e-03 -4.48952634e+01] [-1.14595293e-02 -1.86216050e-05 9.99934337e-01 -1.86257294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:-44.93, Z:-1.86 [[ 8.13962143e-01 5.80842609e-01 9.35376144e-03 1.51248005e+02] [-5.80804882e-01 8.14015885e-01 -6.62029465e-03 -4.49307882e+01] [-1.14594596e-02 -4.40410827e-05 9.99934337e-01 -1.86318962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:-44.96, Z:-1.86 [[ 8.10843971e-01 5.85187658e-01 9.35194976e-03 1.51300098e+02] [-5.85150189e-01 8.10897894e-01 -6.62285287e-03 -4.49646365e+01] [-1.14590881e-02 -1.02194848e-04 9.99934337e-01 -1.86393620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.35, Y:-45.00, Z:-1.86 [[ 8.09644128e-01 5.86846622e-01 9.35027665e-03 1.51351780e+02] [-5.86809236e-01 8.09698108e-01 -6.62521417e-03 -4.50002703e+01] [-1.14588859e-02 -1.22762952e-04 9.99934337e-01 -1.86361251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.40, Y:-45.04, Z:-1.86 [[ 8.11252146e-01 5.84621724e-01 9.34851733e-03 1.51402193e+02] [-5.84584162e-01 8.11306004e-01 -6.62769571e-03 -4.50375517e+01] [-1.14592031e-02 -8.82627974e-05 9.99934337e-01 -1.86432675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.45, Y:-45.07, Z:-1.87 [[ 8.13883197e-01 5.80953339e-01 9.34662238e-03 1.51452934e+02] [-5.80915503e-01 8.13936863e-01 -6.63036697e-03 -4.50742953e+01] [-1.14594943e-02 -3.32535744e-05 9.99934337e-01 -1.86531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:-45.11, Z:-1.87 [[ 8.17270092e-01 5.76179028e-01 9.34472619e-03 1.51503012e+02] [-5.76140848e-01 8.17323514e-01 -6.63303836e-03 -4.51107860e+01] [-1.14594820e-02 3.71054009e-05 9.99934337e-01 -1.86638077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:-45.15, Z:-1.87 [[ 8.18462133e-01 5.74484495e-01 9.34355841e-03 1.51554999e+02] [-5.74446185e-01 8.18515462e-01 -6.63468292e-03 -4.51454897e+01] [-1.14593695e-02 6.28652464e-05 9.99934337e-01 -1.86896882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:-45.18, Z:-1.87 [[ 8.21712133e-01 5.69826204e-01 9.34169998e-03 1.51606356e+02] [-5.69787563e-01 8.21765222e-01 -6.63729858e-03 -4.51807807e+01] [-1.14587908e-02 1.31164310e-04 9.99934337e-01 -1.87333198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:-45.22, Z:-1.87 [[ 8.24083326e-01 5.66391591e-01 9.34006588e-03 1.51657958e+02] [-5.66352702e-01 8.24136234e-01 -6.63959731e-03 -4.52173985e+01] [-1.14580988e-02 1.81809885e-04 9.99934337e-01 -1.87353471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.557628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:-45.25, Z:-1.87 [[ 8.26926505e-01 5.62232472e-01 9.33819674e-03 1.51710324e+02] [-5.62193287e-01 8.26979195e-01 -6.64222510e-03 -4.52529167e+01] [-1.14569691e-02 2.42760463e-04 9.99934337e-01 -1.87499907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.76, Y:-45.29, Z:-1.87 [[ 8.25857605e-01 5.63801427e-01 9.33634182e-03 1.51762337e+02] [-5.63762313e-01 8.25910347e-01 -6.64483136e-03 -4.52870593e+01] [-1.14573467e-02 2.24206851e-04 9.99934337e-01 -1.87317302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.81, Y:-45.32, Z:-1.87 [[ 8.22910465e-01 5.68094386e-01 9.33463013e-03 1.51814189e+02] [-5.68055520e-01 8.22963390e-01 -6.64723507e-03 -4.53222556e+01] [-1.14583158e-02 1.67491137e-04 9.99934337e-01 -1.87453630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.87, Y:-45.36, Z:-1.88 [[ 8.17451046e-01 5.75922465e-01 9.33279142e-03 1.51866548e+02] [-5.75884076e-01 8.17504318e-01 -6.64981564e-03 -4.53576482e+01] [-1.14593755e-02 6.12927834e-05 9.99934337e-01 -1.87611396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:-45.39, Z:-1.88 [[ 8.14410014e-01 5.80214843e-01 9.33089696e-03 1.51917715e+02] [-5.80176705e-01 8.14463465e-01 -6.65247285e-03 -4.53944107e+01] [-1.14595382e-02 4.27145605e-06 9.99934337e-01 -1.87718113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:-45.43, Z:-1.88 [[ 8.12600543e-01 5.82746365e-01 9.32901407e-03 1.51968005e+02] [-5.82708363e-01 8.12654092e-01 -6.65511225e-03 -4.54326659e+01] [-1.14595039e-02 -2.81466924e-05 9.99934337e-01 -1.87811433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:-45.47, Z:-1.88 [[ 8.13130395e-01 5.82006844e-01 9.32709147e-03 1.52017289e+02] [-5.81968762e-01 8.13183887e-01 -6.65780567e-03 -4.54697856e+01] [-1.14595290e-02 -1.44117196e-05 9.99934337e-01 -1.88006008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.07, Y:-45.51, Z:-1.88 [[ 8.15241171e-01 5.79046519e-01 9.32531743e-03 1.52067266e+02] [-5.79008215e-01 8.15294504e-01 -6.66028957e-03 -4.55080835e+01] [-1.14594975e-02 3.03068702e-05 9.99934337e-01 -1.88125900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:-45.54, Z:-1.88 [[ 8.15557599e-01 5.78600791e-01 9.32344545e-03 1.52118827e+02] [-5.78562428e-01 8.15610889e-01 -6.66290904e-03 -4.55445052e+01] [-1.14594681e-02 3.97908733e-05 9.99934337e-01 -1.88077915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:-45.58, Z:-1.88 [[ 8.15426663e-01 5.78785336e-01 9.32157978e-03 1.52169213e+02] [-5.78746955e-01 8.15479941e-01 -6.66551814e-03 -4.55797802e+01] [-1.14594655e-02 4.04053047e-05 9.99934337e-01 -1.88123710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.22, Y:-45.62, Z:-1.88 [[ 8.16095555e-01 5.77841825e-01 9.32043101e-03 1.52220224e+02] [-5.77803364e-01 8.16148775e-01 -6.66712408e-03 -4.56164031e+01] [-1.14594015e-02 5.56339347e-05 9.99934337e-01 -1.88317385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.27, Y:-45.65, Z:-1.89 [[ 8.17336299e-01 5.76085531e-01 9.31853771e-03 1.52271044e+02] [-5.76046926e-01 8.17389414e-01 -6.66976926e-03 -4.56537490e+01] [-1.14592316e-02 8.35295253e-05 9.99934337e-01 -1.88618915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.32, Y:-45.69, Z:-1.89 [[ 8.17307164e-01 5.76126895e-01 9.31663286e-03 1.52322458e+02] [-5.76088262e-01 8.17360259e-01 -6.67242899e-03 -4.56894017e+01] [-1.14592112e-02 8.62211874e-05 9.99934337e-01 -1.88986654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.37, Y:-45.73, Z:-1.89 [[ 8.17303534e-01 5.76132076e-01 9.31471728e-03 1.52373476e+02] [-5.76093413e-01 8.17356607e-01 -6.67510207e-03 -4.57256270e+01] [-1.14591861e-02 8.94372521e-05 9.99934337e-01 -1.89489897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:-45.76, Z:-1.90 [[ 8.17190153e-01 5.76292895e-01 9.31411733e-03 1.52422118e+02] [-5.76254233e-01 8.17243226e-01 -6.67593910e-03 -4.57618255e+01] [-1.14591956e-02 8.82121625e-05 9.99934337e-01 -1.89674811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.47, Y:-45.80, Z:-1.89 [[ 8.18538796e-01 5.74375752e-01 9.31318337e-03 1.52472147e+02] [-5.74336951e-01 8.18591767e-01 -6.67724176e-03 -4.57981728e+01] [-1.14589410e-02 1.16676089e-04 9.99934337e-01 -1.89386822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:-45.84, Z:-1.89 [[ 8.20914522e-01 5.70975169e-01 9.31151554e-03 1.52520338e+02] [-5.70936122e-01 8.20967313e-01 -6.67956677e-03 -4.58351130e+01] [-1.14583167e-02 1.67072787e-04 9.99934337e-01 -1.89027997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.57, Y:-45.87, Z:-1.89 [[ 8.22097572e-01 5.69270493e-01 9.31069391e-03 1.52570882e+02] [-5.69231323e-01 8.22150272e-01 -6.68071185e-03 -4.58732441e+01] [-1.14579217e-02 1.92258381e-04 9.99934337e-01 -1.88866817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.62, Y:-45.91, Z:-1.89 [[ 8.21992987e-01 5.69421527e-01 9.30882121e-03 1.52621715e+02] [-5.69382338e-01 8.22045672e-01 -6.68332022e-03 -4.59096040e+01] [-1.14579026e-02 1.93363968e-04 9.99934337e-01 -1.88905554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.67, Y:-45.95, Z:-1.89 [[ 8.19554667e-01 5.72925413e-01 9.30691979e-03 1.52672371e+02] [-5.72886419e-01 8.19607497e-01 -6.68596701e-03 -4.59450289e+01] [-1.14585816e-02 1.47707519e-04 9.99934337e-01 -1.89075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:-45.98, Z:-1.89 [[ 8.17059047e-01 5.76478904e-01 9.30522904e-03 1.52722998e+02] [-5.76440113e-01 8.17112026e-01 -6.68831929e-03 -4.59798671e+01] [-1.14590895e-02 1.00844508e-04 9.99934337e-01 -1.89307407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:-46.02, Z:-1.89 [[ 8.13690719e-01 5.81223575e-01 9.30428640e-03 1.52773477e+02] [-5.81185078e-01 8.13743912e-01 -6.68963038e-03 -4.60157173e+01] [-1.14594773e-02 3.57777373e-05 9.99934337e-01 -1.89407229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:-46.05, Z:-1.89 [[ 8.12096267e-01 5.83449324e-01 9.30261128e-03 1.52823788e+02] [-5.83410946e-01 8.12149547e-01 -6.69195898e-03 -4.60527674e+01] [-1.14595305e-02 7.26966130e-06 9.99934337e-01 -1.89460745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.87, Y:-46.09, Z:-1.89 [[ 8.10514370e-01 5.85644904e-01 9.30072072e-03 1.52872673e+02] [-5.85606639e-01 8.10567731e-01 -6.69458552e-03 -4.60913363e+01] [-1.14595140e-02 -2.05060395e-05 9.99934337e-01 -1.89459556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.92, Y:-46.13, Z:-1.90 [[ 8.10149185e-01 5.86150002e-01 9.29906025e-03 1.52920637e+02] [-5.86111745e-01 8.10202552e-01 -6.69689119e-03 -4.61296273e+01] [-1.14595051e-02 -2.48074806e-05 9.99934337e-01 -1.89553462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:-46.17, Z:-1.89 [[ 8.09925331e-01 5.86459293e-01 9.29813359e-03 1.52970241e+02] [-5.86421041e-01 8.09978702e-01 -6.69817753e-03 -4.61664905e+01] [-1.14594986e-02 -2.75975244e-05 9.99934337e-01 -1.89387850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.02, Y:-46.20, Z:-1.89 [[ 8.08795786e-01 5.88016115e-01 9.29647373e-03 1.53022071e+02] [-5.87977940e-01 8.08849211e-01 -6.70048048e-03 -4.62021455e+01] [-1.14594359e-02 -4.68010938e-05 9.99934337e-01 -1.89284835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.07, Y:-46.24, Z:-1.90 [[ 8.07158410e-01 5.90261732e-01 9.29454649e-03 1.53072679e+02] [-5.90223675e-01 8.07211919e-01 -6.70315278e-03 -4.62364188e+01] [-1.14592833e-02 -7.53552458e-05 9.99934337e-01 -1.89516561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.12, Y:-46.27, Z:-1.90 [[ 8.05908440e-01 5.91967252e-01 9.29300571e-03 1.53123215e+02] [-5.91929283e-01 8.05962011e-01 -6.70528819e-03 -4.62718346e+01] [-1.14591206e-02 -9.69538578e-05 9.99934337e-01 -1.89920183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:-46.31, Z:-1.90 [[ 8.05452763e-01 5.92587139e-01 9.29135451e-03 1.53171985e+02] [-5.92549184e-01 8.05506345e-01 -6.70757544e-03 -4.63095622e+01] [-1.14590679e-02 -1.02949365e-04 9.99934337e-01 -1.90243364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:-46.35, Z:-1.90 [[ 8.05433247e-01 5.92613691e-01 9.28969904e-03 1.53220875e+02] [-5.92575712e-01 8.05486812e-01 -6.70986741e-03 -4.63460867e+01] [-1.14590893e-02 -1.00499725e-04 9.99934337e-01 -1.90233629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.27, Y:-46.38, Z:-1.90 [[ 8.05234499e-01 5.92883742e-01 9.28818733e-03 1.53270543e+02] [-5.92845757e-01 8.05288059e-01 -6.71195934e-03 -4.63825145e+01] [-1.14590779e-02 -1.01761236e-04 9.99934337e-01 -1.90076912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.32, Y:-46.42, Z:-1.90 [[ 8.04591530e-01 5.93756034e-01 9.28663126e-03 1.53321119e+02] [-5.93718083e-01 8.04645114e-01 -6.71411163e-03 -4.64177344e+01] [-1.14589868e-02 -1.11523559e-04 9.99934337e-01 -1.89976554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.37, Y:-46.45, Z:-1.90 [[ 8.04959935e-01 5.93256513e-01 9.28506649e-03 1.53371616e+02] [-5.93218503e-01 8.05013478e-01 -6.71627488e-03 -4.64543964e+01] [-1.14590775e-02 -1.01741050e-04 9.99934337e-01 -1.89979858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:-46.49, Z:-1.90 [[ 8.06736984e-01 5.90837759e-01 9.28337740e-03 1.53421406e+02] [-5.90799561e-01 8.06790393e-01 -6.71860876e-03 -4.64919855e+01] [-1.14593474e-02 -6.44651262e-05 9.99934337e-01 -1.90056750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.47, Y:-46.53, Z:-1.90 [[ 8.09273762e-01 5.87358350e-01 9.28159202e-03 1.53470581e+02] [-5.87319894e-01 8.09326985e-01 -6.72107432e-03 -4.65298252e+01] [-1.14595220e-02 -1.20745452e-05 9.99934337e-01 -1.90098605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.52, Y:-46.57, Z:-1.90 [[ 8.10842625e-01 5.85190670e-01 9.27994026e-03 1.53521198e+02] [-5.85152046e-01 8.10895727e-01 -6.72335417e-03 -4.65675398e+01] [-1.14595080e-02 2.14061179e-05 9.99934337e-01 -1.90211106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.57, Y:-46.60, Z:-1.90 [[ 8.13138696e-01 5.81996030e-01 9.27804548e-03 1.53569487e+02] [-5.81957168e-01 8.13191623e-01 -6.72596790e-03 -4.66049691e+01] [-1.14593155e-02 6.97196985e-05 9.99934337e-01 -1.90268951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.62, Y:-46.64, Z:-1.90 [[ 8.14640800e-01 5.79891639e-01 9.27653353e-03 1.53619637e+02] [-5.79852616e-01 8.14693609e-01 -6.72805255e-03 -4.66418317e+01] [-1.14590740e-02 1.01923870e-04 9.99934337e-01 -1.90090697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:-46.68, Z:-1.90 [[ 8.15585537e-01 5.78562191e-01 9.27486250e-03 1.53669367e+02] [-5.78523056e-01 8.15638263e-01 -6.73035533e-03 -4.66771486e+01] [-1.14588619e-02 1.23458666e-04 9.99934337e-01 -1.90126012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:-46.71, Z:-1.90 [[ 8.18290617e-01 5.74729912e-01 9.27333640e-03 1.53719953e+02] [-5.74690506e-01 8.18343141e-01 -6.73245740e-03 -4.67137582e+01] [-1.14581159e-02 1.79808334e-04 9.99934337e-01 -1.90138137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:-46.75, Z:-1.90 [[ 8.19393210e-01 5.73156878e-01 9.27142572e-03 1.53770055e+02] [-5.73117342e-01 8.19445636e-01 -6.73508761e-03 -4.67502445e+01] [-1.14576911e-02 2.05070187e-04 9.99934337e-01 -1.90220496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:-46.79, Z:-1.90 [[ 8.22835921e-01 5.68203405e-01 9.27024948e-03 1.53821608e+02] [-5.68163535e-01 8.22888093e-01 -6.73670621e-03 -4.67870938e+01] [-1.14561973e-02 2.76186137e-04 9.99934337e-01 -1.90258008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.87, Y:-46.82, Z:-1.90 [[ 8.24945325e-01 5.65136539e-01 9.26834535e-03 1.53874029e+02] [-5.65096446e-01 8.24997326e-01 -6.73932490e-03 -4.68224184e+01] [-1.14549989e-02 3.22065556e-04 9.99934337e-01 -1.90183856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.93, Y:-46.86, Z:-1.90 [[ 8.25240656e-01 5.64705227e-01 9.26641766e-03 1.53927019e+02] [-5.64665077e-01 8.25292613e-01 -6.74197439e-03 -4.68572220e+01] [-1.14547342e-02 3.31328930e-04 9.99934337e-01 -1.90234843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.98, Y:-46.89, Z:-1.90 [[ 8.23820089e-01 5.66775643e-01 9.26450735e-03 1.53982058e+02] [-5.66735594e-01 8.23872124e-01 -6.74459843e-03 -4.68885350e+01] [-1.14554435e-02 3.05809599e-04 9.99934337e-01 -1.90281889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.03, Y:-46.92, Z:-1.90 [[ 8.23009527e-01 5.67952042e-01 9.26260751e-03 1.54034080e+02] [-5.67912038e-01 8.23061597e-01 -6.74720653e-03 -4.69237676e+01] [-1.14557863e-02 2.92668941e-04 9.99934337e-01 -1.90384867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:-46.96, Z:-1.90 [[ 8.21150493e-01 5.70636581e-01 9.26068414e-03 1.54087025e+02] [-5.70596718e-01 8.21202670e-01 -6.74984536e-03 -4.69579062e+01] [-1.14566072e-02 2.58522868e-04 9.99934338e-01 -1.90495990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.14, Y:-46.99, Z:-1.91 [[ 8.17332396e-01 5.76092033e-01 9.25873297e-03 1.54139819e+02] [-5.76052487e-01 8.17384815e-01 -6.75252071e-03 -4.69903947e+01] [-1.14580211e-02 1.85537772e-04 9.99934338e-01 -1.90818163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:-47.03, Z:-1.91 [[ 8.14289590e-01 5.80385021e-01 9.25693127e-03 1.54192526e+02] [-5.80345724e-01 8.14342195e-01 -6.75498974e-03 -4.70254316e+01] [-1.14588046e-02 1.28297349e-04 9.99934338e-01 -1.91030052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:-47.06, Z:-1.91 [[ 8.08553757e-01 5.88349527e-01 9.25503523e-03 1.54245945e+02] [-5.88310719e-01 8.08606724e-01 -6.75758651e-03 -4.70596983e+01] [-1.14595065e-02 1.90355371e-05 9.99934338e-01 -1.91299000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.30, Y:-47.09, Z:-1.91 [[ 8.04565248e-01 5.93792171e-01 9.25313033e-03 1.54296189e+02] [-5.93753690e-01 8.04618453e-01 -6.76019387e-03 -4.70938450e+01] [-1.14593896e-02 -5.50632248e-05 9.99934338e-01 -1.91411232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:-47.13, Z:-1.91 [[ 8.00590963e-01 5.99139806e-01 9.25222004e-03 1.54349582e+02] [-5.99101666e-01 8.00644413e-01 -6.76143950e-03 -4.71278384e+01] [-1.14587858e-02 -1.29873083e-04 9.99934338e-01 -1.91087552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.40, Y:-47.16, Z:-1.91 [[ 7.98511506e-01 6.01908473e-01 9.25017279e-03 1.54397867e+02] [-6.01870486e-01 7.98565065e-01 -6.76423913e-03 -4.71649754e+01] [-1.14583177e-02 -1.66083222e-04 9.99934338e-01 -1.91173802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:154.45, Y:-47.20, Z:-1.91 [[ 7.98686722e-01 6.01675980e-01 9.24854313e-03 1.54447819e+02] [-6.01637952e-01 7.98740252e-01 -6.76646659e-03 -4.72028434e+01] [-1.14584041e-02 -1.59987520e-04 9.99934338e-01 -1.91357941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:-47.24, Z:-1.91 [[ 7.98048267e-01 6.02522584e-01 9.24661807e-03 1.54497326e+02] [-6.02484582e-01 7.98101815e-01 -6.76909623e-03 -4.72415186e+01] [-1.14582760e-02 -1.68879303e-04 9.99934338e-01 -1.91409632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:-47.28, Z:-1.92 [[ 7.96506985e-01 6.04558648e-01 9.24470667e-03 1.54547292e+02] [-6.04520753e-01 7.96560609e-01 -6.77170567e-03 -4.72787450e+01] [-1.14578624e-02 -1.94906178e-04 9.99934338e-01 -1.91761560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.60, Y:-47.32, Z:-1.92 [[ 7.96352831e-01 6.04761718e-01 9.24304396e-03 1.54596781e+02] [-6.04723810e-01 7.96406446e-01 -6.77397442e-03 -4.73163014e+01] [-1.14578602e-02 -1.95015058e-04 9.99934338e-01 -1.92008475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.65, Y:-47.36, Z:-1.92 [[ 7.97027612e-01 6.03872158e-01 9.24136608e-03 1.54646524e+02] [-6.03834164e-01 7.97081166e-01 -6.77626269e-03 -4.73552793e+01] [-1.14581152e-02 -1.79384094e-04 9.99934338e-01 -1.92074165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:-47.39, Z:-1.92 [[ 7.98620468e-01 6.01764057e-01 9.23946916e-03 1.54694022e+02] [-6.01725892e-01 7.98673900e-01 -6.77884817e-03 -4.73948735e+01] [-1.14585900e-02 -1.45900920e-04 9.99934338e-01 -1.91871955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.74, Y:-47.44, Z:-1.92 [[ 8.03276858e-01 5.95534174e-01 9.23778094e-03 1.54740126e+02] [-5.95495568e-01 8.03329973e-01 -6.78114798e-03 -4.74350843e+01] [-1.14593917e-02 -5.39183655e-05 9.99934338e-01 -1.91676992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.79, Y:-47.48, Z:-1.92 [[ 8.09810047e-01 5.86619450e-01 9.23623301e-03 1.54786339e+02] [-5.86580235e-01 8.09862714e-01 -6.78325567e-03 -4.74760345e+01] [-1.14592704e-02 7.53568599e-05 9.99934338e-01 -1.91655724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:-47.52, Z:-1.91 [[ 8.15599041e-01 5.78543799e-01 9.23451382e-03 1.54833563e+02] [-5.78504037e-01 8.15651295e-01 -6.78559533e-03 -4.75177314e+01] [-1.14579073e-02 1.92121526e-04 9.99934338e-01 -1.91464570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:-47.56, Z:-1.92 [[ 8.18117376e-01 5.74977146e-01 9.23261635e-03 1.54882890e+02] [-5.74937127e-01 8.18169433e-01 -6.78817607e-03 -4.75568892e+01] [-1.14568906e-02 2.45350878e-04 9.99934338e-01 -1.91569074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.93, Y:-47.60, Z:-1.92 [[ 8.19030602e-01 5.73675576e-01 9.23073914e-03 1.54931721e+02] [-5.73635445e-01 8.19082574e-01 -6.79072780e-03 -4.75950015e+01] [-1.14564123e-02 2.66734728e-04 9.99934338e-01 -1.91683499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.98, Y:-47.63, Z:-1.92 [[ 8.18274955e-01 5.74752924e-01 9.22900461e-03 1.54981637e+02] [-5.74712834e-01 8.18326959e-01 -6.79308431e-03 -4.76328486e+01] [-1.14566883e-02 2.54583357e-04 9.99934338e-01 -1.91574679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:-47.67, Z:-1.92 [[ 8.15948957e-01 5.78050308e-01 9.22718522e-03 1.55032767e+02] [-5.78010401e-01 8.16001101e-01 -6.79555473e-03 -4.76694057e+01] [-1.14575658e-02 2.11416765e-04 9.99934338e-01 -1.91568476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:-47.70, Z:-1.92 [[ 8.11818154e-01 5.83837460e-01 9.22522207e-03 1.55084226e+02] [-5.83797895e-01 8.11870557e-01 -6.79821874e-03 -4.77045553e+01] [-1.14587409e-02 1.33252161e-04 9.99934338e-01 -1.91837089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.14, Y:-47.74, Z:-1.92 [[ 8.09034152e-01 5.87689263e-01 9.22340571e-03 1.55135022e+02] [-5.87649919e-01 8.09086722e-01 -6.80068217e-03 -4.77410743e+01] [-1.14592230e-02 8.18505098e-05 9.99934338e-01 -1.92022954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:-47.78, Z:-1.92 [[ 8.06729851e-01 5.90848468e-01 9.22150149e-03 1.55185799e+02] [-5.90809300e-01 8.06782552e-01 -6.80326325e-03 -4.77779091e+01] [-1.14594442e-02 4.02467058e-05 9.99934338e-01 -1.92137231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:-47.81, Z:-1.92 [[ 8.04010241e-01 5.94543970e-01 9.21957003e-03 1.55237286e+02] [-5.94505015e-01 8.04063099e-01 -6.80587969e-03 -4.78133727e+01] [-1.14595108e-02 -9.08364401e-06 9.99934338e-01 -1.92239692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.29, Y:-47.85, Z:-1.92 [[ 8.02847485e-01 5.96113203e-01 9.21765295e-03 1.55288432e+02] [-5.96074321e-01 8.02900397e-01 -6.80847514e-03 -4.78494538e+01] [-1.14594791e-02 -2.82390863e-05 9.99934338e-01 -1.92416152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:-47.89, Z:-1.93 [[ 8.02391078e-01 5.96727433e-01 9.21573208e-03 1.55338288e+02] [-5.96688561e-01 8.02443998e-01 -6.81107417e-03 -4.78859995e+01] [-1.14594637e-02 -3.37767715e-05 9.99934338e-01 -1.92543635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:-47.92, Z:-1.93 [[ 8.02142296e-01 5.97061839e-01 9.21395897e-03 1.55388663e+02] [-5.97022962e-01 8.02195213e-01 -6.81347197e-03 -4.79228267e+01] [-1.14594579e-02 -3.55710246e-05 9.99934338e-01 -1.92706319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:-47.96, Z:-1.93 [[ 8.02764929e-01 5.96224459e-01 9.21207927e-03 1.55438935e+02] [-5.96185498e-01 8.02817784e-01 -6.81601245e-03 -4.79611861e+01] [-1.14594944e-02 -2.04523218e-05 9.99934338e-01 -1.92926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.49, Y:-48.00, Z:-1.93 [[ 8.03511738e-01 5.95217656e-01 9.21021317e-03 1.55487724e+02] [-5.95178600e-01 8.03564522e-01 -6.81853310e-03 -4.80000080e+01] [-1.14595118e-02 -2.95039440e-06 9.99934338e-01 -1.93033097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.54, Y:-48.04, Z:-1.93 [[ 8.03486721e-01 5.95251453e-01 9.20851277e-03 1.55535383e+02] [-5.95212373e-01 8.03539487e-01 -6.82082875e-03 -4.80376844e+01] [-1.14595119e-02 -5.75408712e-07 9.99934338e-01 -1.93256245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:-48.08, Z:-1.94 [[ 8.03442870e-01 5.95310664e-01 9.20695931e-03 1.55584744e+02] [-5.95271564e-01 8.03495621e-01 -6.82292501e-03 -4.80757429e+01] [-1.14595115e-02 1.18938514e-06 9.99934338e-01 -1.93518705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:-48.11, Z:-1.94 [[ 8.04551261e-01 5.93811865e-01 9.20531271e-03 1.55632801e+02] [-5.93772641e-01 8.04603920e-01 -6.82514583e-03 -4.81145251e+01] [-1.14594833e-02 2.53168460e-05 9.99934338e-01 -1.93634973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:-48.15, Z:-1.94 [[ 8.05780764e-01 5.92142426e-01 9.20363726e-03 1.55681002e+02] [-5.92103067e-01 8.05833323e-01 -6.82740441e-03 -4.81538217e+01] [-1.14593934e-02 5.18892858e-05 9.99934338e-01 -1.93574465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.73, Y:-48.19, Z:-1.93 [[ 8.07706036e-01 5.89513598e-01 9.20196574e-03 1.55730443e+02] [-5.89474042e-01 8.07758447e-01 -6.82965654e-03 -4.81912510e+01] [-1.14591410e-02 9.20348738e-05 9.99934338e-01 -1.93145067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.78, Y:-48.23, Z:-1.93 [[ 8.10386243e-01 5.85823773e-01 9.20028280e-03 1.55779314e+02] [-5.85783953e-01 8.10438453e-01 -6.83192290e-03 -4.82273789e+01] [-1.14585658e-02 1.47118306e-04 9.99934338e-01 -1.92964789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:-48.27, Z:-1.93 [[ 8.16742866e-01 5.76928482e-01 9.19874361e-03 1.55829412e+02] [-5.76888071e-01 8.16794620e-01 -6.83399469e-03 -4.82650707e+01] [-1.14562105e-02 2.74970956e-04 9.99934338e-01 -1.92896507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:-48.30, Z:-1.93 [[ 8.20905668e-01 5.70989757e-01 9.19681554e-03 1.55880626e+02] [-5.70948942e-01 8.20957104e-01 -6.83658839e-03 -4.83022528e+01] [-1.14538130e-02 3.61282059e-04 9.99934338e-01 -1.93059179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:-48.34, Z:-1.93 [[ 8.25429327e-01 5.64430580e-01 9.19491583e-03 1.55932841e+02] [-5.64389328e-01 8.25480413e-01 -6.83914246e-03 -4.83367341e+01] [-1.14504441e-02 4.55716385e-04 9.99934338e-01 -1.93136508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.99, Y:-48.37, Z:-1.93 [[ 8.28116425e-01 5.60480754e-01 9.19300735e-03 1.55986154e+02] [-5.60439230e-01 8.28167290e-01 -6.84170683e-03 -4.83685164e+01] [-1.14479930e-02 5.13607832e-04 9.99934338e-01 -1.93342863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:-48.40, Z:-1.93 [[ 8.28721654e-01 5.59585508e-01 9.19131041e-03 1.56039594e+02] [-5.59543904e-01 8.28772454e-01 -6.84398578e-03 -4.84027106e+01] [-1.14473001e-02 5.28817510e-04 9.99934338e-01 -1.93373436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.09, Y:-48.43, Z:-1.93 [[ 8.25975641e-01 5.63630903e-01 9.18938048e-03 1.56093730e+02] [-5.63589519e-01 8.26026621e-01 -6.84657611e-03 -4.84338916e+01] [-1.14496148e-02 4.76066565e-04 9.99934338e-01 -1.93222571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.15, Y:-48.47, Z:-1.93 [[ 8.20971583e-01 5.70895127e-01 9.18769752e-03 1.56148862e+02] [-5.70854169e-01 8.21022906e-01 -6.84883380e-03 -4.84651921e+01] [-1.14532760e-02 3.77862499e-04 9.99934338e-01 -1.93326909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.20, Y:-48.49, Z:-1.94 [[ 8.11453686e-01 5.84344537e-01 9.18574156e-03 1.56204943e+02] [-5.84304400e-01 8.11505653e-01 -6.85145616e-03 -4.84942254e+01] [-1.14578922e-02 1.92370140e-04 9.99934338e-01 -1.93552906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.26, Y:-48.53, Z:-1.94 [[ 8.05445667e-01 5.92598459e-01 9.18393027e-03 1.56257796e+02] [-5.92558827e-01 8.05498020e-01 -6.85388321e-03 -4.85282176e+01] [-1.14592383e-02 7.84115875e-05 9.99934338e-01 -1.93613096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.31, Y:-48.56, Z:-1.94 [[ 7.96911672e-01 6.04026057e-01 9.18198875e-03 1.56311398e+02] [-6.03987146e-01 7.96964564e-01 -6.85648323e-03 -4.85592887e+01] [-1.14592142e-02 -8.17916621e-05 9.99934338e-01 -1.93677392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:-48.60, Z:-1.94 [[ 7.94488288e-01 6.07210082e-01 9.18019347e-03 1.56363309e+02] [-6.07171355e-01 7.94541315e-01 -6.85888610e-03 -4.85955284e+01] [-1.14588278e-02 -1.24645836e-04 9.99934338e-01 -1.93730856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.41, Y:-48.63, Z:-1.94 [[ 7.92982848e-01 6.09174821e-01 9.17826004e-03 1.56414086e+02] [-6.09136195e-01 7.93035948e-01 -6.86147236e-03 -4.86318642e+01] [-1.14585264e-02 -1.49780508e-04 9.99934338e-01 -1.93830491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:-48.67, Z:-1.94 [[ 7.92312687e-01 6.10046229e-01 9.17629681e-03 1.56464933e+02] [-6.10007632e-01 7.92365808e-01 -6.86409691e-03 -4.86695401e+01] [-1.14584003e-02 -1.59100025e-04 9.99934338e-01 -1.94029915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:-48.71, Z:-1.94 [[ 7.93710980e-01 6.08225873e-01 9.17432574e-03 1.56515143e+02] [-6.08187123e-01 7.93763990e-01 -6.86673037e-03 -4.87079317e+01] [-1.14587725e-02 -1.29507493e-04 9.99934338e-01 -1.94283335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:-48.75, Z:-1.94 [[ 7.95923052e-01 6.05328310e-01 9.17231073e-03 1.56564345e+02] [-6.05289337e-01 7.95975898e-01 -6.86942089e-03 -4.87470453e+01] [-1.14591932e-02 -8.43714327e-05 9.99934338e-01 -1.94420534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-48.79, Z:-1.95 [[ 8.00867701e-01 5.98771100e-01 9.17032501e-03 1.56612438e+02] [-5.98731664e-01 8.00920202e-01 -6.87207069e-03 -4.87881893e+01] [-1.14594959e-02 1.30555073e-05 9.99934338e-01 -1.94500110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.66, Y:-48.83, Z:-1.95 [[ 8.04462470e-01 5.93932720e-01 9.16834944e-03 1.56661623e+02] [-5.93892938e-01 8.04514709e-01 -6.87470539e-03 -4.88278865e+01] [-1.14591845e-02 8.54244854e-05 9.99934338e-01 -1.94540991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.71, Y:-48.87, Z:-1.95 [[ 8.09817105e-01 5.86610802e-01 9.16640251e-03 1.56709279e+02] [-5.86570519e-01 8.09868958e-01 -6.87730035e-03 -4.88688659e+01] [-1.14578835e-02 1.92613985e-04 9.99934338e-01 -1.94584293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.76, Y:-48.91, Z:-1.95 [[ 8.13308633e-01 5.81760330e-01 9.16443793e-03 1.56757810e+02] [-5.81719707e-01 8.13360221e-01 -6.87991728e-03 -4.89089935e+01] [-1.14564522e-02 2.64361966e-04 9.99934338e-01 -1.94667993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.81, Y:-48.95, Z:-1.95 [[ 8.13678032e-01 5.81243588e-01 9.16248327e-03 1.56807483e+02] [-5.81202904e-01 8.13729572e-01 -6.88251946e-03 -4.89475939e+01] [-1.14562039e-02 2.74893009e-04 9.99934338e-01 -1.94728479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.86, Y:-48.99, Z:-1.95 [[ 8.10837053e-01 5.85200271e-01 9.16053052e-03 1.56857478e+02] [-5.85159809e-01 8.10888767e-01 -6.88511756e-03 -4.89858844e+01] [-1.14573440e-02 2.22334144e-04 9.99934338e-01 -1.94665884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:-49.02, Z:-1.95 [[ 8.07893603e-01 5.89257199e-01 9.15856688e-03 1.56906339e+02] [-5.89216967e-01 8.07945496e-01 -6.88772860e-03 -4.90235843e+01] [-1.14582665e-02 1.68168879e-04 9.99934338e-01 -1.94612105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:-49.06, Z:-1.95 [[ 8.04063489e-01 5.94472917e-01 9.15735591e-03 1.56957273e+02] [-5.94433003e-01 8.04115627e-01 -6.88933823e-03 -4.90610054e+01] [-1.14590980e-02 9.60307504e-05 9.99934338e-01 -1.94536213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:-49.10, Z:-1.95 [[ 7.97910324e-01 6.02706640e-01 9.15536170e-03 1.57008407e+02] [-6.02667234e-01 7.97962848e-01 -6.89198736e-03 -4.90974999e+01] [-1.14594850e-02 -1.84486372e-05 9.99934338e-01 -1.94688109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.06, Y:-49.13, Z:-1.95 [[ 7.94657437e-01 6.06989105e-01 9.15337768e-03 1.57058452e+02] [-6.06949952e-01 7.94710148e-01 -6.89462136e-03 -4.91348467e+01] [-1.14592422e-02 -7.67800056e-05 9.99934338e-01 -1.94777485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.11, Y:-49.17, Z:-1.95 [[ 7.92328916e-01 6.10025526e-01 9.15135240e-03 1.57107555e+02] [-6.09986543e-01 7.92381754e-01 -6.89730850e-03 -4.91728013e+01] [-1.14588989e-02 -1.17264852e-04 9.99934338e-01 -1.95037233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:-49.21, Z:-1.95 [[ 7.92295222e-01 6.10069314e-01 9.14948506e-03 1.57156149e+02] [-6.10030306e-01 7.92348041e-01 -6.89978469e-03 -4.92124949e+01] [-1.14589235e-02 -1.14796732e-04 9.99934338e-01 -1.95266904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.20, Y:-49.25, Z:-1.95 [[ 7.95384275e-01 6.06036450e-01 9.14751285e-03 1.57202644e+02] [-6.05997144e-01 7.95436873e-01 -6.90239839e-03 -4.92540124e+01] [-1.14593740e-02 -5.33075251e-05 9.99934338e-01 -1.95471820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:-49.30, Z:-1.96 [[ 7.99074957e-01 6.01161847e-01 9.14581390e-03 1.57250758e+02] [-6.01122195e-01 7.99127295e-01 -6.90464881e-03 -4.92951503e+01] [-1.14594810e-02 1.95802301e-05 9.99934338e-01 -1.95556812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.30, Y:-49.34, Z:-1.96 [[ 8.03238475e-01 5.95587393e-01 9.14383981e-03 1.57298083e+02] [-5.95547348e-01 8.03290512e-01 -6.90726211e-03 -4.93365884e+01] [-1.14590380e-02 1.02589137e-04 9.99934338e-01 -1.95657239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:-49.38, Z:-1.96 [[ 8.09340689e-01 5.87268317e-01 9.14188318e-03 1.57344515e+02] [-5.87227707e-01 8.09392287e-01 -6.90985078e-03 -4.93801192e+01] [-1.14573062e-02 2.24056291e-04 9.99934338e-01 -1.95684415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:-49.42, Z:-1.96 [[ 8.12805404e-01 5.82463593e-01 9.13991615e-03 1.57391408e+02] [-5.82422649e-01 8.12856738e-01 -6.91245167e-03 -4.94227101e+01] [-1.14556939e-02 2.95183896e-04 9.99934338e-01 -1.95690322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.44, Y:-49.46, Z:-1.96 [[ 8.12960411e-01 5.82247256e-01 9.13796906e-03 1.57438755e+02] [-5.82206270e-01 8.13011711e-01 -6.91502467e-03 -4.94620276e+01] [-1.14555300e-02 3.01458418e-04 9.99934338e-01 -1.95765962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.49, Y:-49.50, Z:-1.96 [[ 8.10287474e-01 5.85961381e-01 9.13617563e-03 1.57487172e+02] [-5.85920603e-01 8.10338939e-01 -6.91739336e-03 -4.95008688e+01] [-1.14567242e-02 2.52003655e-04 9.99934338e-01 -1.95950071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.54, Y:-49.54, Z:-1.96 [[ 8.06969022e-01 5.90523122e-01 9.13452149e-03 1.57536438e+02] [-5.90482610e-01 8.07020698e-01 -6.91957698e-03 -4.95389878e+01] [-1.14579181e-02 1.90108173e-04 9.99934338e-01 -1.96086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.59, Y:-49.58, Z:-1.96 [[ 8.02667851e-01 5.96356363e-01 9.13285378e-03 1.57586419e+02] [-5.96316202e-01 8.02719799e-01 -6.92177742e-03 -4.95754686e+01] [-1.14589686e-02 1.09819523e-04 9.99934338e-01 -1.96356948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.64, Y:-49.61, Z:-1.96 [[ 8.00060725e-01 5.99849530e-01 9.13116405e-03 1.57636794e+02] [-5.99809571e-01 8.00112828e-01 -6.92400578e-03 -4.96138961e+01] [-1.14593231e-02 6.26654940e-05 9.99934338e-01 -1.96321490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.69, Y:-49.65, Z:-1.96 [[ 8.01849759e-01 5.97455957e-01 9.12919687e-03 1.57688312e+02] [-5.97415813e-01 8.01901720e-01 -6.92659851e-03 -4.96486167e+01] [-1.14590562e-02 1.00164778e-04 9.99934338e-01 -1.96356094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.74, Y:-49.69, Z:-1.96 [[ 7.99917776e-01 6.00040201e-01 9.12736879e-03 1.57735033e+02] [-6.00000197e-01 7.99969845e-01 -6.92900658e-03 -4.96898107e+01] [-1.14593023e-02 6.62124698e-05 9.99934338e-01 -1.96075580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:-49.73, Z:-1.96 [[ 8.00753597e-01 5.98924372e-01 9.12544913e-03 1.57784171e+02] [-5.98884267e-01 8.00805587e-01 -6.93153384e-03 -4.97266854e+01] [-1.14591752e-02 8.53627353e-05 9.99934338e-01 -1.95982018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:-49.77, Z:-1.96 [[ 8.02013413e-01 5.97236335e-01 9.12391624e-03 1.57834209e+02] [-5.97196097e-01 8.02065301e-01 -6.93355098e-03 -4.97650500e+01] [-1.14589452e-02 1.12033717e-04 9.99934338e-01 -1.95965088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:-49.80, Z:-1.96 [[ 8.03473355e-01 5.95270826e-01 9.12204666e-03 1.57883173e+02] [-5.95230433e-01 8.03525123e-01 -6.93600981e-03 -4.98038981e+01] [-1.14585979e-02 1.43179288e-04 9.99934338e-01 -1.96072216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.93, Y:-49.84, Z:-1.96 [[ 8.04135904e-01 5.94375531e-01 9.12007437e-03 1.57932482e+02] [-5.94335051e-01 8.04187604e-01 -6.93860217e-03 -4.98408507e+01] [-1.14583861e-02 1.59199259e-04 9.99934338e-01 -1.96378599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.98, Y:-49.88, Z:-1.97 [[ 8.04122955e-01 5.94393076e-01 9.11834796e-03 1.57983481e+02] [-5.94352572e-01 8.04174636e-01 -6.94087019e-03 -4.98782120e+01] [-1.14583493e-02 1.61799485e-04 9.99934338e-01 -1.96630932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:-49.92, Z:-1.97 [[ 8.03874604e-01 5.94728941e-01 9.11639716e-03 1.58032328e+02] [-5.94688429e-01 8.03926279e-01 -6.94343150e-03 -4.99159493e+01] [-1.14583709e-02 1.60232336e-04 9.99934338e-01 -1.96724496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.08, Y:-49.95, Z:-1.97 [[ 8.03390117e-01 5.95383274e-01 9.11468082e-03 1.58081811e+02] [-5.95342779e-01 8.03441805e-01 -6.94568382e-03 -4.99543468e+01] [-1.14584596e-02 1.53734334e-04 9.99934338e-01 -1.96823507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:-49.99, Z:-1.97 [[ 8.01700506e-01 5.97656471e-01 9.11271233e-03 1.58131642e+02] [-5.97616093e-01 8.01752286e-01 -6.94826551e-03 -4.99920608e+01] [-1.14588138e-02 1.24524436e-04 9.99934338e-01 -1.97133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:-50.03, Z:-1.97 [[ 7.97448479e-01 6.03318256e-01 9.11074312e-03 1.58180582e+02] [-6.03278216e-01 7.97500520e-01 -6.95084663e-03 -5.00297190e+01] [-1.14593950e-02 4.66292165e-05 9.99934338e-01 -1.96692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.23, Y:-50.07, Z:-1.97 [[ 7.94522855e-01 6.07165924e-01 9.10902377e-03 1.58230545e+02] [-6.07126110e-01 7.94575069e-01 -6.95309909e-03 -5.00673912e+01] [-1.14594880e-02 -5.93002925e-06 9.99934338e-01 -1.96631340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:-50.11, Z:-1.97 [[ 7.90898146e-01 6.11880041e-01 9.10705319e-03 1.58279908e+02] [-6.11840509e-01 7.90950574e-01 -6.95567917e-03 -5.01051147e+01] [-1.14592702e-02 -7.08302926e-05 9.99934338e-01 -1.96801762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:-50.14, Z:-1.97 [[ 7.89868375e-01 6.13208810e-01 9.10523153e-03 1.58329594e+02] [-6.13169338e-01 7.89920849e-01 -6.95806297e-03 -5.01441094e+01] [-1.14591577e-02 -8.70948956e-05 9.99934338e-01 -1.97073081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.38, Y:-50.18, Z:-1.97 [[ 7.89177175e-01 6.14098134e-01 9.10324809e-03 1.58379071e+02] [-6.14058692e-01 7.89229670e-01 -6.96065695e-03 -5.01831431e+01] [-1.14590799e-02 -9.67370252e-05 9.99934338e-01 -1.97088136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:-50.22, Z:-1.98 [[ 7.90173528e-01 6.12815603e-01 9.10126120e-03 1.58427798e+02] [-6.12776045e-01 7.90225937e-01 -6.96325389e-03 -5.02218672e+01] [-1.14592433e-02 -7.48559496e-05 9.99934338e-01 -1.97655665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:-50.26, Z:-1.97 [[ 7.91974218e-01 6.10486721e-01 9.09953335e-03 1.58476486e+02] [-6.10446983e-01 7.92026491e-01 -6.96551110e-03 -5.02611835e+01] [-1.14594235e-02 -3.82774713e-05 9.99934338e-01 -1.97339001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:-50.30, Z:-1.97 [[ 7.92395112e-01 6.09940343e-01 9.09754851e-03 1.58526364e+02] [-6.09900539e-01 7.92447334e-01 -6.96810251e-03 -5.02990334e+01] [-1.14594549e-02 -2.71093734e-05 9.99934338e-01 -1.97369530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.58, Y:-50.34, Z:-1.97 [[ 7.95500580e-01 6.05884558e-01 9.09557028e-03 1.58577281e+02] [-6.05844458e-01 7.95552576e-01 -6.97068376e-03 -5.03358927e+01] [-1.14594340e-02 3.46821291e-05 9.99934338e-01 -1.97410965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:-50.37, Z:-1.97 [[ 7.98993939e-01 6.01270316e-01 9.09357509e-03 1.58625055e+02] [-6.01229887e-01 7.99045679e-01 -6.97328560e-03 -5.03736906e+01] [-1.14590115e-02 1.04283806e-04 9.99934338e-01 -1.97349337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:-50.41, Z:-1.97 [[ 8.04294825e-01 5.94160886e-01 9.09262472e-03 1.58674809e+02] [-5.94119986e-01 8.04346193e-01 -6.97452459e-03 -5.04114365e+01] [-1.14576078e-02 2.07463959e-04 9.99934338e-01 -1.97055077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:-50.45, Z:-1.98 [[ 8.09984469e-01 5.86380862e-01 9.09089486e-03 1.58727643e+02] [-5.86339444e-01 8.10035420e-01 -6.97677865e-03 -5.04459317e+01] [-1.14549963e-02 3.20732117e-04 9.99934338e-01 -1.97583308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.78, Y:-50.48, Z:-1.98 [[ 8.13133635e-01 5.82006087e-01 9.08878854e-03 1.58778671e+02] [-5.81964364e-01 8.13184337e-01 -6.97952150e-03 -5.04830097e+01] [-1.14529845e-02 3.85932649e-04 9.99934338e-01 -1.97670970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.83, Y:-50.52, Z:-1.98 [[ 8.12148321e-01 5.83380267e-01 9.08668746e-03 1.58826197e+02] [-5.83338599e-01 8.12199068e-01 -6.98225585e-03 -5.05214289e+01] [-1.14535094e-02 3.70011830e-04 9.99934338e-01 -1.97538033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:-50.56, Z:-1.98 [[ 8.11655027e-01 5.84066417e-01 9.08501748e-03 1.58877530e+02] [-5.84024767e-01 8.11705790e-01 -6.98442808e-03 -5.05581265e+01] [-1.14537312e-02 3.63070944e-04 9.99934338e-01 -1.97613700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.93, Y:-50.59, Z:-1.98 [[ 8.09936309e-01 5.86447504e-01 9.08302059e-03 1.58929059e+02] [-5.86405974e-01 8.09987170e-01 -6.98702400e-03 -5.05942804e+01] [-1.14546529e-02 3.32706888e-04 9.99934338e-01 -1.97681312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.98, Y:-50.63, Z:-1.98 [[ 8.05143312e-01 5.93010777e-01 9.08102791e-03 1.58980696e+02] [-5.92969633e-01 8.05194485e-01 -6.98961294e-03 -5.06290240e+01] [-1.14569094e-02 2.42866321e-04 9.99934338e-01 -1.97739394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-50.67, Z:-1.98 [[ 8.01338846e-01 5.98141808e-01 9.07918884e-03 1.59032438e+02] [-5.98100965e-01 8.01390260e-01 -6.99200098e-03 -5.06650011e+01] [-1.14581816e-02 1.72690397e-04 9.99934338e-01 -1.97867320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:-50.70, Z:-1.98 [[ 7.96147079e-01 6.05035068e-01 9.07721622e-03 1.59084673e+02] [-6.04994641e-01 7.96198820e-01 -6.99456095e-03 -5.07005872e+01] [-1.14592235e-02 7.70321016e-05 9.99934338e-01 -1.97950907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:-50.74, Z:-1.98 [[ 7.92699323e-01 6.09545259e-01 9.07522851e-03 1.59135496e+02] [-6.09505097e-01 7.92751270e-01 -6.99713899e-03 -5.07380298e+01] [-1.14594718e-02 1.52293076e-05 9.99934338e-01 -1.98015504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:-50.77, Z:-1.98 [[ 7.88760477e-01 6.14633701e-01 9.07323566e-03 1.59184966e+02] [-6.14593844e-01 7.88812659e-01 -6.99972219e-03 -5.07747047e+01] [-1.14593483e-02 -5.52505654e-05 9.99934338e-01 -1.98165622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.24, Y:-50.81, Z:-1.98 [[ 7.87459679e-01 6.16299410e-01 9.07139350e-03 1.59235286e+02] [-6.16259636e-01 7.87511924e-01 -7.00210875e-03 -5.08128277e+01] [-1.14592260e-02 -7.64553520e-05 9.99934338e-01 -1.98379619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:-50.85, Z:-1.99 [[ 7.88033322e-01 6.15565780e-01 9.06940415e-03 1.59284010e+02] [-6.15525928e-01 7.88085507e-01 -7.00468449e-03 -5.08528097e+01] [-1.14593100e-02 -6.25286159e-05 9.99934338e-01 -1.98530696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:-50.89, Z:-1.99 [[ 7.90096385e-01 6.12915560e-01 9.06741356e-03 1.59332835e+02] [-6.12875504e-01 7.90148414e-01 -7.00726031e-03 -5.08920403e+01] [-1.14594613e-02 -2.07846123e-05 9.99934338e-01 -1.98614367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:-50.93, Z:-1.99 [[ 7.92123722e-01 6.10293230e-01 9.06543300e-03 1.59381365e+02] [-6.10252971e-01 7.92175595e-01 -7.00982167e-03 -5.09311181e+01] [-1.14594615e-02 2.04386116e-05 9.99934338e-01 -1.98778169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:-50.97, Z:-1.99 [[ 7.96885743e-01 6.04062053e-01 9.06360576e-03 1.59428315e+02] [-6.04021362e-01 7.96937277e-01 -7.01218347e-03 -5.09729940e+01] [-1.14589192e-02 1.13297539e-04 9.99934338e-01 -1.98885465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.48, Y:-51.01, Z:-1.99 [[ 8.00398246e-01 5.99400145e-01 9.06167080e-03 1.59476495e+02] [-5.99359125e-01 8.00449519e-01 -7.01468307e-03 -5.10140152e+01] [-1.14580121e-02 1.83344942e-04 9.99934338e-01 -1.99028191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:-51.05, Z:-1.99 [[ 8.05649493e-01 5.92323236e-01 9.05975172e-03 1.59524361e+02] [-5.92281738e-01 8.05700380e-01 -7.01716077e-03 -5.10541591e+01] [-1.14558728e-02 2.87446519e-04 9.99934338e-01 -1.99242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:-51.09, Z:-2.00 [[ 8.13973594e-01 5.80831252e-01 9.05785092e-03 1.59570692e+02] [-5.80789010e-01 8.14023864e-01 -7.01961350e-03 -5.10948298e+01] [-1.14505177e-02 4.53079769e-04 9.99934338e-01 -1.99770985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:-51.13, Z:-1.99 [[ 8.17166086e-01 5.76331131e-01 9.05621954e-03 1.59621198e+02] [-5.76288589e-01 8.17216102e-01 -7.02171757e-03 -5.11325068e+01] [-1.14477229e-02 5.18913487e-04 9.99934338e-01 -1.99374781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:-51.17, Z:-2.00 [[ 8.22120285e-01 5.69241827e-01 9.05422461e-03 1.59671866e+02] [-5.69198825e-01 8.22169907e-01 -7.02428900e-03 -5.11695612e+01] [-1.14426301e-02 6.21156462e-04 9.99934338e-01 -1.99713887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:-51.20, Z:-1.99 [[ 8.23811829e-01 5.66791079e-01 9.05223215e-03 1.59723077e+02] [-5.66747902e-01 8.23861299e-01 -7.02685575e-03 -5.12042446e+01] [-1.14405429e-02 6.58473310e-04 9.99934338e-01 -1.98985171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:-51.24, Z:-1.99 [[ 8.22084249e-01 5.69293929e-01 9.05040482e-03 1.59773871e+02] [-5.69250877e-01 8.22133827e-01 -7.02920853e-03 -5.12378047e+01] [-1.14423297e-02 6.26650734e-04 9.99934338e-01 -1.99386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:-51.27, Z:-1.99 [[ 8.16640287e-01 5.77076034e-01 9.04943506e-03 1.59828574e+02] [-5.77033441e-01 8.16690260e-01 -7.03045677e-03 -5.12699482e+01] [-1.14476936e-02 5.19527583e-04 9.99934338e-01 -1.99214971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:-51.30, Z:-1.99 [[ 8.11323678e-01 5.84527188e-01 9.04740231e-03 1.59880431e+02] [-5.84485025e-01 8.11374015e-01 -7.03307172e-03 -5.13034210e+01] [-1.14518488e-02 4.18026451e-04 9.99934338e-01 -1.99047503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:-51.34, Z:-1.99 [[ 8.05870486e-01 5.92022752e-01 9.04552113e-03 1.59933957e+02] [-5.91981030e-01 8.05921189e-01 -7.03549035e-03 -5.13372013e+01] [-1.14551475e-02 3.14917117e-04 9.99934338e-01 -1.99221846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.99, Y:-51.37, Z:-1.99 [[ 7.99292257e-01 6.00874449e-01 9.04353723e-03 1.59988882e+02] [-6.00833260e-01 7.99343393e-01 -7.03803957e-03 -5.13686971e+01] [-1.14578699e-02 1.91792577e-04 9.99934338e-01 -1.99462617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:-51.40, Z:-2.00 [[ 7.95907278e-01 6.05351019e-01 9.04152401e-03 1.60040778e+02] [-6.05310088e-01 7.95958622e-01 -7.04062492e-03 -5.14024695e+01] [-1.14587285e-02 1.30758923e-04 9.99934338e-01 -1.99612446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:-51.44, Z:-2.00 [[ 7.95353305e-01 6.06078712e-01 9.03966111e-03 1.60091660e+02] [-6.06037801e-01 7.95404664e-01 -7.04301595e-03 -5.14390992e+01] [-1.14588106e-02 1.23309664e-04 9.99934338e-01 -1.99701533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:-51.48, Z:-2.00 [[ 7.95264775e-01 6.06194902e-01 9.03768113e-03 1.60142778e+02] [-6.06153969e-01 7.95316117e-01 -7.04555576e-03 -5.14759512e+01] [-1.14587934e-02 1.24856021e-04 9.99934338e-01 -1.99751135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.19, Y:-51.51, Z:-2.00 [[ 7.94869652e-01 6.06712941e-01 9.03566177e-03 1.60193075e+02] [-6.06672013e-01 7.94920997e-01 -7.04814457e-03 -5.15135939e+01] [-1.14588378e-02 1.20673100e-04 9.99934338e-01 -1.99774329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.24, Y:-51.55, Z:-2.00 [[ 7.93142550e-01 6.08969038e-01 9.03365267e-03 1.60243415e+02] [-6.08928226e-01 7.93193988e-01 -7.05071871e-03 -5.15515948e+01] [-1.14591084e-02 9.13789225e-05 9.99934338e-01 -1.99904239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.29, Y:-51.59, Z:-2.00 [[ 7.91954335e-01 6.10513523e-01 9.03163532e-03 1.60293380e+02] [-6.10472782e-01 7.92005829e-01 -7.05330188e-03 -5.15905783e+01] [-1.14592440e-02 7.23254622e-05 9.99934338e-01 -2.00196280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.34, Y:-51.63, Z:-2.00 [[ 7.89987675e-01 6.13056213e-01 9.03063542e-03 1.60341415e+02] [-6.13015624e-01 7.90039289e-01 -7.05458187e-03 -5.16297269e+01] [-1.14594120e-02 3.71121296e-05 9.99934338e-01 -2.00353680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:-51.67, Z:-2.01 [[ 7.89961219e-01 6.13090335e-01 9.02849777e-03 1.60389432e+02] [-6.13049716e-01 7.90012810e-01 -7.05731659e-03 -5.16696012e+01] [-1.14594015e-02 4.00884220e-05 9.99934338e-01 -2.00691054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.997628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:-51.71, Z:-2.01 [[ 7.93579855e-01 6.08399158e-01 9.02650037e-03 1.60436773e+02] [-6.08358206e-01 7.93631181e-01 -7.05987039e-03 -5.17115927e+01] [-1.14589314e-02 1.11225354e-04 9.99934338e-01 -2.01415386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:-51.76, Z:-2.01 [[ 7.99846223e-01 6.00137132e-01 9.02448792e-03 1.60481725e+02] [-6.00095621e-01 7.99897098e-01 -7.06244193e-03 -5.17563621e+01] [-1.14570953e-02 2.33311822e-04 9.99934338e-01 -2.01218812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.53, Y:-51.80, Z:-2.01 [[ 8.04992307e-01 5.93216638e-01 9.02248957e-03 1.60528701e+02] [-5.93174661e-01 8.05042799e-01 -7.06499397e-03 -5.17988962e+01] [-1.14545622e-02 3.35353606e-04 9.99934338e-01 -2.01171316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-51.84, Z:-2.01 [[ 8.10880781e-01 5.85141853e-01 9.02052643e-03 1.60574570e+02] [-5.85099346e-01 8.10930827e-01 -7.06749960e-03 -5.18421595e+01] [-1.14505128e-02 4.52995487e-04 9.99934338e-01 -2.01145443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:-51.88, Z:-2.01 [[ 8.13248465e-01 5.81846715e-01 9.01852884e-03 1.60621831e+02] [-5.81803976e-01 8.13298314e-01 -7.07004771e-03 -5.18834199e+01] [-1.14484383e-02 5.02689505e-04 9.99934338e-01 -2.01315363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:160.67, Y:-51.92, Z:-2.01 [[ 8.11853473e-01 5.83791607e-01 9.01653958e-03 1.60669227e+02] [-5.83748960e-01 8.11903400e-01 -7.07258374e-03 -5.19240896e+01] [-1.14494742e-02 4.78506063e-04 9.99934338e-01 -2.01494763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:-51.96, Z:-2.02 [[ 8.02499939e-01 5.96584098e-01 9.01453935e-03 1.60717629e+02] [-5.96542218e-01 8.02550512e-01 -7.07513227e-03 -5.19625426e+01] [-1.14555346e-02 3.00239916e-04 9.99934338e-01 -2.01550435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.77, Y:-52.00, Z:-2.02 [[ 7.96455351e-01 6.04630173e-01 9.01268889e-03 1.60765046e+02] [-6.04588778e-01 7.96506321e-01 -7.07748869e-03 -5.20021275e+01] [-1.14579269e-02 1.87933179e-04 9.99934338e-01 -2.01759479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:-52.04, Z:-2.02 [[ 7.94880759e-01 6.06698758e-01 9.01090329e-03 1.60813034e+02] [-6.06657470e-01 7.94931815e-01 -7.07976135e-03 -5.20413287e+01] [-1.14583361e-02 1.61034271e-04 9.99934338e-01 -2.01908589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.86, Y:-52.08, Z:-2.02 [[ 7.93946454e-01 6.07920937e-01 9.00901130e-03 1.60861512e+02] [-6.07879701e-01 7.93997552e-01 -7.08216809e-03 -5.20808543e+01] [-1.14585312e-02 1.46467147e-04 9.99934338e-01 -2.02004280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.91, Y:-52.12, Z:-2.02 [[ 7.93846671e-01 6.08051262e-01 9.00703982e-03 1.60909014e+02] [-6.08010005e-01 7.93897753e-01 -7.08467452e-03 -5.21217173e+01] [-1.14585139e-02 1.47774955e-04 9.99934338e-01 -2.01954956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.95, Y:-52.16, Z:-2.02 [[ 7.96673885e-01 6.04342312e-01 9.00503937e-03 1.60954244e+02] [-6.04300788e-01 7.96724751e-01 -7.08721630e-03 -5.21643557e+01] [-1.14576424e-02 2.04447759e-04 9.99934338e-01 -2.01643561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:-52.21, Z:-2.02 [[ 8.01178125e-01 5.98358215e-01 9.00327159e-03 1.61000821e+02] [-5.98316287e-01 8.01228657e-01 -7.08946129e-03 -5.22068850e+01] [-1.14557166e-02 2.93117271e-04 9.99934338e-01 -2.01621630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.05, Y:-52.25, Z:-2.02 [[ 8.03762829e-01 5.94881746e-01 9.00125620e-03 1.61049346e+02] [-5.94839571e-01 8.03813155e-01 -7.09201924e-03 -5.22467310e+01] [-1.14542409e-02 3.45998071e-04 9.99934338e-01 -2.01815229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:-52.29, Z:-2.02 [[ 8.04722807e-01 5.93582528e-01 8.99926246e-03 1.61098917e+02] [-5.93540243e-01 8.04773041e-01 -7.09454826e-03 -5.22852043e+01] [-1.14535637e-02 3.67720366e-04 9.99934338e-01 -2.01972313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.897628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:161.15, Y:-52.32, Z:-2.03 [[ 8.04866927e-01 5.93387125e-01 8.99722068e-03 1.61149550e+02] [-5.93344799e-01 8.04917127e-01 -7.09713667e-03 -5.23220292e+01] [-1.14533665e-02 3.73796493e-04 9.99934338e-01 -2.02607057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.20, Y:-52.36, Z:-2.03 [[ 8.04835968e-01 5.93429125e-01 8.99658829e-03 1.61198487e+02] [-5.93386792e-01 8.04886162e-01 -7.09793823e-03 -5.23599945e+01] [-1.14533527e-02 3.74219318e-04 9.99934338e-01 -2.02546316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:-52.40, Z:-2.03 [[ 8.05905327e-01 5.91976095e-01 8.99483218e-03 1.61248869e+02] [-5.91933647e-01 8.05955424e-01 -7.10016294e-03 -5.23973715e+01] [-1.14525605e-02 3.97715315e-04 9.99934338e-01 -2.02712725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:-52.44, Z:-2.03 [[ 8.05687182e-01 5.92272989e-01 8.99284078e-03 1.61298642e+02] [-5.92230532e-01 8.05737270e-01 -7.10268429e-03 -5.24354069e+01] [-1.14525950e-02 3.96706815e-04 9.99934338e-01 -2.02736201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:-52.47, Z:-2.03 [[ 8.03770035e-01 5.94872167e-01 8.99086048e-03 1.61347106e+02] [-5.94829844e-01 8.03820237e-01 -7.10519016e-03 -5.24738763e+01] [-1.14537155e-02 3.62906807e-04 9.99934338e-01 -2.02909049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.40, Y:-52.51, Z:-2.03 [[ 8.01316181e-01 5.98173530e-01 8.98915589e-03 1.61395560e+02] [-5.98131390e-01 8.01366537e-01 -7.10734607e-03 -5.25121647e+01] [-1.14550350e-02 3.18535103e-04 9.99934338e-01 -2.03223017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.44, Y:-52.55, Z:-2.03 [[ 7.95796495e-01 6.05497451e-01 8.98747210e-03 1.61444730e+02] [-6.05455750e-01 7.95847215e-01 -7.10947464e-03 -5.25504116e+01] [-1.14574234e-02 2.16178335e-04 9.99934338e-01 -2.03072578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-52.59, Z:-2.03 [[ 7.91519208e-01 6.11078227e-01 8.98575487e-03 1.61493721e+02] [-6.11036859e-01 7.91570200e-01 -7.11164440e-03 -5.25889391e+01] [-1.14586268e-02 1.38375712e-04 9.99934338e-01 -2.02804874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.54, Y:-52.63, Z:-2.02 [[ 7.85333418e-01 6.19007843e-01 8.98402726e-03 1.61541442e+02] [-6.18966966e-01 7.85384803e-01 -7.11382619e-03 -5.26280311e+01] [-1.14594327e-02 2.59093464e-05 9.99934338e-01 -2.02435768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.59, Y:-52.67, Z:-2.02 [[ 7.80348483e-01 6.25280389e-01 8.98227786e-03 1.61589753e+02] [-6.25239898e-01 7.80400174e-01 -7.11603439e-03 -5.26682592e+01] [-1.14592880e-02 -6.30918628e-05 9.99934338e-01 -2.02322443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:-52.71, Z:-2.02 [[ 7.79073442e-01 6.26868350e-01 8.98021935e-03 1.61638029e+02] [-6.26827935e-01 7.79125192e-01 -7.11863123e-03 -5.27068338e+01] [-1.14591597e-02 -8.31158139e-05 9.99934338e-01 -2.02469052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:-52.75, Z:-2.03 [[ 7.77461223e-01 6.28866787e-01 8.97831574e-03 1.61685901e+02] [-6.28826478e-01 7.77513056e-01 -7.12103132e-03 -5.27455225e+01] [-1.14589378e-02 -1.09476940e-04 9.99934338e-01 -2.02640865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-52.79, Z:-2.03 [[ 7.77882813e-01 6.28345249e-01 8.97647861e-03 1.61734636e+02] [-6.28304878e-01 7.77934598e-01 -7.12334638e-03 -5.27855744e+01] [-1.14590341e-02 -9.88365739e-05 9.99934338e-01 -2.02820583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:-52.83, Z:-2.03 [[ 7.81969570e-01 6.23251997e-01 8.97442290e-03 1.61780799e+02] [-6.23211259e-01 7.82021066e-01 -7.12593535e-03 -5.28262380e+01] [-1.14594412e-02 -2.06967935e-05 9.99934338e-01 -2.03135463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.83, Y:-52.87, Z:-2.03 [[ 7.85981484e-01 6.18184921e-01 8.97278311e-03 1.61827853e+02] [-6.18143827e-01 7.86032697e-01 -7.12799953e-03 -5.28676277e+01] [-1.14593227e-02 5.60051603e-05 9.99934338e-01 -2.03150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.87, Y:-52.91, Z:-2.03 [[ 7.92039164e-01 6.10404364e-01 8.97077264e-03 1.61874225e+02] [-6.10362739e-01 7.92089946e-01 -7.13052886e-03 -5.29097379e+01] [-1.14581648e-02 1.72232757e-04 9.99934338e-01 -2.03192153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:-52.95, Z:-2.03 [[ 7.95031670e-01 6.06501612e-01 8.96879130e-03 1.61923038e+02] [-6.06459709e-01 7.95082223e-01 -7.13302012e-03 -5.29495327e+01] [-1.14571147e-02 2.31766337e-04 9.99934338e-01 -2.03280488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-52.99, Z:-2.03 [[ 7.96735767e-01 6.04261295e-01 8.96683637e-03 1.61972157e+02] [-6.04219223e-01 7.96786179e-01 -7.13547679e-03 -5.29874876e+01] [-1.14563437e-02 2.67154671e-04 9.99934338e-01 -2.03141648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:-53.02, Z:-2.03 [[ 7.97054427e-01 6.03840930e-01 8.96507811e-03 1.62022262e+02] [-6.03798806e-01 7.97104796e-01 -7.13768521e-03 -5.30247770e+01] [-1.14561332e-02 2.76020136e-04 9.99934338e-01 -2.03209792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.07, Y:-53.06, Z:-2.03 [[ 7.97903048e-01 6.02719163e-01 8.96305524e-03 1.62072322e+02] [-6.02676940e-01 7.97953334e-01 -7.14022450e-03 -5.30614240e+01] [-1.14556499e-02 2.95380177e-04 9.99934338e-01 -2.03335990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:-53.10, Z:-2.03 [[ 7.98174156e-01 6.02360120e-01 8.96118659e-03 1.62123062e+02] [-6.02317848e-01 7.98224400e-01 -7.14256894e-03 -5.30991277e+01] [-1.14554365e-02 3.03531311e-04 9.99934338e-01 -2.03361325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:-53.13, Z:-2.04 [[ 7.98478249e-01 6.01956990e-01 8.95920619e-03 1.62174152e+02] [-6.01914665e-01 7.98528449e-01 -7.14505216e-03 -5.31324069e+01] [-1.14551951e-02 3.12491147e-04 9.99934338e-01 -2.03682970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:-53.17, Z:-2.04 [[ 7.98771106e-01 6.01568351e-01 8.95762199e-03 1.62224773e+02] [-6.01525979e-01 7.98821267e-01 -7.14703770e-03 -5.31690521e+01] [-1.14549706e-02 3.20604871e-04 9.99934338e-01 -2.03765328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:-53.21, Z:-2.04 [[ 7.98068533e-01 6.02500134e-01 8.95569891e-03 1.62275971e+02] [-6.02457794e-01 7.98118720e-01 -7.14944663e-03 -5.32050095e+01] [-1.14552535e-02 3.10317774e-04 9.99934338e-01 -2.03647689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.33, Y:-53.24, Z:-2.04 [[ 7.96117328e-01 6.05076050e-01 8.95392389e-03 1.62326818e+02] [-6.05033847e-01 7.96167631e-01 -7.15166896e-03 -5.32416623e+01] [-1.14561280e-02 2.76140565e-04 9.99934338e-01 -2.03534110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:-53.28, Z:-2.04 [[ 7.92348089e-01 6.10003581e-01 8.95190254e-03 1.62379665e+02] [-6.09961663e-01 7.92398629e-01 -7.15419825e-03 -5.32760806e+01] [-1.14575618e-02 2.08297955e-04 9.99934338e-01 -2.03599767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:-53.31, Z:-2.04 [[ 7.87461479e-01 6.16298888e-01 8.94990619e-03 1.62430685e+02] [-6.16257345e-01 7.87512328e-01 -7.15669480e-03 -5.33113034e+01] [-1.14588245e-02 1.20176047e-04 9.99934338e-01 -2.03764203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:-53.35, Z:-2.04 [[ 7.84231808e-01 6.20403420e-01 8.94806029e-03 1.62482473e+02] [-6.20362117e-01 7.84282852e-01 -7.15900200e-03 -5.33479260e+01] [-1.14592796e-02 6.32794547e-05 9.99934338e-01 -2.04029653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:-53.38, Z:-2.04 [[ 7.80040242e-01 6.25665396e-01 8.94611698e-03 1.62533439e+02] [-6.25624409e-01 7.80091541e-01 -7.16142960e-03 -5.33830089e+01] [-1.14594489e-02 -1.07058669e-05 9.99934338e-01 -2.04339994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:-53.42, Z:-2.04 [[ 7.78125749e-01 6.28044836e-01 8.94443128e-03 1.62583481e+02] [-6.28003982e-01 7.78177154e-01 -7.16353438e-03 -5.34216263e+01] [-1.14593728e-02 -4.30079057e-05 9.99934338e-01 -2.04328782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.63, Y:-53.46, Z:-2.04 [[ 7.76977596e-01 6.29464732e-01 8.94237376e-03 1.62632489e+02] [-6.29423943e-01 7.77029052e-01 -7.16610190e-03 -5.34607803e+01] [-1.14592926e-02 -6.06435225e-05 9.99934338e-01 -2.04293366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.68, Y:-53.50, Z:-2.04 [[ 7.76569350e-01 6.29968345e-01 8.94029713e-03 1.62680818e+02] [-6.29927559e-01 7.76620808e-01 -7.16869172e-03 -5.35001008e+01] [-1.14592696e-02 -6.47532821e-05 9.99934338e-01 -2.04277143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:-53.54, Z:-2.04 [[ 7.76415544e-01 6.30157923e-01 8.93838230e-03 1.62729270e+02] [-6.30117123e-01 7.76466991e-01 -7.17107846e-03 -5.35399457e+01] [-1.14592707e-02 -6.44909485e-05 9.99934338e-01 -2.04379252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.78, Y:-53.58, Z:-2.05 [[ 7.76531045e-01 6.30015617e-01 8.93636684e-03 1.62777260e+02] [-6.29974778e-01 7.76582461e-01 -7.17358919e-03 -5.35791263e+01] [-1.14592990e-02 -5.91710002e-05 9.99934338e-01 -2.04664193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.83, Y:-53.62, Z:-2.05 [[ 7.77384560e-01 6.28962176e-01 8.93459003e-03 1.62826179e+02] [-6.28921242e-01 7.77435900e-01 -7.17580150e-03 -5.36183605e+01] [-1.14593788e-02 -4.07961698e-05 9.99934338e-01 -2.04830875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:-53.66, Z:-2.05 [[ 7.80962085e-01 6.24514557e-01 8.93253617e-03 1.62873461e+02] [-6.24473301e-01 7.81013168e-01 -7.17835726e-03 -5.36588700e+01] [-1.14594170e-02 2.78945094e-05 9.99934338e-01 -2.04940862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:-53.70, Z:-2.05 [[ 7.85084931e-01 6.19323739e-01 8.93075778e-03 1.62921257e+02] [-6.19282120e-01 7.85135718e-01 -7.18056911e-03 -5.37004167e+01] [-1.14589538e-02 1.06697997e-04 9.99934338e-01 -2.05008533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.97, Y:-53.74, Z:-2.05 [[ 7.92588350e-01 6.09691714e-01 8.92873743e-03 1.62968018e+02] [-6.09649450e-01 7.92638601e-01 -7.18308045e-03 -5.37418647e+01] [-1.14567266e-02 2.49826015e-04 9.99934338e-01 -2.05010032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:-53.78, Z:-2.05 [[ 7.97252625e-01 6.03579789e-01 8.92694332e-03 1.63015208e+02] [-6.03537115e-01 7.97302529e-01 -7.18530943e-03 -5.37821395e+01] [-1.14543820e-02 3.40765189e-04 9.99934338e-01 -2.05049040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.06, Y:-53.82, Z:-2.05 [[ 8.01757064e-01 5.97583429e-01 8.92505532e-03 1.63061935e+02] [-5.97540355e-01 8.01806623e-01 -7.18765380e-03 -5.38226155e+01] [-1.14513913e-02 4.29671475e-04 9.99934338e-01 -2.04903550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:-53.86, Z:-2.05 [[ 8.02466322e-01 5.96630687e-01 8.92332341e-03 1.63111479e+02] [-5.96587531e-01 8.02515810e-01 -7.18980329e-03 -5.38616436e+01] [-1.14507654e-02 4.46031523e-04 9.99934338e-01 -2.04980983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:-53.90, Z:-2.05 [[ 8.01116611e-01 5.98441798e-01 8.92131227e-03 1.63161255e+02] [-5.98398726e-01 8.01166172e-01 -7.19229790e-03 -5.38985515e+01] [-1.14516253e-02 4.23367427e-04 9.99934338e-01 -2.05302318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.21, Y:-53.94, Z:-2.05 [[ 7.99957130e-01 5.99990860e-01 8.91956815e-03 1.63210989e+02] [-5.99947860e-01 8.00006753e-01 -7.19446023e-03 -5.39371038e+01] [-1.14523251e-02 4.03983936e-04 9.99934338e-01 -2.05339493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.26, Y:-53.98, Z:-2.05 [[ 7.99411075e-01 6.00718246e-01 8.91749763e-03 1.63260428e+02] [-6.00675263e-01 7.99460713e-01 -7.19702571e-03 -5.39760731e+01] [-1.14525737e-02 3.96861827e-04 9.99934338e-01 -2.05413627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:-54.01, Z:-2.06 [[ 7.97362924e-01 6.03434240e-01 8.91544051e-03 1.63311591e+02] [-6.03391397e-01 7.97412683e-01 -7.19957310e-03 -5.40133062e+01] [-1.14537543e-02 3.61172551e-04 9.99934338e-01 -2.05537783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.36, Y:-54.05, Z:-2.06 [[ 7.95618279e-01 6.05732702e-01 8.91339786e-03 1.63361736e+02] [-6.05689975e-01 7.95668137e-01 -7.20210111e-03 -5.40519842e+01] [-1.14546548e-02 3.31367566e-04 9.99934338e-01 -2.05566362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-54.09, Z:-2.06 [[ 7.92109652e-01 6.10313761e-01 8.91136550e-03 1.63412275e+02] [-6.10271295e-01 7.92159732e-01 -7.20461493e-03 -5.40892367e+01] [-1.14563005e-02 2.68494461e-04 9.99934338e-01 -2.05717653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:-54.13, Z:-2.06 [[ 7.89278918e-01 6.13970206e-01 8.90932919e-03 1.63461346e+02] [-6.13927942e-01 7.89329170e-01 -7.20713218e-03 -5.41276308e+01] [-1.14573578e-02 2.18751357e-04 9.99934338e-01 -2.05853980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.51, Y:-54.17, Z:-2.06 [[ 7.85634663e-01 6.18626570e-01 8.90744717e-03 1.63510734e+02] [-6.18584579e-01 7.85685142e-01 -7.20945746e-03 -5.41669045e+01] [-1.14584108e-02 1.53990226e-04 9.99934338e-01 -2.05838717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.56, Y:-54.20, Z:-2.06 [[ 7.86538143e-01 6.17477484e-01 8.90538086e-03 1.63562255e+02] [-6.17435390e-01 7.86588537e-01 -7.21200894e-03 -5.42023421e+01] [-1.14581236e-02 1.74022818e-04 9.99934338e-01 -2.05835781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.61, Y:-54.25, Z:-2.06 [[ 7.82475136e-01 6.22618172e-01 8.90352862e-03 1.63607016e+02] [-6.22576383e-01 7.82525783e-01 -7.21429489e-03 -5.42454235e+01] [-1.14589918e-02 1.01879732e-04 9.99934338e-01 -2.05939338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:-54.29, Z:-2.06 [[ 7.81726896e-01 6.23557383e-01 8.90223062e-03 1.63653858e+02] [-6.23515637e-01 7.81777578e-01 -7.21589622e-03 -5.42855865e+01] [-1.14590897e-02 9.01801589e-05 9.99934338e-01 -2.05966848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:-54.32, Z:-2.06 [[ 7.83553247e-01 6.21260889e-01 8.90035629e-03 1.63704108e+02] [-6.21218968e-01 7.83603785e-01 -7.21820735e-03 -5.43229240e+01] [-1.14587428e-02 1.26779663e-04 9.99934338e-01 -2.06242979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.75, Y:-54.37, Z:-2.06 [[ 7.80172849e-01 6.25500717e-01 8.89826167e-03 1.63747981e+02] [-6.25459041e-01 7.80223588e-01 -7.22078857e-03 -5.43683072e+01] [-1.14592421e-02 6.79649748e-05 9.99934338e-01 -2.06260795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.79, Y:-54.41, Z:-2.07 [[ 7.79880664e-01 6.25864988e-01 8.89761974e-03 1.63791791e+02] [-6.25823326e-01 7.79931416e-01 -7.22157949e-03 -5.44107181e+01] [-1.14592669e-02 6.36322173e-05 9.99934338e-01 -2.06504211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:163.84, Y:-54.45, Z:-2.07 [[ 7.80052378e-01 6.25650971e-01 8.89660672e-03 1.63836942e+02] [-6.25609282e-01 7.80103107e-01 -7.22282726e-03 -5.44533581e+01] [-1.14592394e-02 6.83838355e-05 9.99934338e-01 -2.06743343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:-54.50, Z:-2.07 [[ 7.80826443e-01 6.24684679e-01 8.89483132e-03 1.63880589e+02] [-6.24642902e-01 7.80877099e-01 -7.22501298e-03 -5.44982844e+01] [-1.14591250e-02 8.53879315e-05 9.99934338e-01 -2.06807019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:-54.54, Z:-2.07 [[ 7.81848708e-01 6.23404775e-01 8.89295710e-03 1.63925164e+02] [-6.23362889e-01 7.81899274e-01 -7.22731914e-03 -5.45422034e+01] [-1.14589420e-02 1.07130702e-04 9.99934338e-01 -2.06694802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.97, Y:-54.59, Z:-2.06 [[ 7.82757169e-01 6.22263740e-01 8.89118337e-03 1.63967055e+02] [-6.22221755e-01 7.82807653e-01 -7.22950056e-03 -5.45872721e+01] [-1.14587424e-02 1.26655667e-04 9.99934338e-01 -2.06472056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:-54.63, Z:-2.06 [[ 7.83229578e-01 6.21669047e-01 8.88956110e-03 1.64012540e+02] [-6.21627001e-01 7.83280012e-01 -7.23149479e-03 -5.46313160e+01] [-1.14586120e-02 1.37929402e-04 9.99934338e-01 -2.06289565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:-54.68, Z:-2.06 [[ 7.82999542e-01 6.21958785e-01 8.88748227e-03 1.64056117e+02] [-6.21916729e-01 7.83049967e-01 -7.23404877e-03 -5.46765989e+01] [-1.14586229e-02 1.36982975e-04 9.99934338e-01 -2.06239422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:-54.72, Z:-2.06 [[ 7.81496206e-01 6.23846716e-01 8.88568968e-03 1.64103341e+02] [-6.23804757e-01 7.81546712e-01 -7.23624996e-03 -5.47182365e+01] [-1.14588923e-02 1.12166393e-04 9.99934338e-01 -2.06195742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:-54.76, Z:-2.06 [[ 7.77552294e-01 6.28755525e-01 8.88367046e-03 1.64151887e+02] [-6.28713856e-01 7.77603040e-01 -7.23872804e-03 -5.47574376e+01] [-1.14593594e-02 4.32028785e-05 9.99934338e-01 -2.06428044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.20, Y:-54.80, Z:-2.06 [[ 7.75907947e-01 6.30783619e-01 8.88167136e-03 1.64201017e+02] [-6.30742054e-01 7.75958779e-01 -7.24118003e-03 -5.47970043e+01] [-1.14594286e-02 1.64454954e-05 9.99934338e-01 -2.06486815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.25, Y:-54.84, Z:-2.07 [[ 7.77136732e-01 6.29269142e-01 8.87962070e-03 1.64249589e+02] [-6.29227450e-01 7.77187458e-01 -7.24369381e-03 -5.48365445e+01] [-1.14593628e-02 4.20394444e-05 9.99934338e-01 -2.06634064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-54.88, Z:-2.07 [[ 7.80361891e-01 6.25265151e-01 8.87756605e-03 1.64298341e+02] [-6.25223170e-01 7.80412379e-01 -7.24621103e-03 -5.48764577e+01] [-1.14589657e-02 1.04206958e-04 9.99934338e-01 -2.06644926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.35, Y:-54.92, Z:-2.07 [[ 7.88849502e-01 6.14522325e-01 8.87553864e-03 1.64346104e+02] [-6.14479628e-01 7.88899387e-01 -7.24869346e-03 -5.49155344e+01] [-1.14563909e-02 2.64290541e-04 9.99934338e-01 -2.06506288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.39, Y:-54.95, Z:-2.06 [[ 7.94789645e-01 6.06820136e-01 8.87376403e-03 1.64394082e+02] [-6.06776932e-01 7.94839090e-01 -7.25086527e-03 -5.49543883e+01] [-1.14531856e-02 3.78517317e-04 9.99934338e-01 -2.06430140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.44, Y:-54.99, Z:-2.06 [[ 8.02377252e-01 5.96751233e-01 8.87189502e-03 1.64443434e+02] [-5.96707385e-01 8.02426127e-01 -7.25315140e-03 -5.49927276e+01] [-1.14473674e-02 5.25838418e-04 9.99934338e-01 -2.06477376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:-55.03, Z:-2.07 [[ 8.04875908e-01 5.93376861e-01 8.86981747e-03 1.64493009e+02] [-5.93332779e-01 8.04924573e-01 -7.25569113e-03 -5.50295401e+01] [-1.14448933e-02 5.77177531e-04 9.99934338e-01 -2.06659511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.54, Y:-55.07, Z:-2.07 [[ 8.04698246e-01 5.93617791e-01 8.86853840e-03 1.64544345e+02] [-5.93573707e-01 8.04746908e-01 -7.25725418e-03 -5.50650837e+01] [-1.14449641e-02 5.75768493e-04 9.99934338e-01 -2.06828078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.60, Y:-55.10, Z:-2.07 [[ 8.01631603e-01 5.97752586e-01 8.86674330e-03 1.64596899e+02] [-5.97708729e-01 8.01680470e-01 -7.25944673e-03 -5.50989505e+01] [-1.14476480e-02 5.19672042e-04 9.99934338e-01 -2.06958149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-55.14, Z:-2.07 [[ 7.98995151e-01 6.01272120e-01 8.86484599e-03 1.64647889e+02] [-6.01228453e-01 7.99044188e-01 -7.26176288e-03 -5.51357601e+01] [-1.14496992e-02 4.72315693e-04 9.99934338e-01 -2.06929957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:-55.17, Z:-2.07 [[ 7.94669655e-01 6.06977422e-01 8.86276470e-03 1.64700411e+02] [-6.06934079e-01 7.94718978e-01 -7.26430215e-03 -5.51716588e+01] [-1.14526747e-02 3.93606560e-04 9.99934339e-01 -2.07024181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.75, Y:-55.21, Z:-2.07 [[ 7.92748605e-01 6.09484320e-01 8.86071152e-03 1.64748750e+02] [-6.09441105e-01 7.92798041e-01 -7.26680567e-03 -5.52092561e+01] [-1.14537588e-02 3.60668242e-04 9.99934339e-01 -2.07130089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.80, Y:-55.25, Z:-2.07 [[ 7.88446594e-01 6.15039408e-01 8.85971503e-03 1.64799485e+02] [-6.14996528e-01 7.88496320e-01 -7.26802040e-03 -5.52465924e+01] [-1.14559717e-02 2.81751951e-04 9.99934339e-01 -2.07276726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:-55.28, Z:-2.08 [[ 7.81306432e-01 6.24084771e-01 8.85765955e-03 1.64849204e+02] [-6.24042438e-01 7.81356625e-01 -7.27052458e-03 -5.52820773e+01] [-1.14584146e-02 1.52952155e-04 9.99934339e-01 -2.07503059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.90, Y:-55.32, Z:-2.07 [[ 7.77679400e-01 6.28598687e-01 8.85665585e-03 1.64898213e+02] [-6.28556632e-01 7.77729826e-01 -7.27174705e-03 -5.53206371e+01] [-1.14590961e-02 8.81781138e-05 9.99934339e-01 -2.07312925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.95, Y:-55.36, Z:-2.07 [[ 7.75780757e-01 6.30940416e-01 8.85487559e-03 1.64946441e+02] [-6.30898488e-01 7.75831289e-01 -7.27391423e-03 -5.53602962e+01] [-1.14592960e-02 5.64350710e-05 9.99934339e-01 -2.07049746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.99, Y:-55.40, Z:-2.07 [[ 7.74479845e-01 6.32536633e-01 8.85308323e-03 1.64994995e+02] [-6.32494784e-01 7.74530443e-01 -7.27609506e-03 -5.53999480e+01] [-1.14593791e-02 3.56600114e-05 9.99934339e-01 -2.07066254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:-55.44, Z:-2.07 [[ 7.73093419e-01 6.34230419e-01 8.85100994e-03 1.65042080e+02] [-6.34188652e-01 7.73144084e-01 -7.27861624e-03 -5.54415448e+01] [-1.14594258e-02 1.38402519e-05 9.99934339e-01 -2.07125795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.09, Y:-55.48, Z:-2.07 [[ 7.72392919e-01 6.35083361e-01 8.84891599e-03 1.65089606e+02] [-6.35041620e-01 7.72443606e-01 -7.28116106e-03 -5.54821477e+01] [-1.14594328e-02 4.48729884e-06 9.99934339e-01 -2.07416184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.14, Y:-55.52, Z:-2.08 [[ 7.73308160e-01 6.33968629e-01 8.84684791e-03 1.65137038e+02] [-6.33926787e-01 7.73358763e-01 -7.28367297e-03 -5.55225401e+01] [-1.14594075e-02 2.42698710e-05 9.99934339e-01 -2.07901765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:-55.57, Z:-2.08 [[ 7.70303089e-01 6.37616591e-01 8.84499330e-03 1.65179856e+02] [-6.37574963e-01 7.70353868e-01 -7.28592444e-03 -5.55669859e+01] [-1.14594011e-02 -2.69761739e-05 9.99934339e-01 -2.08206250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:-55.61, Z:-2.09 [[ 7.68564482e-01 6.39711211e-01 8.84330759e-03 1.65222813e+02] [-6.39669698e-01 7.68615355e-01 -7.28796990e-03 -5.56111746e+01] [-1.14592981e-02 -5.55210835e-05 9.99934339e-01 -2.08556582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.27, Y:-55.65, Z:-2.09 [[ 7.67834114e-01 6.40587690e-01 8.84228766e-03 1.65268356e+02] [-6.40546220e-01 7.67885022e-01 -7.28920715e-03 -5.56547270e+01] [-1.14592366e-02 -6.69920246e-05 9.99934339e-01 -2.08500109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.31, Y:-55.70, Z:-2.08 [[ 7.67890327e-01 6.40520332e-01 8.84025429e-03 1.65310697e+02] [-6.40478830e-01 7.67941209e-01 -7.29167236e-03 -5.57004022e+01] [-1.14592600e-02 -6.27910520e-05 9.99934339e-01 -2.08157995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:-55.75, Z:-2.08 [[ 7.69106499e-01 6.39059524e-01 8.83845795e-03 1.65353314e+02] [-6.39017900e-01 7.69157281e-01 -7.29384910e-03 -5.57457197e+01] [-1.14593680e-02 -3.81860970e-05 9.99934339e-01 -2.07913080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:-55.79, Z:-2.08 [[ 7.69055351e-01 6.39121101e-01 8.83664811e-03 1.65399126e+02] [-6.39079455e-01 7.69106116e-01 -7.29604110e-03 -5.57866887e+01] [-1.14593739e-02 -3.62608177e-05 9.99934339e-01 -2.07799941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:-55.82, Z:-2.08 [[ 7.67596879e-01 6.40872033e-01 8.83567371e-03 1.65448003e+02] [-6.40830490e-01 7.67647727e-01 -7.29722093e-03 -5.58244231e+01] [-1.14592697e-02 -6.08451065e-05 9.99934339e-01 -2.08142581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:-55.86, Z:-2.09 [[ 7.67393742e-01 6.41115284e-01 8.83383735e-03 1.65497491e+02] [-6.41073732e-01 7.67444584e-01 -7.29944331e-03 -5.58625868e+01] [-1.14592653e-02 -6.15939492e-05 9.99934339e-01 -2.08532547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:-55.90, Z:-2.09 [[ 7.67827033e-01 6.40596318e-01 8.83203141e-03 1.65546590e+02] [-6.40554706e-01 7.67877826e-01 -7.30162776e-03 -5.59014646e+01] [-1.14593169e-02 -5.10120996e-05 9.99934339e-01 -2.09060867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:-55.94, Z:-2.09 [[ 7.68347329e-01 6.39972178e-01 8.83138379e-03 1.65595876e+02] [-6.39930516e-01 7.68398080e-01 -7.30241099e-03 -5.59408714e+01] [-1.14593582e-02 -4.06840042e-05 9.99934339e-01 -2.08984137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.64, Y:-55.98, Z:-2.09 [[ 7.69234688e-01 6.38905344e-01 8.82930121e-03 1.65642459e+02] [-6.38863583e-01 7.69285357e-01 -7.30492816e-03 -5.59797130e+01] [-1.14594098e-02 -2.15148722e-05 9.99934339e-01 -2.08679601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.69, Y:-56.02, Z:-2.09 [[ 7.72691290e-01 6.34720599e-01 8.82789020e-03 1.65690199e+02] [-6.34678543e-01 7.72741716e-01 -7.30663295e-03 -5.60200032e+01] [-1.14593495e-02 4.28991480e-05 9.99934339e-01 -2.08552703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:165.74, Y:-56.06, Z:-2.09 [[ 7.75558147e-01 6.31214434e-01 8.82608695e-03 1.65737852e+02] [-6.31172125e-01 7.75608361e-01 -7.30881054e-03 -5.60617532e+01] [-1.14590135e-02 9.76274939e-05 9.99934339e-01 -2.08633051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:-56.10, Z:-2.08 [[ 7.75255736e-01 6.31585846e-01 8.82399166e-03 1.65785158e+02] [-6.31543533e-01 7.75305946e-01 -7.31133933e-03 -5.61013798e+01] [-1.14590316e-02 9.54228943e-05 9.99934339e-01 -2.08485774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:-56.14, Z:-2.09 [[ 7.72487104e-01 6.34969169e-01 8.82205977e-03 1.65834596e+02] [-6.34927049e-01 7.72537476e-01 -7.31366966e-03 -5.61402598e+01] [-1.14593265e-02 4.83511152e-05 9.99934339e-01 -2.08773843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.88, Y:-56.18, Z:-2.09 [[ 7.69946023e-01 6.38048063e-01 8.81995443e-03 1.65882813e+02] [-6.38006115e-01 7.69996539e-01 -7.31620771e-03 -5.61790572e+01] [-1.14594265e-02 5.90016596e-06 9.99934339e-01 -2.09138430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:-56.22, Z:-2.09 [[ 7.68423882e-01 6.39880441e-01 8.81813453e-03 1.65931005e+02] [-6.39838589e-01 7.68474477e-01 -7.31840056e-03 -5.62192594e+01] [-1.14594127e-02 -1.85489848e-05 9.99934339e-01 -2.09341324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.98, Y:-56.26, Z:-2.09 [[ 7.66956998e-01 6.41637935e-01 8.81604791e-03 1.65979137e+02] [-6.41596170e-01 7.67007665e-01 -7.32091333e-03 -5.62590256e+01] [-1.14593520e-02 -4.15168632e-05 9.99934339e-01 -2.09373447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:-56.30, Z:-2.09 [[ 7.65447108e-01 6.43438450e-01 8.81395721e-03 1.66028269e+02] [-6.43396776e-01 7.65497849e-01 -7.32342955e-03 -5.62987786e+01] [-1.14592414e-02 -6.51736782e-05 9.99934339e-01 -2.09432035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:-56.34, Z:-2.09 [[ 7.64242000e-01 6.44869379e-01 8.81186683e-03 1.66077592e+02] [-6.44827770e-01 7.64292795e-01 -7.32594392e-03 -5.63385896e+01] [-1.14591232e-02 -8.33424089e-05 9.99934339e-01 -2.09400469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:-56.38, Z:-2.09 [[ 7.64369839e-01 6.44717874e-01 8.80979550e-03 1.66125973e+02] [-6.44676227e-01 7.64420602e-01 -7.32843395e-03 -5.63790439e+01] [-1.14591615e-02 -7.78318484e-05 9.99934339e-01 -2.09379264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.17, Y:-56.42, Z:-2.10 [[ 7.66250220e-01 6.42481926e-01 8.80771785e-03 1.66174144e+02] [-6.42440102e-01 7.66300837e-01 -7.33093013e-03 -5.64188007e+01] [-1.14593517e-02 -4.11043323e-05 9.99934339e-01 -2.09602011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.22, Y:-56.46, Z:-2.10 [[ 7.67754873e-01 6.40683163e-01 8.80566250e-03 1.66221213e+02] [-6.40641192e-01 7.67805369e-01 -7.33339811e-03 -5.64577479e+01] [-1.14594196e-02 -1.10179760e-05 9.99934339e-01 -2.10111930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.27, Y:-56.50, Z:-2.10 [[ 7.68170241e-01 6.40185098e-01 8.80465473e-03 1.66269380e+02] [-6.40143080e-01 7.68220698e-01 -7.33460786e-03 -5.64986125e+01] [-1.14594247e-02 -2.01131557e-06 9.99934339e-01 -2.10213550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:-56.54, Z:-2.10 [[ 7.68197601e-01 6.40152294e-01 8.80266541e-03 1.66318205e+02] [-6.40110247e-01 7.68248033e-01 -7.33699458e-03 -5.65387186e+01] [-1.14594243e-02 1.58530235e-06 9.99934339e-01 -2.10237405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.37, Y:-56.58, Z:-2.10 [[ 7.69585786e-01 6.38482786e-01 8.80061486e-03 1.66366704e+02] [-6.38440601e-01 7.69636103e-01 -7.33945337e-03 -5.65774882e+01] [-1.14593856e-02 2.96691435e-05 9.99934339e-01 -2.10340467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:-56.62, Z:-2.10 [[ 7.71567857e-01 6.36086178e-01 8.79872097e-03 1.66415002e+02] [-6.36043811e-01 7.71618021e-01 -7.34172310e-03 -5.66174726e+01] [-1.14592202e-02 6.82655374e-05 9.99934339e-01 -2.10311728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.46, Y:-56.66, Z:-2.10 [[ 7.74122909e-01 6.32974200e-01 8.79680180e-03 1.66462858e+02] [-6.32931605e-01 7.74172881e-01 -7.34402192e-03 -5.66586784e+01] [-1.14588218e-02 1.17401736e-04 9.99934339e-01 -2.10150449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:-56.70, Z:-2.10 [[ 7.74369231e-01 6.32672859e-01 8.79472942e-03 1.66511108e+02] [-6.32630216e-01 7.74419162e-01 -7.34650284e-03 -5.66982936e+01] [-1.14587399e-02 1.25094183e-04 9.99934339e-01 -2.10148553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.56, Y:-56.74, Z:-2.10 [[ 7.73115013e-01 6.34204908e-01 8.79267346e-03 1.66561298e+02] [-6.34162337e-01 7.73165004e-01 -7.34896269e-03 -5.67363672e+01] [-1.14589356e-02 1.05611034e-04 9.99934339e-01 -2.10457352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:-56.78, Z:-2.11 [[ 7.71398278e-01 6.36291932e-01 8.79059637e-03 1.66609969e+02] [-6.36249468e-01 7.71448359e-01 -7.35144639e-03 -5.67757030e+01] [-1.14591572e-02 7.78808245e-05 9.99934339e-01 -2.10636918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:-56.82, Z:-2.11 [[ 7.68741926e-01 6.39498720e-01 8.78853628e-03 1.66657975e+02] [-6.39456437e-01 7.68792160e-01 -7.35390838e-03 -5.68162844e+01] [-1.14593728e-02 3.33715904e-05 9.99934339e-01 -2.10765771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.71, Y:-56.86, Z:-2.11 [[ 7.67611502e-01 6.40855194e-01 8.78645934e-03 1.66706401e+02] [-6.40812971e-01 7.67661787e-01 -7.35638907e-03 -5.68559421e+01] [-1.14594092e-02 1.63717543e-05 9.99934339e-01 -2.10849887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.75, Y:-56.90, Z:-2.11 [[ 7.66409703e-01 6.42291992e-01 8.78437786e-03 1.66754911e+02] [-6.42249834e-01 7.66460043e-01 -7.35887376e-03 -5.68954764e+01] [-1.14594203e-02 -1.85297059e-06 9.99934339e-01 -2.10876862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.80, Y:-56.94, Z:-2.11 [[ 7.66073869e-01 6.42692538e-01 8.78228876e-03 1.66802723e+02] [-6.42650378e-01 7.66124208e-01 -7.36136611e-03 -5.69358783e+01] [-1.14594191e-02 -4.59097232e-06 9.99934339e-01 -2.10854177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:-56.98, Z:-2.11 [[ 7.67005843e-01 6.41580037e-01 8.78020868e-03 1.66849015e+02] [-6.41537776e-01 7.67056097e-01 -7.36384627e-03 -5.69784373e+01] [-1.14594094e-02 1.52775667e-05 9.99934339e-01 -2.10691170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-57.02, Z:-2.11 [[ 7.67893070e-01 6.40517898e-01 8.77810754e-03 1.66897083e+02] [-6.40475539e-01 7.67943240e-01 -7.36635009e-03 -5.70194274e+01] [-1.14593674e-02 3.44060251e-05 9.99934339e-01 -2.10683008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.94, Y:-57.06, Z:-2.11 [[ 7.69811371e-01 6.38211121e-01 8.77601140e-03 1.66944641e+02] [-6.38168583e-01 7.69861390e-01 -7.36884652e-03 -5.70600738e+01] [-1.14591921e-02 7.20470863e-05 9.99934339e-01 -2.10884973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.99, Y:-57.10, Z:-2.11 [[ 7.71687812e-01 6.35940987e-01 8.77394694e-03 1.66992203e+02] [-6.35898274e-01 7.71737682e-01 -7.37130381e-03 -5.71010613e+01] [-1.14588997e-02 1.09007594e-04 9.99934339e-01 -2.11129922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.04, Y:-57.14, Z:-2.11 [[ 7.73278582e-01 6.34005748e-01 8.77186686e-03 1.67041342e+02] [-6.33962882e-01 7.73328321e-01 -7.37377828e-03 -5.71410542e+01] [-1.14585509e-02 1.40946812e-04 9.99934339e-01 -2.11290770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.09, Y:-57.18, Z:-2.12 [[ 7.78430781e-01 6.27669189e-01 8.76980328e-03 1.67091168e+02] [-6.27625890e-01 7.78480143e-01 -7.37623173e-03 -5.71797902e+01] [-1.14569511e-02 2.37730233e-04 9.99934339e-01 -2.11561630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:-57.22, Z:-2.12 [[ 7.82492262e-01 6.22598576e-01 8.76774775e-03 1.67139713e+02] [-6.22554930e-01 7.82541318e-01 -7.37867422e-03 -5.72197933e+01] [-1.14550769e-02 3.15350890e-04 9.99934339e-01 -2.11659429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:-57.26, Z:-2.12 [[ 7.86372372e-01 6.17690583e-01 8.76563874e-03 1.67188501e+02] [-6.17646604e-01 7.86421128e-01 -7.38117881e-03 -5.72601069e+01] [-1.14527682e-02 3.90288087e-04 9.99934339e-01 -2.11756364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.24, Y:-57.30, Z:-2.12 [[ 7.91233593e-01 6.11451226e-01 8.76354123e-03 1.67238131e+02] [-6.11406835e-01 7.91281975e-01 -7.38366830e-03 -5.72979630e+01] [-1.14491852e-02 4.84117391e-04 9.99934339e-01 -2.11877790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.29, Y:-57.34, Z:-2.12 [[ 7.92568237e-01 6.09720284e-01 8.76160890e-03 1.67287897e+02] [-6.09675762e-01 7.92616498e-01 -7.38596054e-03 -5.73361717e+01] [-1.14479657e-02 5.12137143e-04 9.99934339e-01 -2.11953471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:-57.37, Z:-2.12 [[ 7.91080704e-01 6.11649074e-01 8.75954191e-03 1.67337222e+02] [-6.11604643e-01 7.91129049e-01 -7.38841112e-03 -5.73734139e+01] [-1.14490429e-02 4.87452969e-04 9.99934339e-01 -2.12094932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:-57.41, Z:-2.12 [[ 7.88353063e-01 6.15160744e-01 8.75826692e-03 1.67387130e+02] [-6.15116512e-01 7.88401589e-01 -7.38992219e-03 -5.74119680e+01] [-1.14510216e-02 4.38513192e-04 9.99934339e-01 -2.12253600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:-57.45, Z:-2.12 [[ 7.83666821e-01 6.21119669e-01 8.75617313e-03 1.67437261e+02] [-6.21075778e-01 7.83715657e-01 -7.39240225e-03 -5.74499031e+01] [-1.14539164e-02 3.54933331e-04 9.99934339e-01 -2.12346550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-57.49, Z:-2.12 [[ 7.79226927e-01 6.26680750e-01 8.75407632e-03 1.67485745e+02] [-6.26637179e-01 7.79276050e-01 -7.39488445e-03 -5.74892392e+01] [-1.14560737e-02 2.76663403e-04 9.99934339e-01 -2.12245754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.53, Y:-57.53, Z:-2.12 [[ 7.71419087e-01 6.36267234e-01 8.75206735e-03 1.67532966e+02] [-6.36224247e-01 7.71468721e-01 -7.39726136e-03 -5.75295441e+01] [-1.14585812e-02 1.38111148e-04 9.99934339e-01 -2.12131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:-57.57, Z:-2.12 [[ 7.64063438e-01 6.45081768e-01 8.75074553e-03 1.67581482e+02] [-6.45039336e-01 7.64113547e-01 -7.39882471e-03 -5.75688085e+01] [-1.14594101e-02 8.59635008e-06 9.99934339e-01 -2.12320021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:-57.61, Z:-2.13 [[ 7.60237003e-01 6.49586916e-01 8.74862338e-03 1.67629138e+02] [-6.49544752e-01 7.60287337e-01 -7.40133316e-03 -5.76095478e+01] [-1.14592768e-02 -5.58550688e-05 9.99934339e-01 -2.12526882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:-57.65, Z:-2.13 [[ 7.56961899e-01 6.53400476e-01 8.74650158e-03 1.67675186e+02] [-6.53358537e-01 7.57012421e-01 -7.40383975e-03 -5.76524021e+01] [-1.14588827e-02 -1.10176878e-04 9.99934339e-01 -2.12820265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:-57.69, Z:-2.13 [[ 7.56119166e-01 6.54375536e-01 8.74436281e-03 1.67721080e+02] [-6.54333633e-01 7.56169718e-01 -7.40636489e-03 -5.76943353e+01] [-1.14587664e-02 -1.21636236e-04 9.99934339e-01 -2.13030659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.77, Y:-57.74, Z:-2.13 [[ 7.56413832e-01 6.54034926e-01 8.74238627e-03 1.67766601e+02] [-6.53992973e-01 7.56464343e-01 -7.40869724e-03 -5.77375108e+01] [-1.14588502e-02 -1.13418125e-04 9.99934339e-01 -2.13302518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:-57.78, Z:-2.14 [[ 7.58222066e-01 6.51937808e-01 8.74028717e-03 1.67810497e+02] [-6.51895687e-01 7.58272437e-01 -7.41117280e-03 -5.77806523e+01] [-1.14591426e-02 -7.84407505e-05 9.99934339e-01 -2.13609602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.86, Y:-57.82, Z:-2.14 [[ 7.60145802e-01 6.49693771e-01 8.73861311e-03 1.67856977e+02] [-6.49651479e-01 7.60196028e-01 -7.41314618e-03 -5.78231421e+01] [-1.14593339e-02 -4.19809842e-05 9.99934339e-01 -2.13748323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:-57.86, Z:-2.14 [[ 7.61501070e-01 6.48104770e-01 8.73654854e-03 1.67906347e+02] [-6.48062344e-01 7.61551185e-01 -7.41557852e-03 -5.78618873e+01] [-1.14594007e-02 -1.48571486e-05 9.99934339e-01 -2.13803597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:167.95, Y:-57.90, Z:-2.14 [[ 7.65070385e-01 6.43887425e-01 8.73443839e-03 1.67954820e+02] [-6.43844695e-01 7.65120240e-01 -7.41806312e-03 -5.79010725e+01] [-1.14592932e-02 5.17185804e-05 9.99934339e-01 -2.13901816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:-57.94, Z:-2.13 [[ 7.73951086e-01 6.33185162e-01 8.73313772e-03 1.68000859e+02] [-6.33141725e-01 7.74000326e-01 -7.41959406e-03 -5.79423189e+01] [-1.14574283e-02 2.13088999e-04 9.99934339e-01 -2.13427269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47762799999998 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:168.05, Y:-57.98, Z:-2.13 [[ 7.79944256e-01 6.25788080e-01 8.73131805e-03 1.68050035e+02] [-6.25744153e-01 7.79993060e-01 -7.42173482e-03 -5.79818518e+01] [-1.14548007e-02 3.24968224e-04 9.99934339e-01 -2.13428529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53762799999998 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:168.10, Y:-58.02, Z:-2.14 [[ 7.86372439e-01 6.17691014e-01 8.72920433e-03 1.68099807e+02] [-6.17646557e-01 7.86420760e-01 -7.42422007e-03 -5.80177718e+01] [-1.14507015e-02 4.46639042e-04 9.99934339e-01 -2.13842137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597628 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:-58.05, Z:-2.14 [[ 7.89470896e-01 6.13725944e-01 8.72751803e-03 1.68150807e+02] [-6.13681223e-01 7.89518973e-01 -7.42620187e-03 -5.80540391e+01] [-1.14481938e-02 5.06856307e-04 9.99934339e-01 -2.14089029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657628 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:-58.09, Z:-2.14 [[ 7.88893259e-01 6.14468297e-01 8.72572197e-03 1.68200762e+02] [-6.14423597e-01 7.88941356e-01 -7.42831162e-03 -5.80928794e+01] [-1.14485449e-02 4.98855480e-04 9.99934339e-01 -2.13874700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.717628 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:168.25, Y:-58.13, Z:-2.14 [[ 7.84628436e-01 6.19904924e-01 8.72364642e-03 1.68252917e+02] [-6.19860531e-01 7.84676816e-01 -7.43074831e-03 -5.81293839e+01] [-1.14516006e-02 4.22932318e-04 9.99934339e-01 -2.13733283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.777628 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:168.30, Y:-58.17, Z:-2.14 [[ 7.80191950e-01 6.25479381e-01 8.72151088e-03 1.68303003e+02] [-6.25435306e-01 7.80240620e-01 -7.43325396e-03 -5.81671751e+01] [-1.14542241e-02 3.44624084e-04 9.99934339e-01 -2.13737869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.837628 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:-58.21, Z:-2.14 [[ 7.71903309e-01 6.35680150e-01 8.71939571e-03 1.68353263e+02] [-6.35636690e-01 7.71952530e-01 -7.43573428e-03 -5.82051257e+01] [-1.14577083e-02 1.97300072e-04 9.99934339e-01 -2.13743687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.897628 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:168.40, Y:-58.24, Z:-2.14 [[ 7.66408209e-01 6.42294688e-01 8.71730131e-03 1.68402672e+02] [-6.42251625e-01 7.66457777e-01 -7.43818884e-03 -5.82436332e+01] [-1.14589526e-02 1.01988052e-04 9.99934339e-01 -2.13936010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.957628 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:168.45, Y:-58.28, Z:-2.14 [[ 7.58984208e-01 6.51050703e-01 8.71520801e-03 1.68451807e+02] [-6.51008184e-01 7.59034243e-01 -7.44064071e-03 -5.82830766e+01] [-1.14593757e-02 -2.63429402e-05 9.99934339e-01 -2.14140826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:168.50, Y:-58.32, Z:-2.14 [[ 7.56362919e-01 6.54094195e-01 8.71310271e-03 1.68499598e+02] [-6.54051849e-01 7.56413101e-01 -7.44310524e-03 -5.83238606e+01] [-1.14591970e-02 -6.91321260e-05 9.99934339e-01 -2.14264523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:-58.37, Z:-2.14 [[ 7.57548682e-01 6.52720548e-01 8.71096494e-03 1.68544878e+02] [-6.52678082e-01 7.57598762e-01 -7.44560632e-03 -5.83670378e+01] [-1.14593165e-02 -4.50466285e-05 9.99934339e-01 -2.14270814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:-58.41, Z:-2.14 [[ 7.61085904e-01 6.48592632e-01 8.70883681e-03 1.68590548e+02] [-6.48549866e-01 7.61135729e-01 -7.44809468e-03 -5.84098925e+01] [-1.14593862e-02 2.05249324e-05 9.99934339e-01 -2.14297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:-58.46, Z:-2.14 [[ 7.67770087e-01 6.40666284e-01 8.70673276e-03 1.68634506e+02] [-6.40622975e-01 7.67819440e-01 -7.45055348e-03 -5.84552829e+01] [-1.14585171e-02 1.42579046e-04 9.99934339e-01 -2.14291803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.68, Y:-58.50, Z:-2.14 [[ 7.71768790e-01 6.35843663e-01 8.70462569e-03 1.68679735e+02] [-6.35800019e-01 7.71817847e-01 -7.45301439e-03 -5.84986743e+01] [-1.14573374e-02 2.17602717e-04 9.99934339e-01 -2.14401205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.72, Y:-58.54, Z:-2.15 [[ 7.75451647e-01 6.31346980e-01 8.70254171e-03 1.68723370e+02] [-6.31303024e-01 7.75500425e-01 -7.45544697e-03 -5.85430362e+01] [-1.14557987e-02 2.87397735e-04 9.99934339e-01 -2.14636402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:-58.59, Z:-2.15 [[ 7.76214733e-01 6.30408586e-01 8.70070998e-03 1.68768034e+02] [-6.30364548e-01 7.76263436e-01 -7.45758404e-03 -5.85862633e+01] [-1.14553680e-02 3.04067496e-04 9.99934339e-01 -2.14793004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:-58.63, Z:-2.15 [[ 7.74627303e-01 6.32358183e-01 8.69889315e-03 1.68812885e+02] [-6.32314243e-01 7.74676095e-01 -7.45970267e-03 -5.86296575e+01] [-1.14560286e-02 2.78055324e-04 9.99934339e-01 -2.15082575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:-58.67, Z:-2.15 [[ 7.72258178e-01 6.35249295e-01 8.69707862e-03 1.68858867e+02] [-6.35205514e-01 7.72307113e-01 -7.46181758e-03 -5.86720954e+01] [-1.14569300e-02 2.38017356e-04 9.99934339e-01 -2.15187732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:-58.71, Z:-2.15 [[ 7.68473479e-01 6.39822557e-01 8.69525186e-03 1.68904034e+02] [-6.39779043e-01 7.68522652e-01 -7.46394570e-03 -5.87145717e+01] [-1.14580988e-02 1.72804412e-04 9.99934339e-01 -2.15322284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:-58.76, Z:-2.15 [[ 7.66083406e-01 6.42682379e-01 8.69340025e-03 1.68949009e+02] [-6.42639024e-01 7.66132719e-01 -7.46610168e-03 -5.87559643e+01] [-1.14586304e-02 1.32938359e-04 9.99934339e-01 -2.15333815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:-58.80, Z:-2.15 [[ 7.62871610e-01 6.46491578e-01 8.69170444e-03 1.68993895e+02] [-6.46448447e-01 7.62921119e-01 -7.46807535e-03 -5.87982526e+01] [-1.14591327e-02 7.84438323e-05 9.99934339e-01 -2.15003540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:-58.84, Z:-2.15 [[ 7.61488984e-01 6.48119597e-01 8.68997551e-03 1.69039451e+02] [-6.48076548e-01 7.61538565e-01 -7.47008662e-03 -5.88404068e+01] [-1.14592610e-02 5.66193320e-05 9.99934339e-01 -2.14815571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.09, Y:-58.88, Z:-2.15 [[ 7.61968593e-01 6.47555697e-01 8.68812364e-03 1.69087018e+02] [-6.47512587e-01 7.62018120e-01 -7.47223983e-03 -5.88818942e+01] [-1.14591991e-02 6.79426474e-05 9.99934339e-01 -2.14826838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:-58.92, Z:-2.15 [[ 7.63297733e-01 6.45988486e-01 8.68596676e-03 1.69134239e+02] [-6.45945246e-01 7.63347147e-01 -7.47474621e-03 -5.89215651e+01] [-1.14590079e-02 9.47979021e-05 9.99934339e-01 -2.15160035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:-58.96, Z:-2.15 [[ 7.67861454e-01 6.40557074e-01 8.68463835e-03 1.69181320e+02] [-6.40513467e-01 7.67910544e-01 -7.47628932e-03 -5.89629537e+01] [-1.14580154e-02 1.78126560e-04 9.99934339e-01 -2.15182285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:-59.00, Z:-2.15 [[ 7.71879185e-01 6.35709947e-01 8.68252582e-03 1.69228945e+02] [-6.35666005e-01 7.71927975e-01 -7.47874189e-03 -5.90034223e+01] [-1.14565952e-02 2.53498692e-04 9.99934339e-01 -2.15317865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:-59.04, Z:-2.15 [[ 7.76031099e-01 6.30634905e-01 8.68043744e-03 1.69277009e+02] [-6.30590616e-01 7.76079575e-01 -7.48116505e-03 -5.90433557e+01] [-1.14545940e-02 3.31814341e-04 9.99934339e-01 -2.15405694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:169.33, Y:-59.08, Z:-2.16 [[ 7.79799191e-01 6.25969575e-01 8.67833153e-03 1.69325326e+02] [-6.25924969e-01 7.79847375e-01 -7.48360715e-03 -5.90826239e+01] [-1.14522845e-02 4.03726408e-04 9.99934339e-01 -2.15845731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:-59.12, Z:-2.16 [[ 7.84199984e-01 6.20447502e-01 8.67651681e-03 1.69374079e+02] [-6.20402535e-01 7.84247830e-01 -7.48571056e-03 -5.91206218e+01] [-1.14490299e-02 4.87361081e-04 9.99934339e-01 -2.15844863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:-59.16, Z:-2.16 [[ 7.85325563e-01 6.19022221e-01 8.67467021e-03 1.69423418e+02] [-6.18977143e-01 7.85373305e-01 -7.48784984e-03 -5.91598790e+01] [-1.14479999e-02 5.10977304e-04 9.99934339e-01 -2.15870823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:-59.20, Z:-2.16 [[ 7.82794126e-01 6.22220333e-01 8.67255779e-03 1.69474656e+02] [-6.22175423e-01 7.82842027e-01 -7.49029569e-03 -5.91956654e+01] [-1.14498570e-02 4.67507154e-04 9.99934339e-01 -2.15788286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.52, Y:-59.23, Z:-2.16 [[ 7.78454899e-01 6.27640653e-01 8.67068145e-03 1.69524051e+02] [-6.27596052e-01 7.78503088e-01 -7.49246709e-03 -5.92333766e+01] [-1.14527292e-02 3.90862266e-04 9.99934339e-01 -2.15828519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:-59.27, Z:-2.16 [[ 7.70700942e-01 6.37138063e-01 8.66869591e-03 1.69574418e+02] [-6.37094031e-01 7.70749651e-01 -7.49476363e-03 -5.92703959e+01] [-1.14565935e-02 2.53446966e-04 9.99934339e-01 -2.15905591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:-59.31, Z:-2.16 [[ 7.64354244e-01 6.44738301e-01 8.66675130e-03 1.69624328e+02] [-6.44694728e-01 7.64403364e-01 -7.49701165e-03 -5.93084230e+01] [-1.14585044e-02 1.42963803e-04 9.99934339e-01 -2.15961179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.67, Y:-59.35, Z:-2.16 [[ 7.55242236e-01 6.55388484e-01 8.66608870e-03 1.69674012e+02] [-6.55345594e-01 7.55291954e-01 -7.49777750e-03 -5.93462126e+01] [-1.14593841e-02 -1.66448065e-05 9.99934339e-01 -2.15866013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.72, Y:-59.39, Z:-2.16 [[ 7.50731319e-01 6.60550845e-01 8.66420619e-03 1.69722395e+02] [-6.60508272e-01 7.50781308e-01 -7.49995224e-03 -5.93868471e+01] [-1.14590238e-02 -9.23308195e-05 9.99934339e-01 -2.15866897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:-59.43, Z:-2.16 [[ 7.48365010e-01 6.63230564e-01 8.66207494e-03 1.69768402e+02] [-6.63188142e-01 7.48415127e-01 -7.50241292e-03 -5.94276796e+01] [-1.14586575e-02 -1.30042073e-04 9.99934339e-01 -2.16002907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:-59.47, Z:-2.16 [[ 7.49427085e-01 6.62030246e-01 8.66010755e-03 1.69813688e+02] [-6.61987718e-01 7.49477112e-01 -7.50468321e-03 -5.94719800e+01] [-1.14588797e-02 -1.08671979e-04 9.99934339e-01 -2.16231004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-59.52, Z:-2.16 [[ 7.50157676e-01 6.61202314e-01 8.65799711e-03 1.69858695e+02] [-6.61159702e-01 7.50207632e-01 -7.50711719e-03 -5.95154624e+01] [-1.14590188e-02 -9.27972021e-05 9.99934339e-01 -2.16056055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.90, Y:-59.56, Z:-2.16 [[ 7.51891657e-01 6.59229863e-01 8.65591119e-03 1.69903552e+02] [-6.59187092e-01 7.51941477e-01 -7.50952155e-03 -5.95579377e+01] [-1.14592395e-02 -5.95183312e-05 9.99934339e-01 -2.16367217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:-59.60, Z:-2.17 [[ 7.52653598e-01 6.58359832e-01 8.65410611e-03 1.69948287e+02] [-6.58316980e-01 7.52703348e-01 -7.51160117e-03 -5.96017368e+01] [-1.14593111e-02 -4.35113533e-05 9.99934339e-01 -2.16508829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.99, Y:-59.65, Z:-2.17 [[ 7.53607037e-01 6.57268267e-01 8.65206833e-03 1.69991879e+02] [-6.57225316e-01 7.53656702e-01 -7.51394761e-03 -5.96463298e+01] [-1.14593686e-02 -2.37945429e-05 9.99934339e-01 -2.16594158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:-59.69, Z:-2.17 [[ 7.55686021e-01 6.54876943e-01 8.65030723e-03 1.70036380e+02] [-6.54833812e-01 7.55735529e-01 -7.51597450e-03 -5.96898260e+01] [-1.14593829e-02 1.52032116e-05 9.99934339e-01 -2.16717689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.08, Y:-59.73, Z:-2.17 [[ 7.58235649e-01 6.51923236e-01 8.64844568e-03 1.70081092e+02] [-6.51879887e-01 7.58284967e-01 -7.51811594e-03 -5.97336873e+01] [-1.14592208e-02 6.27557254e-05 9.99934339e-01 -2.16749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.12, Y:-59.78, Z:-2.17 [[ 7.63943139e-01 6.45225634e-01 8.64648620e-03 1.70124332e+02] [-6.45181828e-01 7.63992050e-01 -7.52036883e-03 -5.97791504e+01] [-1.14581815e-02 1.66578389e-04 9.99934339e-01 -2.16628086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.17, Y:-59.82, Z:-2.17 [[ 7.68227605e-01 6.40118442e-01 8.64446628e-03 1.70169738e+02] [-6.40074284e-01 7.68276200e-01 -7.52268996e-03 -5.98231753e+01] [-1.14567503e-02 2.46037533e-04 9.99934339e-01 -2.16592472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:-59.86, Z:-2.16 [[ 7.72222139e-01 6.35293850e-01 8.64246578e-03 1.70214881e+02] [-6.35249364e-01 7.72270432e-01 -7.52498754e-03 -5.98641958e+01] [-1.14548991e-02 3.20841082e-04 9.99934339e-01 -2.16370258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:-59.91, Z:-2.16 [[ 7.72936212e-01 6.34424895e-01 8.64086784e-03 1.70262545e+02] [-6.34380334e-01 7.72984436e-01 -7.52682199e-03 -5.99053792e+01] [-1.14544596e-02 3.36156651e-04 9.99934339e-01 -2.16225820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:-59.95, Z:-2.16 [[ 7.73418929e-01 6.33836360e-01 8.63882377e-03 1.70309149e+02] [-6.33791736e-01 7.73467095e-01 -7.52916732e-03 -5.99454093e+01] [-1.14541059e-02 3.47985407e-04 9.99934339e-01 -2.16389152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.36, Y:-59.98, Z:-2.16 [[ 7.72492234e-01 6.34965473e-01 8.63693156e-03 1.70358335e+02] [-6.34920895e-01 7.72540443e-01 -7.53133730e-03 -5.99848756e+01] [-1.14545181e-02 3.34131261e-04 9.99934339e-01 -2.16259366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.41, Y:-60.02, Z:-2.16 [[ 7.70820398e-01 6.36993997e-01 8.63488312e-03 1.70408252e+02] [-6.36949520e-01 7.70868700e-01 -7.53368516e-03 -6.00228490e+01] [-1.14552734e-02 3.07133541e-04 9.99934339e-01 -2.16453952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53762799999998 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:-60.06, Z:-2.17 [[ 7.67937879e-01 6.40466148e-01 8.63286079e-03 1.70457965e+02] [-6.40421863e-01 7.67986358e-01 -7.53600184e-03 -6.00607175e+01] [-1.14564734e-02 2.58508485e-04 9.99934339e-01 -2.16744662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.51, Y:-60.10, Z:-2.17 [[ 7.64201120e-01 6.44920270e-01 8.63097643e-03 1.70505336e+02] [-6.44876243e-01 7.64249833e-01 -7.53815938e-03 -6.01001610e+01] [-1.14577341e-02 1.94758183e-04 9.99934339e-01 -2.16720427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-60.14, Z:-2.17 [[ 7.62279059e-01 6.47190988e-01 8.62908724e-03 1.70551828e+02] [-6.47147081e-01 7.62327881e-01 -7.54032135e-03 -6.01406747e+01] [-1.14582218e-02 1.63540441e-04 9.99934339e-01 -2.16838374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.717628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:-60.18, Z:-2.17 [[ 7.59611872e-01 6.50319443e-01 8.62708856e-03 1.70600505e+02] [-6.50275712e-01 7.59660851e-01 -7.54260740e-03 -6.01809351e+01] [-1.14587657e-02 1.19467969e-04 9.99934339e-01 -2.17078236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:-60.22, Z:-2.17 [[ 7.57923782e-01 6.52286096e-01 8.62496642e-03 1.70646792e+02] [-6.52242464e-01 7.57972850e-01 -7.54503329e-03 -6.02229747e+01] [-1.14590107e-02 9.29908240e-05 9.99934339e-01 -2.16819016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:-60.27, Z:-2.17 [[ 7.57101874e-01 6.53239921e-01 8.62310937e-03 1.70692155e+02] [-6.53196327e-01 7.57150975e-01 -7.54715509e-03 -6.02660834e+01] [-1.14590987e-02 8.13819011e-05 9.99934339e-01 -2.16784627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:-60.31, Z:-2.17 [[ 7.56755656e-01 6.53640999e-01 8.62095942e-03 1.70738636e+02] [-6.53597403e-01 7.56804756e-01 -7.54961013e-03 -6.03079044e+01] [-1.14591178e-02 7.85734810e-05 9.99934339e-01 -2.16849077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.78, Y:-60.35, Z:-2.17 [[ 7.56988291e-01 6.53371597e-01 8.61878322e-03 1.70783951e+02] [-6.53327955e-01 7.57037350e-01 -7.55209371e-03 -6.03498582e+01] [-1.14590643e-02 8.59544965e-05 9.99934339e-01 -2.17028581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:170.83, Y:-60.39, Z:-2.17 [[ 7.58560265e-01 6.51545903e-01 8.61744107e-03 1.70827893e+02] [-6.51502126e-01 7.58609203e-01 -7.55362488e-03 -6.03936804e+01] [-1.14588034e-02 1.15598513e-04 9.99934339e-01 -2.17169854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:-60.44, Z:-2.17 [[ 7.58664846e-01 6.51424150e-01 8.61556722e-03 1.70873122e+02] [-6.51380340e-01 7.58713755e-01 -7.55576156e-03 -6.04374052e+01] [-1.14587549e-02 1.20279573e-04 9.99934339e-01 -2.17068901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.92, Y:-60.48, Z:-2.17 [[ 7.58739197e-01 6.51337577e-01 8.61343565e-03 1.70917780e+02] [-6.51293735e-01 7.58788076e-01 -7.55819074e-03 -6.04801673e+01] [-1.14587059e-02 1.24818897e-04 9.99934339e-01 -2.17218891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:-60.52, Z:-2.17 [[ 7.58401409e-01 6.51730882e-01 8.61159229e-03 1.70961781e+02] [-6.51687041e-01 7.58450290e-01 -7.56029043e-03 -6.05246555e+01] [-1.14587394e-02 1.21671823e-04 9.99934339e-01 -2.17339800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.01, Y:-60.57, Z:-2.17 [[ 7.55783897e-01 6.54764518e-01 8.60972815e-03 1.71006000e+02] [-6.54720849e-01 7.55832931e-01 -7.56241273e-03 -6.05665541e+01] [-1.14591156e-02 7.85812415e-05 9.99934339e-01 -2.17149831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31762799999998 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.05, Y:-60.61, Z:-2.17 [[ 7.54739861e-01 6.55967716e-01 8.60802447e-03 1.71051876e+02] [-6.55924103e-01 7.54788945e-01 -7.56435148e-03 -6.06077736e+01] [-1.14592121e-02 6.29068462e-05 9.99934339e-01 -2.16967092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.10, Y:-60.65, Z:-2.17 [[ 7.53377393e-01 6.57532070e-01 8.60700469e-03 1.71098379e+02] [-6.57488546e-01 7.53426556e-01 -7.56551164e-03 -6.06492373e+01] [-1.14593124e-02 4.06784386e-05 9.99934339e-01 -2.16997344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.15, Y:-60.69, Z:-2.17 [[ 7.52446086e-01 6.58597631e-01 8.60516931e-03 1.71145005e+02] [-6.58554152e-01 7.52495289e-01 -7.56759867e-03 -6.06916637e+01] [-1.14593519e-02 2.72400145e-05 9.99934339e-01 -2.16968086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.19, Y:-60.73, Z:-2.17 [[ 7.50891188e-01 6.60369905e-01 8.60305613e-03 1.71192536e+02] [-6.60326515e-01 7.50940470e-01 -7.57000023e-03 -6.07315554e+01] [-1.14593833e-02 3.42039416e-06 9.99934339e-01 -2.17208867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:-60.77, Z:-2.17 [[ 7.50010815e-01 6.61369636e-01 8.60122491e-03 1.71240043e+02] [-6.61326288e-01 7.50060134e-01 -7.57208033e-03 -6.07726828e+01] [-1.14593799e-02 -9.07400040e-06 9.99934339e-01 -2.17100393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.617628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:-60.81, Z:-2.17 [[ 7.52724789e-01 6.58279157e-01 8.59903207e-03 1.71290572e+02] [-6.58235578e-01 7.52773903e-01 -7.57456975e-03 -6.08097009e+01] [-1.14593083e-02 4.13775677e-05 9.99934339e-01 -2.17243608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.677628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:-60.85, Z:-2.17 [[ 7.52573607e-01 6.58452015e-01 8.59708039e-03 1.71337092e+02] [-6.58408422e-01 7.52622709e-01 -7.57678425e-03 -6.08524757e+01] [-1.14593068e-02 4.16977181e-05 9.99934339e-01 -2.17313021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.38, Y:-60.90, Z:-2.17 [[ 7.51401461e-01 6.59789340e-01 8.59483512e-03 1.71378858e+02] [-6.59745805e-01 7.51450615e-01 -7.57933035e-03 -6.08971912e+01] [-1.14593555e-02 2.47134852e-05 9.99934339e-01 -2.17473396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.42, Y:-60.94, Z:-2.18 [[ 7.52852918e-01 6.58132695e-01 8.59303428e-03 1.71424644e+02] [-6.58089028e-01 7.52901955e-01 -7.58137149e-03 -6.09388866e+01] [-1.14592608e-02 5.26760691e-05 9.99934339e-01 -2.17602970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:-60.98, Z:-2.18 [[ 7.57935654e-01 6.52272748e-01 8.59106812e-03 1.71473101e+02] [-6.52228678e-01 7.57984328e-01 -7.58359885e-03 -6.09769358e+01] [-1.14584699e-02 1.44538953e-04 9.99934339e-01 -2.17656460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:171.52, Y:-61.02, Z:-2.18 [[ 7.56103938e-01 6.54395186e-01 8.58923115e-03 1.71515852e+02] [-6.54351229e-01 7.56152714e-01 -7.58567884e-03 -6.10206719e+01] [-1.14588022e-02 1.15187685e-04 9.99934339e-01 -2.17612715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.56, Y:-61.06, Z:-2.18 [[ 7.57355918e-01 6.52945840e-01 8.58739589e-03 1.71563412e+02] [-6.52901765e-01 7.57404589e-01 -7.58775589e-03 -6.10616213e+01] [-1.14585267e-02 1.39905895e-04 9.99934339e-01 -2.17644812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:-61.10, Z:-2.18 [[ 7.57901305e-01 6.52312736e-01 8.58525294e-03 1.71610877e+02] [-6.52268593e-01 7.57949914e-01 -7.59017978e-03 -6.11033259e+01] [-1.14583627e-02 1.52716306e-04 9.99934339e-01 -2.17595070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097628 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:-61.14, Z:-2.18 [[ 7.57690340e-01 6.52557797e-01 8.58310481e-03 1.71658375e+02] [-6.52513643e-01 7.57738938e-01 -7.59260814e-03 -6.11436553e+01] [-1.14583684e-02 1.52252855e-04 9.99934339e-01 -2.17801493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157628 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:171.71, Y:-61.18, Z:-2.18 [[ 7.56938189e-01 6.53430136e-01 8.58112001e-03 1.71706217e+02] [-6.53386012e-01 7.56986815e-01 -7.59485069e-03 -6.11845776e+01] [-1.14584990e-02 1.42048744e-04 9.99934339e-01 -2.17995662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.217628 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:171.76, Y:-61.22, Z:-2.18 [[ 7.58837542e-01 6.51223453e-01 8.57901480e-03 1.71757687e+02] [-6.51179161e-01 7.58886014e-01 -7.59722796e-03 -6.12218801e+01] [-1.14579874e-02 1.78586123e-04 9.99934339e-01 -2.17918032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.277628 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:-61.27, Z:-2.18 [[ 7.56148966e-01 6.54343321e-01 8.57673977e-03 1.71801673e+02] [-6.54299200e-01 7.56197594e-01 -7.59979544e-03 -6.12671317e+01] [-1.14585854e-02 1.34823498e-04 9.99934339e-01 -2.17949831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.337628 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:171.85, Y:-61.30, Z:-2.18 [[ 7.57169515e-01 6.53162157e-01 8.57451232e-03 1.71853511e+02] [-6.53117932e-01 7.57218048e-01 -7.60230774e-03 -6.13028685e+01] [-1.14583152e-02 1.56067911e-04 9.99934339e-01 -2.18012969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.397628 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:171.90, Y:-61.34, Z:-2.18 [[ 7.55256824e-01 6.55372907e-01 8.57222058e-03 1.71900203e+02] [-6.55328794e-01 7.55305459e-01 -7.60489099e-03 -6.13440201e+01] [-1.14586845e-02 1.26022833e-04 9.99934339e-01 -2.18022023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.457628 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:171.95, Y:-61.39, Z:-2.18 [[ 7.52665493e-01 6.58347332e-01 8.57012318e-03 1.71945842e+02] [-6.58303384e-01 7.52714278e-01 -7.60725386e-03 -6.13865613e+01] [-1.14590694e-02 8.39763811e-05 9.99934339e-01 -2.18055704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.517628 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:171.99, Y:-61.43, Z:-2.18 [[ 7.52368165e-01 6.58687127e-01 8.56811854e-03 1.71993768e+02] [-6.58643176e-01 7.52416947e-01 -7.60951104e-03 -6.14275403e+01] [-1.14590846e-02 8.18210481e-05 9.99934339e-01 -2.18172255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:-61.47, Z:-2.18 [[ 7.53733248e-01 6.57124657e-01 8.56603360e-03 1.72040647e+02] [-6.57080578e-01 7.53781914e-01 -7.61185734e-03 -6.14680221e+01] [-1.14588603e-02 1.08735643e-04 9.99934339e-01 -2.18273470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:-61.51, Z:-2.18 [[ 7.57464830e-01 6.52819797e-01 8.56414446e-03 1.72090117e+02] [-6.52775417e-01 7.57513222e-01 -7.61398222e-03 -6.15072956e+01] [-1.14580110e-02 1.76860769e-04 9.99934339e-01 -2.18101839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:-61.55, Z:-2.18 [[ 7.60294064e-01 6.49522618e-01 8.56186115e-03 1.72134778e+02] [-6.49478000e-01 7.60342236e-01 -7.61654892e-03 -6.15490421e+01] [-1.14570654e-02 2.30076475e-04 9.99934339e-01 -2.18145048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75762799999998 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:-61.59, Z:-2.18 [[ 7.59712435e-01 6.50202846e-01 8.56005361e-03 1.72177398e+02] [-6.50158249e-01 7.59760626e-01 -7.61857983e-03 -6.15935345e+01] [-1.14572140e-02 2.22540379e-04 9.99934339e-01 -2.18296163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81762799999998 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:172.22, Y:-61.64, Z:-2.19 [[ 7.58460447e-01 6.51662878e-01 8.55829097e-03 1.72222522e+02] [-6.51618350e-01 7.58508703e-01 -7.62055937e-03 -6.16362734e+01] [-1.14575738e-02 2.03153421e-04 9.99934339e-01 -2.18528665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877628 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:172.27, Y:-61.68, Z:-2.19 [[ 7.57510650e-01 6.52766729e-01 8.55642744e-03 1.72268551e+02] [-6.52722248e-01 7.57558949e-01 -7.62265118e-03 -6.16781586e+01] [-1.14578113e-02 1.89268897e-04 9.99934339e-01 -2.18630655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.937628 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:172.31, Y:-61.72, Z:-2.19 [[ 7.56506612e-01 6.53930092e-01 8.55456836e-03 1.72314730e+02] [-6.53885662e-01 7.56554958e-01 -7.62473698e-03 -6.17189975e+01] [-1.14580461e-02 1.74454337e-04 9.99934339e-01 -2.18818027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.997628 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:-61.76, Z:-2.19 [[ 7.55808319e-01 6.54737074e-01 8.55271083e-03 1.72359782e+02] [-6.54692672e-01 7.55856690e-01 -7.62682000e-03 -6.17600659e+01] [-1.14581855e-02 1.65016894e-04 9.99934339e-01 -2.18817943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.057628 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:172.40, Y:-61.80, Z:-2.19 [[ 7.56031042e-01 6.54479894e-01 8.55167983e-03 1.72404527e+02] [-6.54435463e-01 7.56079387e-01 -7.62797585e-03 -6.18015915e+01] [-1.14581057e-02 1.70463987e-04 9.99934339e-01 -2.18686759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.117628 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:172.45, Y:-61.84, Z:-2.18 [[ 7.56660234e-01 6.53752381e-01 8.55070305e-03 1.72450740e+02] [-6.53707891e-01 7.56708524e-01 -7.62907064e-03 -6.18447582e+01] [-1.14579130e-02 1.82952316e-04 9.99934339e-01 -2.18467204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.177628 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:-61.88, Z:-2.19 [[ 7.59043941e-01 6.50983270e-01 8.54854974e-03 1.72498488e+02] [-6.50938576e-01 7.59092044e-01 -7.63148270e-03 -6.18831561e+01] [-1.14571037e-02 2.28049913e-04 9.99934339e-01 -2.18983904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.237628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:172.54, Y:-61.93, Z:-2.18 [[ 7.57819730e-01 6.52408008e-01 8.54682980e-03 1.72543271e+02] [-6.52363383e-01 7.57867896e-01 -7.63340845e-03 -6.19262916e+01] [-1.14574647e-02 2.09108732e-04 9.99934339e-01 -2.18458745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:172.59, Y:-61.97, Z:-2.18 [[ 7.56548900e-01 6.53881294e-01 8.54495143e-03 1.72589864e+02] [-6.53836739e-01 7.56597130e-01 -7.63551055e-03 -6.19681973e+01] [-1.14578032e-02 1.89633929e-04 9.99934339e-01 -2.18384392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:-62.01, Z:-2.18 [[ 7.55276014e-01 6.55351176e-01 8.54280210e-03 1.72636308e+02] [-6.55306688e-01 7.55324306e-01 -7.63791452e-03 -6.20094705e+01] [-1.14581023e-02 1.70578281e-04 9.99934339e-01 -2.18489293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:-62.05, Z:-2.19 [[ 7.52890259e-01 6.58090657e-01 8.54081650e-03 1.72683040e+02] [-6.58046320e-01 7.52938689e-01 -7.64013420e-03 -6.20500701e+01] [-1.14586121e-02 1.31929750e-04 9.99934339e-01 -2.18741806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:-62.09, Z:-2.19 [[ 7.50728572e-01 6.60555597e-01 8.53897399e-03 1.72730183e+02] [-6.60511395e-01 7.50777127e-01 -7.64219292e-03 -6.20909618e+01] [-1.14589597e-02 9.71229499e-05 9.99934339e-01 -2.18866897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.78, Y:-62.13, Z:-2.19 [[ 7.49135023e-01 6.62362314e-01 8.53707477e-03 1.72777905e+02] [-6.62318205e-01 7.49183662e-01 -7.64431395e-03 -6.21322984e+01] [-1.14591424e-02 7.23632745e-05 9.99934339e-01 -2.19026036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:-62.17, Z:-2.19 [[ 7.47802655e-01 6.63866210e-01 8.53493265e-03 1.72824912e+02] [-6.63822171e-01 7.47851357e-01 -7.64670489e-03 -6.21725022e+01] [-1.14592500e-02 5.25486923e-05 9.99934339e-01 -2.19041657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-62.21, Z:-2.19 [[ 7.48356767e-01 6.63241537e-01 8.53305395e-03 1.72871228e+02] [-6.63197434e-01 7.48405411e-01 -7.64880078e-03 -6.22144869e+01] [-1.14591861e-02 6.49323324e-05 9.99934339e-01 -2.18976293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:-62.26, Z:-2.19 [[ 7.50624011e-01 6.60674518e-01 8.53090377e-03 1.72916640e+02] [-6.60630221e-01 7.50672479e-01 -7.65119818e-03 -6.22557830e+01] [-1.14588663e-02 1.07400219e-04 9.99934339e-01 -2.18995372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.96, Y:-62.30, Z:-2.19 [[ 7.52305770e-01 6.58758895e-01 8.52918848e-03 1.72963143e+02] [-6.58714453e-01 7.52354105e-01 -7.65310983e-03 -6.22982005e+01] [-1.14585241e-02 1.39178959e-04 9.99934339e-01 -2.19059695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:-62.34, Z:-2.19 [[ 7.54215424e-01 6.56571689e-01 8.52708508e-03 1.73009383e+02] [-6.56527080e-01 7.54263606e-01 -7.65545271e-03 -6.23409897e+01] [-1.14580235e-02 1.75598241e-04 9.99934339e-01 -2.19164260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:-62.38, Z:-2.19 [[ 7.57238046e-01 6.53083353e-01 8.52500659e-03 1.73055562e+02] [-6.53038497e-01 7.57285996e-01 -7.65776659e-03 -6.23830314e+01] [-1.14570280e-02 2.31594714e-04 9.99934339e-01 -2.19424940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:-62.43, Z:-2.20 [[ 7.59622210e-01 6.50308737e-01 8.52316590e-03 1.73100846e+02] [-6.50263683e-01 7.59669974e-01 -7.65981475e-03 -6.24251504e+01] [-1.14560377e-02 2.76260159e-04 9.99934339e-01 -2.19553940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.15, Y:-62.47, Z:-2.19 [[ 7.60290704e-01 6.49527085e-01 8.52122096e-03 1.73146915e+02] [-6.49481957e-01 7.60338399e-01 -7.66197780e-03 -6.24674682e+01] [-1.14556736e-02 2.90951236e-04 9.99934339e-01 -2.19380681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.19, Y:-62.51, Z:-2.19 [[ 7.58786061e-01 6.51284220e-01 8.51935684e-03 1.73192780e+02] [-6.51239179e-01 7.58833838e-01 -7.66404995e-03 -6.25073504e+01] [-1.14562510e-02 2.67235313e-04 9.99934339e-01 -2.19284331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:-62.55, Z:-2.19 [[ 7.56196897e-01 6.54288699e-01 8.51765095e-03 1.73240931e+02] [-6.54243827e-01 7.56244833e-01 -7.66594538e-03 -6.25485460e+01] [-1.14571710e-02 2.24343551e-04 9.99934339e-01 -2.19358612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:-62.59, Z:-2.20 [[ 7.52469531e-01 6.58572008e-01 8.51557011e-03 1.73288033e+02] [-6.58527382e-01 7.52517697e-01 -7.66825615e-03 -6.25882594e+01] [-1.14582161e-02 1.62393016e-04 9.99934339e-01 -2.19502357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.34, Y:-62.63, Z:-2.20 [[ 7.49904800e-01 6.61490974e-01 8.51364905e-03 1.73335551e+02] [-6.61446513e-01 7.49953116e-01 -7.67038840e-03 -6.26295906e+01] [-1.14587303e-02 1.20737606e-04 9.99934339e-01 -2.19631145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:-62.67, Z:-2.20 [[ 7.49502239e-01 6.61947087e-01 8.51162888e-03 1.73386866e+02] [-6.61902629e-01 7.49550559e-01 -7.67262948e-03 -6.26650362e+01] [-1.14587709e-02 1.16783438e-04 9.99934339e-01 -2.20051982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.43, Y:-62.71, Z:-2.20 [[ 7.45248650e-01 6.66732354e-01 8.50988596e-03 1.73429874e+02] [-6.66688184e-01 7.45297234e-01 -7.67456210e-03 -6.27120942e+01] [-1.14592733e-02 4.60166330e-05 9.99934339e-01 -2.19542704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.48, Y:-62.75, Z:-2.19 [[ 7.44540416e-01 6.67523171e-01 8.50792673e-03 1.73475322e+02] [-6.67479028e-01 7.44589024e-01 -7.67673346e-03 -6.27539426e+01] [-1.14593063e-02 3.67756578e-05 9.99934339e-01 -2.19443094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.52, Y:-62.80, Z:-2.19 [[ 7.44860699e-01 6.67165777e-01 8.50670952e-03 1.73521606e+02] [-6.67121596e-01 7.44909272e-01 -7.67808204e-03 -6.27958435e+01] [-1.14592804e-02 4.40919274e-05 9.99934339e-01 -2.19496380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.57, Y:-62.84, Z:-2.20 [[ 7.46246683e-01 6.65615173e-01 8.50474983e-03 1.73567531e+02] [-6.65570865e-01 7.46295141e-01 -7.68025210e-03 -6.28374776e+01] [-1.14591458e-02 7.08489450e-05 9.99934339e-01 -2.19629820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.61, Y:-62.88, Z:-2.20 [[ 7.47090059e-01 6.64668438e-01 8.50353939e-03 1.73613860e+02] [-6.64624054e-01 7.47138447e-01 -7.68159206e-03 -6.28799209e+01] [-1.14590330e-02 8.71842422e-05 9.99934339e-01 -2.19865239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.66, Y:-62.92, Z:-2.20 [[ 7.48620652e-01 6.62944071e-01 8.50163595e-03 1.73659747e+02] [-6.62899552e-01 7.48668915e-01 -7.68369813e-03 -6.29221263e+01] [-1.14587727e-02 1.16444439e-04 9.99934339e-01 -2.20287015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:-62.96, Z:-2.20 [[ 7.48929584e-01 6.62595072e-01 8.49999175e-03 1.73705775e+02] [-6.62550509e-01 7.48977807e-01 -7.68551657e-03 -6.29644545e+01] [-1.14586906e-02 1.24236865e-04 9.99934339e-01 -2.20473289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.75, Y:-63.01, Z:-2.21 [[ 7.51280265e-01 6.59928589e-01 8.49835512e-03 1.73749439e+02] [-6.59883835e-01 7.51328310e-01 -7.68732587e-03 -6.30066688e+01] [-1.14581409e-02 1.67409052e-04 9.99934339e-01 -2.20752984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:-63.05, Z:-2.21 [[ 7.53974938e-01 6.56848229e-01 8.49685584e-03 1.73794500e+02] [-6.56803260e-01 7.54022783e-01 -7.68898267e-03 -6.30504529e+01] [-1.14573175e-02 2.16537615e-04 9.99934339e-01 -2.20747602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:-63.09, Z:-2.21 [[ 7.60454522e-01 6.49335626e-01 8.49500648e-03 1.73838231e+02] [-6.49290162e-01 7.60501896e-01 -7.69102537e-03 -6.30931663e+01] [-1.14545253e-02 3.32950884e-04 9.99934339e-01 -2.20599048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:-63.14, Z:-2.20 [[ 7.65888828e-01 6.42916917e-01 8.49352631e-03 1.73883142e+02] [-6.42871038e-01 7.65935801e-01 -7.69265963e-03 -6.31362240e+01] [-1.14512369e-02 4.31479989e-04 9.99934339e-01 -2.20324032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.93, Y:-63.18, Z:-2.20 [[ 7.74044056e-01 6.33074789e-01 8.49180831e-03 1.73927388e+02] [-6.33028293e-01 7.74090418e-01 -7.69455564e-03 -6.31797718e+01] [-1.14446566e-02 5.80370143e-04 9.99934339e-01 -2.20119286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:-63.22, Z:-2.20 [[ 7.79104067e-01 6.26837118e-01 8.48999054e-03 1.73974092e+02] [-6.26790229e-01 7.79150032e-01 -7.69656080e-03 -6.32205053e+01] [-1.14394664e-02 6.74978716e-04 9.99934339e-01 -2.20056406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-63.26, Z:-2.20 [[ 7.79055823e-01 6.26897092e-01 8.48880326e-03 1.74022955e+02] [-6.26850193e-01 7.79101777e-01 -7.69787007e-03 -6.32600003e+01] [-1.14394141e-02 6.75862548e-04 9.99934339e-01 -2.20354673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.217628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:174.07, Y:-63.30, Z:-2.21 [[ 7.76940132e-01 6.29517278e-01 8.48693379e-03 1.74071906e+02] [-6.29470511e-01 7.76986221e-01 -7.69993061e-03 -6.32988339e+01] [-1.14414700e-02 6.40110557e-04 9.99934339e-01 -2.20903615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.12, Y:-63.34, Z:-2.21 [[ 7.70502435e-01 6.37380576e-01 8.48518648e-03 1.74122942e+02] [-6.37334259e-01 7.70548976e-01 -7.70185564e-03 -6.33367057e+01] [-1.14472649e-02 5.26398492e-04 9.99934339e-01 -2.20500977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.17, Y:-63.37, Z:-2.21 [[ 7.66611837e-01 6.42054772e-01 8.48296947e-03 1.74171815e+02] [-6.42008712e-01 7.66658632e-01 -7.70429672e-03 -6.33732847e+01] [-1.14501222e-02 4.60064760e-04 9.99934339e-01 -2.20601085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-63.41, Z:-2.20 [[ 7.61858551e-01 6.47687902e-01 8.48119591e-03 1.74223713e+02] [-6.47642166e-01 7.61905663e-01 -7.70624863e-03 -6.34102937e+01] [-1.14531152e-02 3.78291328e-04 9.99934339e-01 -2.20396948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:-63.45, Z:-2.20 [[ 7.59803310e-01 6.50097714e-01 8.47897458e-03 1.74273194e+02] [-6.50052100e-01 7.59850540e-01 -7.70869192e-03 -6.34490537e+01] [-1.14541564e-02 3.45314404e-04 9.99934339e-01 -2.20416078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:-63.49, Z:-2.20 [[ 7.60083723e-01 6.49769866e-01 8.47678326e-03 1.74324075e+02] [-6.49724205e-01 7.60130907e-01 -7.71110083e-03 -6.34858784e+01] [-1.14539059e-02 3.53510965e-04 9.99934339e-01 -2.20481737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.37, Y:-63.53, Z:-2.21 [[ 7.61738794e-01 6.47828818e-01 8.47543303e-03 1.74373160e+02] [-6.47783020e-01 7.61785846e-01 -7.71258462e-03 -6.35255404e+01] [-1.14528995e-02 3.84733296e-04 9.99934339e-01 -2.20621827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.43, Y:-63.56, Z:-2.21 [[ 7.66800848e-01 6.41829154e-01 8.47326309e-03 1.74425276e+02] [-6.41782962e-01 7.66847513e-01 -7.71496784e-03 -6.35611309e+01] [-1.14493920e-02 4.77848003e-04 9.99934339e-01 -2.21126226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:-63.60, Z:-2.21 [[ 7.66679728e-01 6.41973860e-01 8.47099381e-03 1.74470173e+02] [-6.41927649e-01 7.66726375e-01 -7.71745869e-03 -6.36030904e+01] [-1.14493411e-02 4.79053995e-04 9.99934339e-01 -2.21011385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.52, Y:-63.64, Z:-2.21 [[ 7.68021575e-01 6.40367967e-01 8.46918580e-03 1.74518578e+02] [-6.40321638e-01 7.68068103e-01 -7.71944230e-03 -6.36435613e+01] [-1.14481950e-02 5.05695315e-04 9.99934339e-01 -2.21096508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-63.68, Z:-2.21 [[ 7.70592202e-01 6.37272288e-01 8.46702894e-03 1.74567532e+02] [-6.37225745e-01 7.70638517e-01 -7.72180731e-03 -6.36829807e+01] [-1.14459124e-02 5.54955671e-04 9.99934339e-01 -2.21081942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:-63.72, Z:-2.21 [[ 7.73367410e-01 6.33901566e-01 8.46483687e-03 1.74616127e+02] [-6.33854796e-01 7.73413495e-01 -7.72420957e-03 -6.37228636e+01] [-1.14432076e-02 6.08174500e-04 9.99934339e-01 -2.21429771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.66, Y:-63.76, Z:-2.21 [[ 7.76846803e-01 6.29632773e-01 8.46264005e-03 1.74664995e+02] [-6.29585724e-01 7.76892603e-01 -7.72661565e-03 -6.37622952e+01] [-1.14394929e-02 6.74439306e-04 9.99934339e-01 -2.21267360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:-63.80, Z:-2.21 [[ 7.78946662e-01 6.27033108e-01 8.46045442e-03 1.74714794e+02] [-6.26985880e-01 7.78992278e-01 -7.72900813e-03 -6.37991645e+01] [-1.14369726e-02 7.15899626e-04 9.99934339e-01 -2.21390350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:-63.84, Z:-2.21 [[ 7.77684248e-01 6.28598174e-01 8.45843981e-03 1.74764889e+02] [-6.28551014e-01 7.77729934e-01 -7.73121224e-03 -6.38378639e+01] [-1.14382077e-02 6.95881054e-04 9.99934339e-01 -2.21463249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:-63.87, Z:-2.21 [[ 7.73564461e-01 6.33661199e-01 8.45629399e-03 1.74817095e+02] [-6.33614313e-01 7.73610428e-01 -7.73355860e-03 -6.38735816e+01] [-1.14423332e-02 6.24377192e-04 9.99934339e-01 -2.21404842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.177628 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-63.91, Z:-2.22 [[ 7.69416495e-01 6.38691464e-01 8.45407947e-03 1.74868451e+02] [-6.38644852e-01 7.69462740e-01 -7.73597868e-03 -6.39113178e+01] [-1.14460027e-02 5.53035270e-04 9.99934339e-01 -2.21726529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:-63.95, Z:-2.22 [[ 7.61784970e-01 6.47774827e-01 8.45188040e-03 1.74920239e+02] [-6.47728740e-01 7.61831738e-01 -7.73838051e-03 -6.39470853e+01] [-1.14516388e-02 4.20456124e-04 9.99934339e-01 -2.21610136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:-63.99, Z:-2.22 [[ 7.56852542e-01 6.53531047e-01 8.44984668e-03 1.74968850e+02] [-6.53485291e-01 7.56899635e-01 -7.74060057e-03 -6.39866016e+01] [-1.14544087e-02 3.36642705e-04 9.99934339e-01 -2.21666891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:-64.03, Z:-2.22 [[ 7.51167794e-01 6.60057257e-01 8.44769773e-03 1.75017575e+02] [-6.60011884e-01 7.51215255e-01 -7.74294512e-03 -6.40259932e+01] [-1.14568265e-02 2.40670111e-04 9.99934339e-01 -2.21723239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:-64.07, Z:-2.22 [[ 7.48936231e-01 6.62588255e-01 8.44546721e-03 1.75064355e+02] [-6.62543016e-01 7.48983819e-01 -7.74537725e-03 -6.40670500e+01] [-1.14575143e-02 2.05308329e-04 9.99934339e-01 -2.21775465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:-64.11, Z:-2.22 [[ 7.48940774e-01 6.62583138e-01 8.44409073e-03 1.75111135e+02] [-6.62537881e-01 7.48988346e-01 -7.74687762e-03 -6.41072863e+01] [-1.14574760e-02 2.07422540e-04 9.99934339e-01 -2.21571514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:-64.15, Z:-2.22 [[ 7.50647853e-01 6.60648570e-01 8.44204480e-03 1.75153856e+02] [-6.60603166e-01 7.50695284e-01 -7.74910650e-03 -6.41505881e+01] [-1.14568393e-02 2.40008637e-04 9.99934339e-01 -2.22197064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.20, Y:-64.19, Z:-2.22 [[ 7.53801848e-01 6.57047591e-01 8.44018365e-03 1.75199301e+02] [-6.57001937e-01 7.53849039e-01 -7.75113309e-03 -6.41943076e+01] [-1.14554877e-02 2.97601435e-04 9.99934339e-01 -2.22319030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.25, Y:-64.24, Z:-2.22 [[ 7.55630792e-01 6.54943437e-01 8.43797863e-03 1.75245516e+02] [-6.54897625e-01 7.55677830e-01 -7.75353276e-03 -6.42376275e+01] [-1.14545188e-02 3.32795939e-04 9.99934339e-01 -2.22437219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:-64.28, Z:-2.23 [[ 7.61689949e-01 6.47886764e-01 8.43578780e-03 1.75288543e+02] [-6.47840490e-01 7.61736533e-01 -7.75591563e-03 -6.42841467e+01] [-1.14508028e-02 4.42558082e-04 9.99934339e-01 -2.22565226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:-64.33, Z:-2.23 [[ 7.65012502e-01 6.43960205e-01 8.43360753e-03 1.75332064e+02] [-6.43913667e-01 7.65058821e-01 -7.75828569e-03 -6.43292959e+01] [-1.14482331e-02 5.04670396e-04 9.99934339e-01 -2.22690920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:-64.37, Z:-2.23 [[ 7.66026426e-01 6.42753783e-01 8.43143747e-03 1.75377318e+02] [-6.42707145e-01 7.66072646e-01 -7.76064332e-03 -6.43726704e+01] [-1.14472765e-02 5.25912770e-04 9.99934339e-01 -2.22919033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.42, Y:-64.42, Z:-2.23 [[ 7.64100717e-01 6.45041891e-01 8.42927253e-03 1.75421968e+02] [-6.44995366e-01 7.64147050e-01 -7.76299408e-03 -6.44163867e+01] [-1.14486601e-02 4.94867630e-04 9.99934339e-01 -2.22963069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.957628 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:175.47, Y:-64.46, Z:-2.23 [[ 7.61664460e-01 6.47916843e-01 8.42706058e-03 1.75465560e+02] [-6.47870466e-01 7.61710941e-01 -7.76539450e-03 -6.44610841e+01] [-1.14503141e-02 4.54981344e-04 9.99934339e-01 -2.23143508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.017628 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:175.51, Y:-64.50, Z:-2.23 [[ 7.59096307e-01 6.50923817e-01 8.42501751e-03 1.75510570e+02] [-6.50877600e-01 7.59142947e-01 -7.76761049e-03 -6.45045884e+01] [-1.14519153e-02 4.12709265e-04 9.99934339e-01 -2.23022710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:-64.55, Z:-2.23 [[ 7.54056072e-01 6.56756040e-01 8.42286347e-03 1.75555154e+02] [-6.56710157e-01 7.54103041e-01 -7.76994553e-03 -6.45472178e+01] [-1.14546656e-02 3.27594613e-04 9.99934340e-01 -2.22715211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.60, Y:-64.59, Z:-2.23 [[ 7.51230332e-01 6.59986410e-01 8.42180270e-03 1.75599271e+02] [-6.59940717e-01 7.51277486e-01 -7.77109511e-03 -6.45904683e+01] [-1.14559279e-02 2.79991854e-04 9.99934340e-01 -2.22668969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:-64.63, Z:-2.22 [[ 7.48472019e-01 6.63112920e-01 8.41977174e-03 1.75643831e+02] [-6.63067399e-01 7.48519339e-01 -7.77329498e-03 -6.46339825e+01] [-1.14569343e-02 2.35217641e-04 9.99934340e-01 -2.22285456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:-64.68, Z:-2.23 [[ 7.42787747e-01 6.69474050e-01 8.41771737e-03 1.75687049e+02] [-6.69428910e-01 7.42835430e-01 -7.77551904e-03 -6.46779686e+01] [-1.14584869e-02 1.40496909e-04 9.99934340e-01 -2.22837578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.73, Y:-64.72, Z:-2.23 [[ 7.39271997e-01 6.73354359e-01 8.41553982e-03 1.75730666e+02] [-6.73309442e-01 7.39319890e-01 -7.77787510e-03 -6.47214725e+01] [-1.14590421e-02 8.37028332e-05 9.99934340e-01 -2.23081565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.77, Y:-64.77, Z:-2.23 [[ 7.35652244e-01 6.77307160e-01 8.41348521e-03 1.75773431e+02] [-6.77262475e-01 7.35700354e-01 -7.78009698e-03 -6.47684131e+01] [-1.14593194e-02 2.53079880e-05 9.99934340e-01 -2.23211982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:-64.82, Z:-2.23 [[ 7.34375323e-01 6.78691488e-01 8.41118180e-03 1.75812976e+02] [-6.78646865e-01 7.34423491e-01 -7.78258644e-03 -6.48163438e+01] [-1.14593447e-02 7.11727569e-06 9.99934340e-01 -2.23254531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.86, Y:-64.86, Z:-2.23 [[ 7.34563280e-01 6.78488080e-01 8.40905580e-03 1.75855391e+02] [-6.78443418e-01 7.34611411e-01 -7.78488290e-03 -6.48638104e+01] [-1.14593386e-02 1.34205648e-05 9.99934340e-01 -2.23348303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:-64.91, Z:-2.23 [[ 7.35360758e-01 6.77623701e-01 8.40683378e-03 1.75893732e+02] [-6.77578955e-01 7.35408811e-01 -7.78728170e-03 -6.49148150e+01] [-1.14593063e-02 3.01677282e-05 9.99934340e-01 -2.23447061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.93, Y:-64.96, Z:-2.24 [[ 7.35700906e-01 6.77254412e-01 8.40462204e-03 1.75934143e+02] [-6.77209614e-01 7.35748910e-01 -7.78966805e-03 -6.49625796e+01] [-1.14592786e-02 3.91749930e-05 9.99934340e-01 -2.23517455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.97, Y:-65.01, Z:-2.24 [[ 7.35383127e-01 6.77599478e-01 8.40257936e-03 1.75972756e+02] [-6.77554678e-01 7.35431129e-01 -7.79187083e-03 -6.50130222e+01] [-1.14592860e-02 3.68033857e-05 9.99934340e-01 -2.23501071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:-65.06, Z:-2.24 [[ 7.35502883e-01 6.77469515e-01 8.40037473e-03 1.76013657e+02] [-6.77424678e-01 7.35550851e-01 -7.79424690e-03 -6.50604113e+01] [-1.14592675e-02 4.20699097e-05 9.99934340e-01 -2.23603391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:-65.11, Z:-2.24 [[ 7.38166272e-01 6.74566545e-01 8.39833996e-03 1.76051576e+02] [-6.74521495e-01 7.38214040e-01 -7.79643876e-03 -6.51103004e+01] [-1.14589892e-02 9.02073154e-05 9.99934340e-01 -2.23762722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:-65.16, Z:-2.24 [[ 7.41799550e-01 6.70569107e-01 8.39639582e-03 1.76092160e+02] [-6.70523776e-01 7.41847052e-01 -7.79853195e-03 -6.51588380e+01] [-1.14582961e-02 1.54964463e-04 9.99934340e-01 -2.23926994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:-65.21, Z:-2.24 [[ 7.47945387e-01 6.63707192e-01 8.39420651e-03 1.76128844e+02] [-6.63661398e-01 7.47992443e-01 -7.80088777e-03 -6.52107778e+01] [-1.14563083e-02 2.63727188e-04 9.99934340e-01 -2.23797066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:-65.25, Z:-2.23 [[ 7.47513462e-01 6.64193642e-01 8.39218612e-03 1.76171759e+02] [-6.64147856e-01 7.47560525e-01 -7.80306070e-03 -6.52536929e+01] [-1.14564104e-02 2.59240506e-04 9.99934340e-01 -2.23490208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03762799999998 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:-65.30, Z:-2.24 [[ 7.45799586e-01 6.66117530e-01 8.39126209e-03 1.76217647e+02] [-6.66071853e-01 7.45846756e-01 -7.80405425e-03 -6.52963383e+01] [-1.14570130e-02 2.31076941e-04 9.99934340e-01 -2.23740881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:-65.34, Z:-2.24 [[ 7.43445902e-01 6.68743459e-01 8.38915248e-03 1.76263142e+02] [-6.68697923e-01 7.43493207e-01 -7.80632137e-03 -6.53373388e+01] [-1.14577042e-02 1.93768784e-04 9.99934340e-01 -2.24106915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.157628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:-65.38, Z:-2.24 [[ 7.43165708e-01 6.69054842e-01 8.38746535e-03 1.76310214e+02] [-6.69009306e-01 7.43213013e-01 -7.80813368e-03 -6.53789607e+01] [-1.14577430e-02 1.91444819e-04 9.99934340e-01 -2.24288607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.217628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:-65.42, Z:-2.24 [[ 7.45833657e-01 6.66079454e-01 8.38545489e-03 1.76357573e+02] [-6.66033705e-01 7.45880756e-01 -7.81029219e-03 -6.54209018e+01] [-1.14568246e-02 2.40183199e-04 9.99934340e-01 -2.24269755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.40, Y:-65.46, Z:-2.24 [[ 7.52279148e-01 6.58791169e-01 8.38327107e-03 1.76404044e+02] [-6.58744937e-01 7.52325774e-01 -7.81263553e-03 -6.54635632e+01] [-1.14538462e-02 3.54845425e-04 9.99934340e-01 -2.24067995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.45, Y:-65.51, Z:-2.24 [[ 7.57076700e-01 6.53272246e-01 8.38107702e-03 1.76451368e+02] [-6.53225649e-01 7.57122961e-01 -7.81498850e-03 -6.55051931e+01] [-1.14508209e-02 4.41811237e-04 9.99934340e-01 -2.24086022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.397628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:-65.55, Z:-2.24 [[ 7.58720137e-01 6.51362840e-01 8.37884225e-03 1.76498795e+02] [-6.51316100e-01 7.58766253e-01 -7.81738377e-03 -6.55465679e+01] [-1.14495360e-02 4.73931623e-04 9.99934340e-01 -2.24411772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.55, Y:-65.59, Z:-2.24 [[ 7.57569104e-01 6.52701222e-01 8.37657644e-03 1.76545641e+02] [-6.52654537e-01 7.57615276e-01 -7.81981091e-03 -6.55868236e+01] [-1.14502224e-02 4.57036535e-04 9.99934340e-01 -2.24361912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.59, Y:-65.63, Z:-2.24 [[ 7.53886199e-01 6.56951647e-01 8.37448679e-03 1.76594064e+02] [-6.56905198e-01 7.53932608e-01 -7.82204814e-03 -6.56274147e+01] [-1.14525061e-02 3.95690248e-04 9.99934340e-01 -2.24290509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:-65.67, Z:-2.24 [[ 7.52114454e-01 6.58979327e-01 8.37227418e-03 1.76639923e+02] [-6.58932977e-01 7.52160961e-01 -7.82441568e-03 -6.56687072e+01] [-1.14534260e-02 3.68088580e-04 9.99934340e-01 -2.24374041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.69, Y:-65.71, Z:-2.24 [[ 7.47920365e-01 6.63735691e-01 8.37022929e-03 1.76686862e+02] [-6.63689612e-01 7.47967141e-01 -7.82660261e-03 -6.57091864e+01] [-1.14554520e-02 2.98441253e-04 9.99934340e-01 -2.24152611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:-65.75, Z:-2.24 [[ 7.45992604e-01 6.65901649e-01 8.36835255e-03 1.76733844e+02] [-6.65855683e-01 7.46039491e-01 -7.82860874e-03 -6.57516915e+01] [-1.14562049e-02 2.67969122e-04 9.99934340e-01 -2.24470245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:-65.79, Z:-2.24 [[ 7.43086051e-01 6.69143580e-01 8.36606389e-03 1.76780143e+02] [-6.69097791e-01 7.43133111e-01 -7.83105375e-03 -6.57945637e+01] [-1.14571984e-02 2.21431937e-04 9.99934340e-01 -2.24284304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:-65.84, Z:-2.25 [[ 7.39781003e-01 6.72795745e-01 8.36380801e-03 1.76826355e+02] [-6.72750161e-01 7.39828262e-01 -7.83346237e-03 -6.58363035e+01] [-1.14581017e-02 1.68293456e-04 9.99934340e-01 -2.24511204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:-65.88, Z:-2.24 [[ 7.37140206e-01 6.75688093e-01 8.36172372e-03 1.76870942e+02] [-6.75642669e-01 7.37187619e-01 -7.83568658e-03 -6.58800745e+01] [-1.14586393e-02 1.26462285e-04 9.99934340e-01 -2.24465757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:-65.92, Z:-2.25 [[ 7.35883146e-01 6.77056951e-01 8.35952855e-03 1.76915395e+02] [-6.77011589e-01 7.35930618e-01 -7.83802781e-03 -6.59241086e+01] [-1.14588242e-02 1.08374854e-04 9.99934340e-01 -2.24553195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.96, Y:-65.97, Z:-2.25 [[ 7.36793385e-01 6.76066315e-01 8.35733697e-03 1.76960406e+02] [-6.76020863e-01 7.36840771e-01 -7.84036389e-03 -6.59675219e+01] [-1.14586325e-02 1.26994100e-04 9.99934340e-01 -2.25122189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.00, Y:-66.01, Z:-2.25 [[ 7.34030197e-01 6.79065434e-01 8.35504606e-03 1.77000709e+02] [-6.79020147e-01 7.34077741e-01 -7.84280443e-03 -6.60145716e+01] [-1.14590307e-02 8.36106789e-05 9.99934340e-01 -2.24811519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:-66.06, Z:-2.25 [[ 7.32866234e-01 6.80321475e-01 8.35306338e-03 1.77042931e+02] [-6.80276246e-01 7.32913833e-01 -7.84491553e-03 -6.60602796e+01] [-1.14591402e-02 6.68831067e-05 9.99934340e-01 -2.24992887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.09, Y:-66.11, Z:-2.25 [[ 7.32634333e-01 6.80571227e-01 8.35099795e-03 1.77085225e+02] [-6.80525990e-01 7.32681923e-01 -7.84711359e-03 -6.61053332e+01] [-1.14591450e-02 6.59936887e-05 9.99934340e-01 -2.25060403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:-66.15, Z:-2.25 [[ 7.33221321e-01 6.79938813e-01 8.34896874e-03 1.77127569e+02] [-6.79893510e-01 7.33268849e-01 -7.84927199e-03 -6.61518755e+01] [-1.14590634e-02 7.88439167e-05 9.99934340e-01 -2.25057812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.17, Y:-66.19, Z:-2.25 [[ 7.32937348e-01 6.80244937e-01 8.34685903e-03 1.77173746e+02] [-6.80199628e-01 7.32984870e-01 -7.85151479e-03 -6.61939730e+01] [-1.14590746e-02 7.71380252e-05 9.99934340e-01 -2.24962507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.22, Y:-66.24, Z:-2.25 [[ 7.34375324e-01 6.78692309e-01 8.34465943e-03 1.77220233e+02] [-6.78646873e-01 7.34422725e-01 -7.85385186e-03 -6.62359807e+01] [-1.14588564e-02 1.04597970e-04 9.99934340e-01 -2.25084629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.27, Y:-66.28, Z:-2.25 [[ 7.35760744e-01 6.77190174e-01 8.34242383e-03 1.77265950e+02] [-6.77144614e-01 7.35808026e-01 -7.85622581e-03 -6.62788556e+01] [-1.14585813e-02 1.31275180e-04 9.99934340e-01 -2.25153325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.31, Y:-66.32, Z:-2.26 [[ 7.40099391e-01 6.72445784e-01 8.34017923e-03 1.77313714e+02] [-6.72399895e-01 7.40146353e-01 -7.85860796e-03 -6.63203133e+01] [-1.14574410e-02 2.08215331e-04 9.99934340e-01 -2.25510636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:-66.36, Z:-2.26 [[ 7.44291244e-01 6.67803132e-01 8.33795928e-03 1.77360618e+02] [-6.67756923e-01 7.44337892e-01 -7.86096262e-03 -6.63626071e+01] [-1.14558345e-02 2.83115617e-04 9.99934340e-01 -2.25700882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.41, Y:-66.40, Z:-2.26 [[ 7.50360519e-01 6.60976252e-01 8.33576768e-03 1.77407350e+02] [-6.60929593e-01 7.50406717e-01 -7.86328590e-03 -6.64040278e+01] [-1.14526613e-02 3.90943750e-04 9.99934340e-01 -2.25776279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.45, Y:-66.45, Z:-2.26 [[ 7.52679486e-01 6.58334371e-01 8.33352468e-03 1.77454222e+02] [-6.58287524e-01 7.52725493e-01 -7.86566232e-03 -6.64457431e+01] [-1.14510923e-02 4.34467350e-04 9.99934340e-01 -2.25920309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.50, Y:-66.49, Z:-2.26 [[ 7.52272866e-01 6.58799002e-01 8.33125002e-03 1.77501169e+02] [-6.58752157e-01 7.52318875e-01 -7.86807088e-03 -6.64869375e+01] [-1.14512339e-02 4.30707320e-04 9.99934340e-01 -2.26108504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.55, Y:-66.53, Z:-2.26 [[ 7.49021579e-01 6.62493246e-01 8.32900926e-03 1.77548416e+02] [-6.62446602e-01 7.49067791e-01 -7.87044220e-03 -6.65270652e+01] [-1.14531074e-02 3.77607163e-04 9.99934340e-01 -2.26232913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:-66.57, Z:-2.27 [[ 7.40223682e-01 6.72309118e-01 8.32762929e-03 1.77597300e+02] [-6.72263071e-01 7.40270489e-01 -7.87190206e-03 -6.65675257e+01] [-1.14570497e-02 2.28610687e-04 9.99934340e-01 -2.26576913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:-66.61, Z:-2.27 [[ 7.34812295e-01 6.78219418e-01 8.32539242e-03 1.77643093e+02] [-6.78173720e-01 7.34859443e-01 -7.87426709e-03 -6.66105432e+01] [-1.14584741e-02 1.40045919e-04 9.99934340e-01 -2.26536821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:-66.65, Z:-2.27 [[ 7.29330858e-01 6.84110537e-01 8.32304332e-03 1.77687261e+02] [-6.84065192e-01 7.29378345e-01 -7.87674928e-03 -6.66544664e+01] [-1.14592147e-02 5.12520874e-05 9.99934340e-01 -2.26778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.73, Y:-66.70, Z:-2.27 [[ 7.27814936e-01 6.85723109e-01 8.32088010e-03 1.77732148e+02] [-6.85677842e-01 7.27862499e-01 -7.87903382e-03 -6.66982077e+01] [-1.14592921e-02 2.90353848e-05 9.99934340e-01 -2.26836229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:-66.74, Z:-2.27 [[ 7.27745440e-01 6.85796890e-01 8.31862703e-03 1.77775046e+02] [-6.85751601e-01 7.27792982e-01 -7.88141187e-03 -6.67441069e+01] [-1.14592861e-02 3.11497476e-05 9.99934340e-01 -2.26926769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:-66.79, Z:-2.27 [[ 7.29816948e-01 6.83592027e-01 8.31640772e-03 1.77816826e+02] [-6.83546568e-01 7.29864327e-01 -7.88375297e-03 -6.67910363e+01] [-1.14591200e-02 6.90445734e-05 9.99934340e-01 -2.27117561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:-66.84, Z:-2.27 [[ 7.30096772e-01 6.83293186e-01 8.31418612e-03 1.77861537e+02] [-6.83247680e-01 7.30144107e-01 -7.88609517e-03 -6.68350898e+01] [-1.14590691e-02 7.69642514e-05 9.99934340e-01 -2.27165982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:-66.88, Z:-2.27 [[ 7.30666934e-01 6.82683486e-01 8.31199282e-03 1.77908097e+02] [-6.82637915e-01 7.30714206e-01 -7.88840624e-03 -6.68778536e+01] [-1.14589759e-02 8.97161565e-05 9.99934340e-01 -2.27419379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:-66.92, Z:-2.28 [[ 7.32415148e-01 6.80807609e-01 8.30971646e-03 1.77953209e+02] [-6.80761890e-01 7.32462275e-01 -7.89080345e-03 -6.69197666e+01] [-1.14586729e-02 1.22405697e-04 9.99934340e-01 -2.27573841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:178.00, Y:-66.96, Z:-2.28 [[ 7.42476991e-01 6.69820052e-01 8.30761643e-03 1.77999958e+02] [-6.69773611e-01 7.42523407e-01 -7.89301380e-03 -6.69620098e+01] [-1.14554986e-02 2.96158883e-04 9.99934340e-01 -2.27903789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.05, Y:-67.00, Z:-2.28 [[ 7.45377459e-01 6.66590927e-01 8.30538676e-03 1.78046382e+02] [-6.66544259e-01 7.45423647e-01 -7.89535926e-03 -6.70044770e+01] [-1.14540065e-02 3.49114957e-04 9.99934340e-01 -2.27908266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.09, Y:-67.05, Z:-2.28 [[ 7.48714650e-01 6.62840426e-01 8.30315699e-03 1.78092524e+02] [-6.62793501e-01 7.48760577e-01 -7.89770350e-03 -6.70466134e+01] [-1.14519938e-02 4.09847829e-04 9.99934340e-01 -2.28052086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.14, Y:-67.09, Z:-2.28 [[ 7.57073545e-01 6.53276926e-01 8.30091693e-03 1.78139310e+02] [-6.53229395e-01 7.57118846e-01 -7.90005722e-03 -6.70887569e+01] [-1.14457057e-02 5.58521379e-04 9.99934340e-01 -2.28086552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.617628 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:-67.13, Z:-2.28 [[ 7.59435392e-01 6.50529797e-01 8.29870374e-03 1.78186434e+02] [-6.50482077e-01 7.59480493e-01 -7.90238141e-03 -6.71304775e+01] [-1.14434382e-02 6.03190077e-04 9.99934340e-01 -2.28159036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:-67.17, Z:-2.28 [[ 7.56645342e-01 6.53772892e-01 8.29647988e-03 1.78235634e+02] [-6.53725341e-01 7.56690620e-01 -7.90471549e-03 -6.71692346e+01] [-1.14457572e-02 5.57447019e-04 9.99934340e-01 -2.28078703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:-67.21, Z:-2.28 [[ 7.51146542e-01 6.60083376e-01 8.29511041e-03 1.78284004e+02] [-6.60036189e-01 7.51192200e-01 -7.90615233e-03 -6.72092096e+01] [-1.14499420e-02 4.63605917e-04 9.99934340e-01 -2.28075831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:-67.25, Z:-2.28 [[ 7.36492339e-01 6.76395049e-01 8.29290275e-03 1.78333863e+02] [-6.76348849e-01 7.36538995e-01 -7.90846731e-03 -6.72465949e+01] [-1.14572944e-02 2.15630356e-04 9.99934340e-01 -2.28173604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:-67.29, Z:-2.28 [[ 7.32680783e-01 6.80521955e-01 8.29085990e-03 1.78380547e+02] [-6.80475993e-01 7.32727674e-01 -7.91060836e-03 -6.72891361e+01] [-1.14582852e-02 1.54219600e-04 9.99934340e-01 -2.28228106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:-67.33, Z:-2.28 [[ 7.22723352e-01 6.91087733e-01 8.28864266e-03 1.78428141e+02] [-6.91042431e-01 7.22770880e-01 -7.91293087e-03 -6.73296347e+01] [-1.14593190e-02 -8.94385102e-06 9.99934340e-01 -2.28378586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.47, Y:-67.37, Z:-2.29 [[ 7.17887620e-01 6.96109691e-01 8.28635750e-03 1.78472414e+02] [-6.96064693e-01 7.17935437e-01 -7.91532315e-03 -6.73729782e+01] [-1.14590028e-02 -8.55283853e-05 9.99934340e-01 -2.28534219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.52, Y:-67.42, Z:-2.29 [[ 7.18073015e-01 6.95918470e-01 8.28424672e-03 1.78516011e+02] [-6.95873433e-01 7.18120796e-01 -7.91753170e-03 -6.74183419e+01] [-1.14590464e-02 -7.94213487e-05 9.99934340e-01 -2.28586851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.56, Y:-67.47, Z:-2.29 [[ 7.21193911e-01 6.92683731e-01 8.28201615e-03 1.78558062e+02] [-6.92638454e-01 7.21241463e-01 -7.91986426e-03 -6.74658918e+01] [-1.14592946e-02 -2.46849836e-05 9.99934340e-01 -2.28689594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:-67.51, Z:-2.29 [[ 7.24032700e-01 6.89715952e-01 8.27975450e-03 1.78600466e+02] [-6.89670453e-01 7.24080040e-01 -7.92222798e-03 -6.75118880e+01] [-1.14592920e-02 2.56500774e-05 9.99934340e-01 -2.28869609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:-67.56, Z:-2.29 [[ 7.28791655e-01 6.84685480e-01 8.27751905e-03 1.78640860e+02] [-6.84639627e-01 7.28838653e-01 -7.92456299e-03 -6.75602839e+01] [-1.14588091e-02 1.08237818e-04 9.99934340e-01 -2.28916717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:-67.61, Z:-2.29 [[ 7.32830589e-01 6.80360822e-01 8.27526278e-03 1.78682118e+02] [-6.80314665e-01 7.32877289e-01 -7.92691842e-03 -6.76068513e+01] [-1.14579169e-02 1.79305667e-04 9.99934340e-01 -2.28960160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:-67.65, Z:-2.29 [[ 7.38013210e-01 6.74735545e-01 8.27318232e-03 1.78724866e+02] [-6.74689009e-01 7.38059531e-01 -7.92908916e-03 -6.76537027e+01] [-1.14561394e-02 2.69947360e-04 9.99934340e-01 -2.29055551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:-67.70, Z:-2.29 [[ 7.38632729e-01 6.74057330e-01 8.27089249e-03 1.78770683e+02] [-6.74010725e-01 7.38678980e-01 -7.93147698e-03 -6.76970852e+01] [-1.14558046e-02 2.83778238e-04 9.99934340e-01 -2.29214457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:-67.74, Z:-2.29 [[ 7.42094614e-01 6.70244145e-01 8.26862077e-03 1.78814649e+02] [-6.70197275e-01 7.42140598e-01 -7.93384456e-03 -6.77391025e+01] [-1.14540920e-02 3.46056212e-04 9.99934340e-01 -2.29408557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:-67.78, Z:-2.30 [[ 7.45918627e-01 6.65985782e-01 8.26680628e-03 1.78861188e+02] [-6.65938629e-01 7.45964320e-01 -7.93573474e-03 -6.77820909e+01] [-1.14518290e-02 4.14226720e-04 9.99934340e-01 -2.29604711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.91, Y:-67.82, Z:-2.30 [[ 7.52452069e-01 6.58595157e-01 8.26457414e-03 1.78910139e+02] [-6.58547530e-01 7.52497268e-01 -7.93805870e-03 -6.78217616e+01] [-1.14470365e-02 5.30393810e-04 9.99934340e-01 -2.29690105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:-67.86, Z:-2.30 [[ 7.56025763e-01 6.54489709e-01 8.26231903e-03 1.78957982e+02] [-6.54441811e-01 7.56070675e-01 -7.94040523e-03 -6.78631235e+01] [-1.14438106e-02 5.95943892e-04 9.99934340e-01 -2.29612942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:-67.90, Z:-2.30 [[ 7.57674579e-01 6.52580266e-01 8.26004729e-03 1.79007086e+02] [-6.52532230e-01 7.57719342e-01 -7.94276772e-03 -6.79028937e+01] [-1.14420911e-02 6.28086113e-04 9.99934340e-01 -2.29578273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.06, Y:-67.94, Z:-2.30 [[ 7.54991047e-01 6.55683100e-01 8.25781262e-03 1.79056301e+02] [-6.55635222e-01 7.55035980e-01 -7.94509035e-03 -6.79430771e+01] [-1.14444071e-02 5.84359260e-04 9.99934340e-01 -2.29544764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-67.98, Z:-2.30 [[ 7.46738696e-01 6.65066287e-01 8.25558220e-03 1.79108485e+02] [-6.65018949e-01 7.46784197e-01 -7.94740726e-03 -6.79800355e+01] [-1.14506910e-02 4.44517941e-04 9.99934340e-01 -2.29520931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.877628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:179.16, Y:-68.01, Z:-2.30 [[ 7.44091607e-01 6.68026619e-01 8.25334322e-03 1.79161621e+02] [-6.67979436e-01 7.44137269e-01 -7.94973175e-03 -6.80147857e+01] [-1.14522527e-02 4.02265127e-04 9.99934340e-01 -2.30153998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:-68.06, Z:-2.30 [[ 7.33855853e-01 6.79255110e-01 8.25126915e-03 1.79205804e+02] [-6.79208602e-01 7.33902202e-01 -7.95188390e-03 -6.80575981e+01] [-1.14569824e-02 2.31203555e-04 9.99934340e-01 -2.29880811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:-68.10, Z:-2.30 [[ 7.31536927e-01 6.81751918e-01 8.24908332e-03 1.79252787e+02] [-6.81705543e-01 7.31583409e-01 -7.95415078e-03 -6.80993569e+01] [-1.14576500e-02 1.95309196e-04 9.99934340e-01 -2.29995332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:-68.14, Z:-2.30 [[ 7.34168963e-01 6.78916728e-01 8.24684490e-03 1.79299266e+02] [-6.78870147e-01 7.34215240e-01 -7.95647089e-03 -6.81411435e+01] [-1.14567404e-02 2.42857177e-04 9.99934340e-01 -2.30252966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:-68.18, Z:-2.31 [[ 7.44622693e-01 6.67434696e-01 8.24454400e-03 1.79345943e+02] [-6.67387376e-01 7.44668213e-01 -7.95885439e-03 -6.81833887e+01] [-1.14514654e-02 4.24039003e-04 9.99934340e-01 -2.30742934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:-68.23, Z:-2.30 [[ 7.46275978e-01 6.65585630e-01 8.24214577e-03 1.79386071e+02] [-6.65538170e-01 7.46321352e-01 -7.96133721e-03 -6.82312184e+01] [-1.14502410e-02 4.55892102e-04 9.99934340e-01 -2.30400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.43, Y:-68.28, Z:-2.30 [[ 7.49431422e-01 6.62030699e-01 8.23994957e-03 1.79430608e+02] [-6.61982999e-01 7.49476544e-01 -7.96360961e-03 -6.82758387e+01] [-1.14478030e-02 5.13472744e-04 9.99934340e-01 -2.30390523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.48, Y:-68.32, Z:-2.30 [[ 7.49591576e-01 6.61849386e-01 8.23767487e-03 1.79476374e+02] [-6.61801649e-01 7.49636659e-01 -7.96596190e-03 -6.83186015e+01] [-1.14475301e-02 5.19511123e-04 9.99934340e-01 -2.30474330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:-68.36, Z:-2.31 [[ 7.48510496e-01 6.63071803e-01 8.23538330e-03 1.79522017e+02] [-6.63024114e-01 7.48555629e-01 -7.96833027e-03 -6.83607033e+01] [-1.14482177e-02 5.04121129e-04 9.99934340e-01 -2.30615570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.57, Y:-68.40, Z:-2.31 [[ 7.45925337e-01 6.65978682e-01 8.23326838e-03 1.79569210e+02] [-6.65931145e-01 7.45970630e-01 -7.97051492e-03 -6.84025927e+01] [-1.14499694e-02 4.62619189e-04 9.99934340e-01 -2.30799051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.62, Y:-68.44, Z:-2.31 [[ 7.42564239e-01 6.69724272e-01 8.23105617e-03 1.79616752e+02] [-6.69676938e-01 7.42609745e-01 -7.97279879e-03 -6.84445511e+01] [-1.14520394e-02 4.08166767e-04 9.99934340e-01 -2.30963609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:-68.49, Z:-2.31 [[ 7.36581979e-01 6.76298214e-01 8.22879371e-03 1.79663223e+02] [-6.76251261e-01 7.36627877e-01 -7.97513321e-03 -6.84861805e+01] [-1.14551272e-02 3.09607287e-04 9.99934340e-01 -2.31137423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:-68.53, Z:-2.31 [[ 7.35317853e-01 6.77672470e-01 8.22670521e-03 1.79711059e+02] [-6.77625578e-01 7.35363814e-01 -7.97728700e-03 -6.85274328e+01] [-1.14556091e-02 2.91215684e-04 9.99934340e-01 -2.31371182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:-68.57, Z:-2.31 [[ 7.29750182e-01 6.83664416e-01 8.22425465e-03 1.79752217e+02] [-6.83617873e-01 7.29796496e-01 -7.97981263e-03 -6.85742808e+01] [-1.14575462e-02 2.01022241e-04 9.99934340e-01 -2.31376769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.79, Y:-68.62, Z:-2.31 [[ 7.24720591e-01 6.88993805e-01 8.22199739e-03 1.79794987e+02] [-6.88947577e-01 7.24767219e-01 -7.98213772e-03 -6.86196687e+01] [-1.14586776e-02 1.20294381e-04 9.99934340e-01 -2.31231960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.84, Y:-68.66, Z:-2.31 [[ 7.20367679e-01 6.93543682e-01 8.22000833e-03 1.79839135e+02] [-6.93497725e-01 7.20414574e-01 -7.98418553e-03 -6.86647880e+01] [-1.14591952e-02 5.09921191e-05 9.99934340e-01 -2.31175930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.88, Y:-68.71, Z:-2.31 [[ 7.17241882e-01 6.96775823e-01 8.21790869e-03 1.79884908e+02] [-6.96730053e-01 7.17288960e-01 -7.98634605e-03 -6.87074175e+01] [-1.14593080e-02 2.47792487e-06 9.99934340e-01 -2.31416236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:-68.76, Z:-2.31 [[ 7.12463424e-01 7.01661155e-01 8.21546705e-03 1.79924132e+02] [-7.01615678e-01 7.12510785e-01 -7.98885695e-03 -6.87563228e+01] [-1.14590795e-02 -7.23321035e-05 9.99934340e-01 -2.31065354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:-68.80, Z:-2.31 [[ 7.12574462e-01 7.01548407e-01 8.21397008e-03 1.79965119e+02] [-7.01502905e-01 7.12621799e-01 -7.99039580e-03 -6.88041201e+01] [-1.14591036e-02 -6.83718783e-05 9.99934340e-01 -2.31088059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:-68.85, Z:-2.31 [[ 7.14392860e-01 6.99696656e-01 8.21167064e-03 1.80005564e+02] [-6.99651004e-01 7.14440052e-01 -7.99275822e-03 -6.88518307e+01] [-1.14592526e-02 -3.53342058e-05 9.99934340e-01 -2.31252011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:-68.90, Z:-2.31 [[ 7.19840051e-01 6.94091424e-01 8.20954924e-03 1.80042777e+02] [-6.94045379e-01 7.19886861e-01 -7.99493657e-03 -6.89030725e+01] [-1.14591635e-02 5.72758386e-05 9.99934340e-01 -2.31470240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-68.95, Z:-2.32 [[ 7.24203013e-01 6.89537985e-01 8.20756776e-03 1.80082029e+02] [-6.89491623e-01 7.24249508e-01 -7.99697023e-03 -6.89511894e+01] [-1.14585417e-02 1.32380714e-04 9.99934340e-01 -2.31665462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:180.12, Y:-69.00, Z:-2.32 [[ 7.31423488e-01 6.81874144e-01 8.20559467e-03 1.80119814e+02] [-6.81827273e-01 7.31469470e-01 -7.99899428e-03 -6.90013737e+01] [-1.14564494e-02 2.55854060e-04 9.99934340e-01 -2.31982268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.16, Y:-69.04, Z:-2.32 [[ 7.32036128e-01 6.81216418e-01 8.20362595e-03 1.80163990e+02] [-6.81169482e-01 7.32082045e-01 -8.00101286e-03 -6.90446973e+01] [-1.14561486e-02 2.68970832e-04 9.99934340e-01 -2.31659895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:-69.09, Z:-2.32 [[ 7.32698914e-01 6.80503515e-01 8.20166550e-03 1.80208791e+02] [-6.80456512e-01 7.32744762e-01 -8.00302197e-03 -6.90894184e+01] [-1.14558120e-02 2.82928806e-04 9.99934340e-01 -2.31602694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.25, Y:-69.13, Z:-2.32 [[ 7.34428150e-01 6.78636916e-01 8.19939503e-03 1.80252585e+02] [-6.78589771e-01 7.34473851e-01 -8.00534747e-03 -6.91318639e+01] [-1.14549656e-02 3.15326939e-04 9.99934340e-01 -2.31737556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.437628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:-69.17, Z:-2.32 [[ 7.36513876e-01 6.76372759e-01 8.19758201e-03 1.80299831e+02] [-6.76325454e-01 7.36559411e-01 -8.00720360e-03 -6.91717782e+01] [-1.14538606e-02 3.53183193e-04 9.99934340e-01 -2.32425361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.497628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:-69.21, Z:-2.32 [[ 7.37553596e-01 6.75238865e-01 8.19566532e-03 1.80345863e+02] [-6.75191467e-01 7.37599035e-01 -8.00916492e-03 -6.92145482e+01] [-1.14532143e-02 3.73545097e-04 9.99934340e-01 -2.32433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.39, Y:-69.26, Z:-2.32 [[ 7.37871334e-01 6.74891667e-01 8.19345939e-03 1.80391896e+02] [-6.74844223e-01 7.37916724e-01 -8.01142097e-03 -6.92570929e+01] [-1.14529320e-02 3.82089139e-04 9.99934340e-01 -2.32144304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.44, Y:-69.30, Z:-2.32 [[ 7.36555988e-01 6.76326978e-01 8.19120955e-03 1.80437386e+02] [-6.76279597e-01 7.36601444e-01 -8.01372065e-03 -6.93008865e+01] [-1.14535522e-02 3.63006030e-04 9.99934340e-01 -2.32117152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.48, Y:-69.34, Z:-2.32 [[ 7.33019223e-01 6.80158628e-01 8.18897241e-03 1.80484310e+02] [-6.80111459e-01 7.33064900e-01 -8.01600606e-03 -6.93427318e+01] [-1.14552039e-02 3.06472561e-04 9.99934340e-01 -2.32388330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.53, Y:-69.39, Z:-2.33 [[ 7.30421681e-01 6.82947396e-01 8.18669631e-03 1.80530135e+02] [-6.82900376e-01 7.30467510e-01 -8.01832995e-03 -6.93856666e+01] [-1.14562132e-02 2.66064058e-04 9.99934340e-01 -2.32747605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-69.43, Z:-2.33 [[ 7.29547506e-01 6.83881168e-01 8.18444286e-03 1.80573333e+02] [-6.83834180e-01 7.29593369e-01 -8.02062942e-03 -6.94295183e+01] [-1.14564727e-02 2.54628416e-04 9.99934340e-01 -2.32982752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:-69.48, Z:-2.33 [[ 7.27016185e-01 6.86571567e-01 8.18236058e-03 1.80616519e+02] [-6.86524725e-01 7.27062196e-01 -8.02275313e-03 -6.94752387e+01] [-1.14572792e-02 2.15278526e-04 9.99934340e-01 -2.32751362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:-69.52, Z:-2.34 [[ 7.24192252e-01 6.89549613e-01 8.18010397e-03 1.80664358e+02] [-6.89502934e-01 7.24238429e-01 -8.02505334e-03 -6.95152437e+01] [-1.14580181e-02 1.71475751e-04 9.99934340e-01 -2.33563185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.70, Y:-69.56, Z:-2.33 [[ 7.15426106e-01 6.98640542e-01 8.17801473e-03 1.80704378e+02] [-6.98594427e-01 7.15472845e-01 -8.02718184e-03 -6.95615915e+01] [-1.14592621e-02 2.97399370e-05 9.99934340e-01 -2.33116077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:-69.61, Z:-2.33 [[ 7.12392152e-01 7.01733976e-01 8.17610177e-03 1.80747842e+02] [-7.01688041e-01 7.12439069e-01 -8.02912981e-03 -6.96070171e+01] [-1.14592875e-02 -1.71837708e-05 9.99934340e-01 -2.33280997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.79, Y:-69.65, Z:-2.33 [[ 7.10192112e-01 7.03960477e-01 8.17380696e-03 1.80788842e+02] [-7.03914662e-01 7.10239146e-01 -8.03146530e-03 -6.96549800e+01] [-1.14591918e-02 -4.97792560e-05 9.99934340e-01 -2.33314101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:-69.70, Z:-2.33 [[ 7.08182355e-01 7.05982279e-01 8.17152842e-03 1.80832501e+02] [-7.05936571e-01 7.08229494e-01 -8.03378290e-03 -6.97000064e+01] [-1.14590258e-02 -7.91974617e-05 9.99934340e-01 -2.33379584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:-69.74, Z:-2.34 [[ 7.05200921e-01 7.08960453e-01 8.16926319e-03 1.80877228e+02] [-7.08914918e-01 7.05248226e-01 -8.03608567e-03 -6.97428848e+01] [-1.14586253e-02 -1.24257531e-04 9.99934340e-01 -2.33544078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:-69.79, Z:-2.34 [[ 7.04671073e-01 7.09487120e-01 8.16726747e-03 1.80921458e+02] [-7.09441597e-01 7.04718390e-01 -8.03811346e-03 -6.97857296e+01] [-1.14585616e-02 -1.29973236e-04 9.99934340e-01 -2.33727251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.97, Y:-69.83, Z:-2.34 [[ 7.05189665e-01 7.08971695e-01 8.16529398e-03 1.80966511e+02] [-7.08926114e-01 7.05236926e-01 -8.04011767e-03 -6.98282506e+01] [-1.14586827e-02 -1.18782237e-04 9.99934340e-01 -2.33913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:-69.87, Z:-2.34 [[ 7.06876534e-01 7.07289847e-01 8.16321345e-03 1.81010652e+02] [-7.07244129e-01 7.06923662e-01 -8.04222950e-03 -6.98717841e+01] [-1.14589560e-02 -8.85214736e-05 9.99934340e-01 -2.33722396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.457628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:181.05, Y:-69.92, Z:-2.34 [[ 7.11754356e-01 7.02381045e-01 8.16121077e-03 1.81054311e+02] [-7.02334978e-01 7.11801144e-01 -8.04426130e-03 -6.99165138e+01] [-1.14592958e-02 -6.36577798e-06 9.99934340e-01 -2.33812429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:-69.96, Z:-2.33 [[ 7.15006170e-01 6.99070529e-01 8.15923578e-03 1.81096792e+02] [-6.99024223e-01 7.15052721e-01 -8.04626402e-03 -6.99623881e+01] [-1.14591898e-02 4.96249679e-05 9.99934340e-01 -2.33422944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:-70.01, Z:-2.33 [[ 7.17108518e-01 6.96913793e-01 8.15711316e-03 1.81141676e+02] [-6.96867322e-01 7.17154905e-01 -8.04841530e-03 -7.00057903e+01] [-1.14589654e-02 8.71615664e-05 9.99934340e-01 -2.33369804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.19, Y:-70.05, Z:-2.34 [[ 7.19496327e-01 6.94448367e-01 8.15485071e-03 1.81187180e+02] [-6.94401712e-01 7.19542527e-01 -8.05070702e-03 -7.00489348e+01] [-1.14585622e-02 1.29711834e-04 9.99934340e-01 -2.33516732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:-70.09, Z:-2.34 [[ 7.21425999e-01 6.92443545e-01 8.15262349e-03 1.81232617e+02] [-6.92396736e-01 7.21472044e-01 -8.05296181e-03 -7.00930774e+01] [-1.14581114e-02 1.64766122e-04 9.99934340e-01 -2.33897990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:181.28, Y:-70.14, Z:-2.34 [[ 7.23219698e-01 6.90569939e-01 8.15034252e-03 1.81278750e+02] [-6.90522984e-01 7.23265595e-01 -8.05526970e-03 -7.01359876e+01] [-1.14575894e-02 1.97730884e-04 9.99934340e-01 -2.34028771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81762799999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:-70.18, Z:-2.34 [[ 7.23764786e-01 6.89998655e-01 8.14805216e-03 1.81325342e+02] [-6.89951639e-01 7.23810619e-01 -8.05758577e-03 -7.01780955e+01] [-1.14573700e-02 2.10034895e-04 9.99934340e-01 -2.34315388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.37, Y:-70.22, Z:-2.34 [[ 7.23057681e-01 6.90739629e-01 8.14579017e-03 1.81370416e+02] [-6.90692634e-01 7.23103536e-01 -8.05987187e-03 -7.02224701e+01] [-1.14575226e-02 2.01514998e-04 9.99934340e-01 -2.33901677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.42, Y:-70.26, Z:-2.34 [[ 7.21930477e-01 6.91917675e-01 8.14355909e-03 1.81416321e+02] [-6.91870729e-01 7.21976382e-01 -8.06212549e-03 -7.02648382e+01] [-1.14577845e-02 1.86003934e-04 9.99934340e-01 -2.33827439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.46, Y:-70.31, Z:-2.34 [[ 7.19677319e-01 6.94260955e-01 8.14144034e-03 1.81462191e+02] [-6.94214134e-01 7.19723352e-01 -8.06426452e-03 -7.03080436e+01] [-1.14582887e-02 1.51765316e-04 9.99934340e-01 -2.33948066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:-70.35, Z:-2.34 [[ 7.17759570e-01 6.96243458e-01 8.13918964e-03 1.81507174e+02] [-6.96196739e-01 7.17805706e-01 -8.06653549e-03 -7.03517939e+01] [-1.14586293e-02 1.23355760e-04 9.99934340e-01 -2.34028459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.55, Y:-70.40, Z:-2.34 [[ 7.15674782e-01 6.98386281e-01 8.13692210e-03 1.81551813e+02] [-6.98339673e-01 7.15721031e-01 -8.06882216e-03 -7.03963577e+01] [-1.14589210e-02 9.23170191e-05 9.99934340e-01 -2.34139470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.60, Y:-70.44, Z:-2.34 [[ 7.12227120e-01 7.01901957e-01 8.13467369e-03 1.81596533e+02] [-7.01855552e-01 7.12273572e-01 -8.07108830e-03 -7.04406597e+01] [-1.14592258e-02 3.90820789e-05 9.99934340e-01 -2.34310845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:-70.48, Z:-2.34 [[ 7.10111570e-01 7.04042203e-01 8.13237087e-03 1.81639621e+02] [-7.03995911e-01 7.10158135e-01 -8.07340793e-03 -7.04848782e+01] [-1.14592892e-02 7.86453804e-06 9.99934340e-01 -2.34385638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.68, Y:-70.53, Z:-2.34 [[ 7.10170444e-01 7.03982841e-01 8.13024581e-03 1.81682596e+02] [-7.03936521e-01 7.10216981e-01 -8.07554739e-03 -7.05303279e+01] [-1.14592854e-02 1.18381202e-05 9.99934340e-01 -2.34408617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:-70.58, Z:-2.35 [[ 7.11526211e-01 7.02612544e-01 8.12797878e-03 1.81724796e+02] [-7.02566109e-01 7.11572632e-01 -8.07782849e-03 -7.05773867e+01] [-1.14592309e-02 3.71442727e-05 9.99934340e-01 -2.34554885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:-70.62, Z:-2.35 [[ 7.12486130e-01 7.01639144e-01 8.12570669e-03 1.81766678e+02] [-7.01592619e-01 7.12532462e-01 -8.08011340e-03 -7.06239163e+01] [-1.14591536e-02 5.60328876e-05 9.99934340e-01 -2.34636410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:-70.67, Z:-2.35 [[ 7.11251752e-01 7.02890429e-01 8.12342169e-03 1.81810743e+02] [-7.02843959e-01 7.11298140e-01 -8.08241000e-03 -7.06681529e+01] [-1.14592234e-02 3.91304150e-05 9.99934340e-01 -2.34769419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.85, Y:-70.71, Z:-2.35 [[ 7.10029328e-01 7.04125273e-01 8.12115632e-03 1.81854431e+02] [-7.04078858e-01 7.10075770e-01 -8.08468558e-03 -7.07114694e+01] [-1.14592678e-02 2.24294022e-05 9.99934340e-01 -2.34897868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.90, Y:-70.75, Z:-2.35 [[ 7.09681935e-01 7.04475422e-01 8.11975197e-03 1.81900030e+02] [-7.04429014e-01 7.09728384e-01 -8.08609578e-03 -7.07541175e+01] [-1.14592742e-02 1.87672272e-05 9.99934340e-01 -2.35068114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:-70.80, Z:-2.35 [[ 7.12683697e-01 7.01438560e-01 8.11751713e-03 1.81944262e+02] [-7.01391929e-01 7.12729921e-01 -8.08833868e-03 -7.07968135e+01] [-1.14590700e-02 7.08661178e-05 9.99934340e-01 -2.35252700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:-70.84, Z:-2.35 [[ 7.16675699e-01 6.97359352e-01 8.11643493e-03 1.81988176e+02] [-6.97312445e-01 7.16721644e-01 -8.08942450e-03 -7.08417102e+01] [-1.14584604e-02 1.37802868e-04 9.99934340e-01 -2.35315915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.777628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:-70.89, Z:-2.35 [[ 7.23430392e-01 6.90349642e-01 8.11414925e-03 1.82031925e+02] [-6.90302264e-01 7.23475852e-01 -8.09171651e-03 -7.08872842e+01] [-1.14565046e-02 2.52578053e-04 9.99934340e-01 -2.35444919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.837628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:-70.93, Z:-2.35 [[ 7.26331092e-01 6.87297128e-01 8.11186405e-03 1.82076429e+02] [-6.87249534e-01 7.26376325e-01 -8.09400675e-03 -7.09324127e+01] [-1.14552536e-02 3.04053971e-04 9.99934340e-01 -2.35463498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.897628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:-70.98, Z:-2.36 [[ 7.29197609e-01 6.84255129e-01 8.10953481e-03 1.82121641e+02] [-6.84207320e-01 7.29242615e-01 -8.09633979e-03 -7.09752741e+01] [-1.14537804e-02 3.55228536e-04 9.99934340e-01 -2.35661562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.957628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:-71.02, Z:-2.36 [[ 7.29951699e-01 6.83450647e-01 8.10738745e-03 1.82165786e+02] [-6.83402765e-01 7.29996627e-01 -8.09848951e-03 -7.10191506e+01] [-1.14532834e-02 3.70895178e-04 9.99934340e-01 -2.35690710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.21, Y:-71.06, Z:-2.35 [[ 7.27435182e-01 6.86128530e-01 8.10529279e-03 1.82212273e+02] [-6.86080790e-01 7.27480261e-01 -8.10058539e-03 -7.10620213e+01] [-1.14544833e-02 3.31765125e-04 9.99934340e-01 -2.35426864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.26, Y:-71.11, Z:-2.35 [[ 7.23373187e-01 6.90409714e-01 8.10302041e-03 1.82257949e+02] [-6.90362216e-01 7.23418520e-01 -8.10285781e-03 -7.11054787e+01] [-1.14561668e-02 2.67370960e-04 9.99934340e-01 -2.35469102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:-71.15, Z:-2.36 [[ 7.15408990e-01 6.98658969e-01 8.10073150e-03 1.82304901e+02] [-6.98611967e-01 7.15454839e-01 -8.10514548e-03 -7.11477438e+01] [-1.14584401e-02 1.39225975e-04 9.99934340e-01 -2.35556505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.35, Y:-71.19, Z:-2.36 [[ 7.12584770e-01 7.01539280e-01 8.09846830e-03 1.82350477e+02] [-7.01492438e-01 7.12630781e-01 -8.10740618e-03 -7.11917582e+01] [-1.14588817e-02 9.61998969e-05 9.99934340e-01 -2.35708063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.40, Y:-71.24, Z:-2.36 [[ 7.07791470e-01 7.06375032e-01 8.09618427e-03 1.82395251e+02] [-7.06328479e-01 7.07837773e-01 -8.10968641e-03 -7.12354909e+01] [-1.14592650e-02 2.14013478e-05 9.99934340e-01 -2.35945869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31762799999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:-71.28, Z:-2.36 [[ 7.03460656e-01 7.10688114e-01 8.09387903e-03 1.82438702e+02] [-7.10641817e-01 7.03507216e-01 -8.11198651e-03 -7.12807555e+01] [-1.14591947e-02 -4.53855538e-05 9.99934340e-01 -2.36101460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.377628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:-71.33, Z:-2.36 [[ 7.02490519e-01 7.11647101e-01 8.09160649e-03 1.82482234e+02] [-7.11600842e-01 7.02537117e-01 -8.11425270e-03 -7.13259149e+01] [-1.14591383e-02 -5.78084057e-05 9.99934340e-01 -2.36311240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:-71.37, Z:-2.36 [[ 7.02944836e-01 7.11198370e-01 8.08928361e-03 1.82523505e+02] [-7.11152054e-01 7.02991378e-01 -8.11656777e-03 -7.13717129e+01] [-1.14591864e-02 -4.72112578e-05 9.99934340e-01 -2.36388629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:-71.42, Z:-2.36 [[ 7.04482152e-01 7.09675627e-01 8.08714095e-03 1.82565264e+02] [-7.09629187e-01 7.04528569e-01 -8.11870210e-03 -7.14182285e+01] [-1.14592668e-02 -1.93905273e-05 9.99934340e-01 -2.36370837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:-71.47, Z:-2.36 [[ 7.08810449e-01 7.05352665e-01 8.08482255e-03 1.82604946e+02] [-7.05305916e-01 7.08856554e-01 -8.12101017e-03 -7.14656914e+01] [-1.14591556e-02 5.39836938e-05 9.99934340e-01 -2.36311124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:-71.51, Z:-2.36 [[ 7.09837208e-01 7.04319394e-01 8.08268310e-03 1.82648146e+02] [-7.04272553e-01 7.09883220e-01 -8.12313896e-03 -7.15117212e+01] [-1.14590454e-02 7.36944193e-05 9.99934340e-01 -2.36220640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:-71.55, Z:-2.37 [[ 7.11329077e-01 7.02812671e-01 8.08038226e-03 1.82696161e+02] [-7.02765707e-01 7.11374964e-01 -8.12542705e-03 -7.15521911e+01] [-1.14588347e-02 1.01236972e-04 9.99934340e-01 -2.36663412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.74, Y:-71.60, Z:-2.37 [[ 7.08504122e-01 7.05660439e-01 8.07796018e-03 1.82737231e+02] [-7.05613632e-01 7.08550169e-01 -8.12783427e-03 -7.15969340e+01] [-1.14591311e-02 5.86852684e-05 9.99934340e-01 -2.36959732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.78, Y:-71.64, Z:-2.37 [[ 7.08557201e-01 7.05607164e-01 8.07603529e-03 1.82781262e+02] [-7.05560332e-01 7.08603222e-01 -8.12974644e-03 -7.16400617e+01] [-1.14591120e-02 6.22602497e-05 9.99934340e-01 -2.37178829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:-71.68, Z:-2.37 [[ 7.09321173e-01 7.04839190e-01 8.07403215e-03 1.82825986e+02] [-7.04792284e-01 7.09367120e-01 -8.13173536e-03 -7.16828354e+01] [-1.14590187e-02 7.74965046e-05 9.99934340e-01 -2.37311710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:-71.73, Z:-2.37 [[ 7.10275897e-01 7.03877115e-01 8.07203969e-03 1.82870816e+02] [-7.03830125e-01 7.10321757e-01 -8.13371272e-03 -7.17269976e+01] [-1.14588797e-02 9.58353985e-05 9.99934340e-01 -2.37256895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.91, Y:-71.77, Z:-2.37 [[ 7.12118621e-01 7.02012785e-01 8.06973075e-03 1.82914334e+02] [-7.01965649e-01 7.12164330e-01 -8.13600285e-03 -7.17707167e+01] [-1.14585524e-02 1.29125342e-04 9.99934340e-01 -2.37071129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.96, Y:-71.82, Z:-2.37 [[ 7.13669451e-01 7.00436169e-01 8.06774124e-03 1.82957743e+02] [-7.00388909e-01 7.13715033e-01 -8.13797519e-03 -7.18154971e+01] [-1.14582004e-02 1.57267797e-04 9.99934340e-01 -2.36838473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.00, Y:-71.86, Z:-2.37 [[ 7.15768200e-01 6.98291363e-01 8.06575742e-03 1.83001784e+02] [-6.98243945e-01 7.15813618e-01 -8.13994093e-03 -7.18579760e+01] [-1.14576294e-02 1.94444594e-04 9.99934340e-01 -2.36576265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:-71.90, Z:-2.37 [[ 7.16259303e-01 6.97787635e-01 8.06394291e-03 1.83046420e+02] [-6.97740165e-01 7.16304665e-01 -8.14173811e-03 -7.19017452e+01] [-1.14574441e-02 2.05058801e-04 9.99934340e-01 -2.36583120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:-71.94, Z:-2.37 [[ 7.18382665e-01 6.95601435e-01 8.06165955e-03 1.83092525e+02] [-6.95553801e-01 7.18427857e-01 -8.14399838e-03 -7.19422606e+01] [-1.14566977e-02 2.43189319e-04 9.99934340e-01 -2.36924203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.13, Y:-71.99, Z:-2.37 [[ 7.16298833e-01 6.97747104e-01 8.05983254e-03 1.83134820e+02] [-6.97699586e-01 7.16344145e-01 -8.14580611e-03 -7.19883763e+01] [-1.14573265e-02 2.11489585e-04 9.99934340e-01 -2.37192672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:-72.03, Z:-2.38 [[ 7.16804411e-01 6.97227734e-01 8.05749248e-03 1.83178150e+02] [-6.97180157e-01 7.16849661e-01 -8.14812014e-03 -7.20315333e+01] [-1.14571061e-02 2.23084587e-04 9.99934340e-01 -2.37629356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.22, Y:-72.08, Z:-2.38 [[ 7.15586779e-01 6.98477394e-01 8.05560738e-03 1.83222151e+02] [-6.98429874e-01 7.15632090e-01 -8.14998341e-03 -7.20763962e+01] [-1.14574303e-02 2.05743521e-04 9.99934340e-01 -2.37551907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:-72.12, Z:-2.38 [[ 7.11200426e-01 7.02943169e-01 8.05329383e-03 1.83267274e+02] [-7.02895908e-01 7.11246007e-01 -8.15226887e-03 -7.21200100e+01] [-1.14584548e-02 1.37269809e-04 9.99934340e-01 -2.37523445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.517628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:-72.16, Z:-2.38 [[ 7.05124637e-01 7.09037678e-01 8.05098047e-03 1.83311881e+02] [-7.08990785e-01 7.05170596e-01 -8.15455285e-03 -7.21639697e+01] [-1.14591999e-02 4.19051523e-05 9.99934340e-01 -2.37713875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.35, Y:-72.21, Z:-2.37 [[ 7.02137289e-01 7.11996101e-01 8.04864983e-03 1.83354089e+02] [-7.11949375e-01 7.02183418e-01 -8.15685257e-03 -7.22092893e+01] [-1.14592757e-02 -3.00086725e-06 9.99934340e-01 -2.37488809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:-72.26, Z:-2.37 [[ 6.99847539e-01 7.14246929e-01 8.04649516e-03 1.83397088e+02] [-7.14200328e-01 6.99893794e-01 -8.15897754e-03 -7.22552018e+01] [-1.14592167e-02 -3.67691316e-05 9.99934340e-01 -2.37363894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.44, Y:-72.30, Z:-2.37 [[ 6.98646211e-01 7.15422088e-01 8.04417476e-03 1.83441328e+02] [-7.15375538e-01 6.98692517e-01 -8.16126465e-03 -7.23002937e+01] [-1.14591537e-02 -5.27692274e-05 9.99934340e-01 -2.37438050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.48, Y:-72.34, Z:-2.38 [[ 6.97002788e-01 7.17023320e-01 8.04187613e-03 1.83484979e+02] [-7.16976850e-01 6.97049175e-01 -8.16352902e-03 -7.23449329e+01] [-1.14590238e-02 -7.58365275e-05 9.99934340e-01 -2.37645161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.53, Y:-72.39, Z:-2.38 [[ 6.96192366e-01 7.17810246e-01 8.03989269e-03 1.83527749e+02] [-7.17763806e-01 6.96238783e-01 -8.16548196e-03 -7.23900243e+01] [-1.14589517e-02 -8.59977642e-05 9.99934340e-01 -2.37852148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:-72.44, Z:-2.38 [[ 6.96213999e-01 7.17789286e-01 8.03792528e-03 1.83570341e+02] [-7.17742823e-01 6.96260392e-01 -8.16741817e-03 -7.24364132e+01] [-1.14589743e-02 -8.28923105e-05 9.99934340e-01 -2.37885139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:-72.48, Z:-2.38 [[ 6.96436944e-01 7.17573001e-01 8.03564774e-03 1.83612036e+02] [-7.17526497e-01 6.96483297e-01 -8.16965836e-03 -7.24840661e+01] [-1.14590207e-02 -7.61382712e-05 9.99934340e-01 -2.37838755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.66, Y:-72.53, Z:-2.38 [[ 6.95217674e-01 7.18754374e-01 8.03340326e-03 1.83655508e+02] [-7.18707923e-01 6.95264081e-01 -8.17186480e-03 -7.25294808e+01] [-1.14589003e-02 -9.24457323e-05 9.99934340e-01 -2.37909140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.70, Y:-72.57, Z:-2.38 [[ 6.92073040e-01 7.21782798e-01 8.03116779e-03 1.83698600e+02] [-7.21736525e-01 6.92119623e-01 -8.17406120e-03 -7.25741335e+01] [-1.14584256e-02 -1.39339745e-04 9.99934340e-01 -2.37991665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:-72.62, Z:-2.38 [[ 6.91095147e-01 7.22719192e-01 8.02910141e-03 1.83741994e+02] [-7.22672959e-01 6.91141770e-01 -8.17609043e-03 -7.26184421e+01] [-1.14582648e-02 -1.51958057e-04 9.99934340e-01 -2.38231186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.78, Y:-72.66, Z:-2.38 [[ 6.89586806e-01 7.24158550e-01 8.02692010e-03 1.83784879e+02] [-7.24112389e-01 6.89633500e-01 -8.17823138e-03 -7.26638449e+01] [-1.14579692e-02 -1.72791835e-04 9.99934340e-01 -2.38108901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.83, Y:-72.71, Z:-2.38 [[ 6.89508403e-01 7.24233228e-01 8.02458413e-03 1.83827917e+02] [-7.24187046e-01 6.89555076e-01 -8.18052282e-03 -7.27087739e+01] [-1.14579992e-02 -1.70760644e-04 9.99934340e-01 -2.37959581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:-72.75, Z:-2.38 [[ 6.89678965e-01 7.24070827e-01 8.02256215e-03 1.83873365e+02] [-7.24024611e-01 6.89725605e-01 -8.18250528e-03 -7.27508025e+01] [-1.14580799e-02 -1.65230661e-04 9.99934340e-01 -2.37941338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:-72.79, Z:-2.38 [[ 6.89685260e-01 7.24064855e-01 8.02048504e-03 1.83917260e+02] [-7.24018614e-01 6.89731875e-01 -8.18454075e-03 -7.27941676e+01] [-1.14581225e-02 -1.62223359e-04 9.99934340e-01 -2.38094525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.96, Y:-72.84, Z:-2.38 [[ 6.90866095e-01 7.22938273e-01 8.01828902e-03 1.83960824e+02] [-7.22891931e-01 6.90912610e-01 -8.18669160e-03 -7.28389854e+01] [-1.14584097e-02 -1.40448778e-04 9.99934340e-01 -2.38319895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:-72.88, Z:-2.38 [[ 6.92618847e-01 7.21259227e-01 8.01624669e-03 1.84003847e+02] [-7.21212749e-01 6.92665226e-01 -8.18869092e-03 -7.28844491e+01] [-1.14587442e-02 -1.09777651e-04 9.99934340e-01 -2.38492623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:-72.93, Z:-2.39 [[ 6.97423319e-01 7.16614587e-01 8.01552326e-03 1.84046889e+02] [-7.16567792e-01 6.97469378e-01 -8.18939899e-03 -7.29296949e+01] [-1.14592248e-02 -3.21879864e-05 9.99934340e-01 -2.38900858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:-72.97, Z:-2.39 [[ 7.01621456e-01 7.12504819e-01 8.01348673e-03 1.84089264e+02] [-7.12457732e-01 7.01667216e-01 -8.19139129e-03 -7.29747758e+01] [-1.14592067e-02 3.79853103e-05 9.99934340e-01 -2.38773886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.13, Y:-73.02, Z:-2.39 [[ 7.08269468e-01 7.05896720e-01 8.01133639e-03 1.84130427e+02] [-7.05849182e-01 7.08314760e-01 -8.19349382e-03 -7.30197670e+01] [-1.14583082e-02 1.48406275e-04 9.99934340e-01 -2.38634821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:-73.06, Z:-2.38 [[ 7.12057312e-01 7.02075659e-01 8.00952817e-03 1.84174211e+02] [-7.02027859e-01 7.12102327e-01 -8.19526107e-03 -7.30633866e+01] [-1.14572970e-02 2.12583664e-04 9.99934340e-01 -2.38495138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:-73.11, Z:-2.38 [[ 7.17913659e-01 6.96086100e-01 8.00752728e-03 1.84217473e+02] [-6.96037902e-01 7.17958247e-01 -8.19721565e-03 -7.31078540e+01] [-1.14550381e-02 3.11350592e-04 9.99934340e-01 -2.38333782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:-73.15, Z:-2.38 [[ 7.20958885e-01 6.92931597e-01 8.00549524e-03 1.84262342e+02] [-6.92883182e-01 7.21003238e-01 -8.19919968e-03 -7.31519376e+01] [-1.14534725e-02 3.64412843e-04 9.99934340e-01 -2.38272774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:-73.19, Z:-2.38 [[ 7.23056053e-01 6.90743001e-01 8.00315387e-03 1.84309859e+02] [-6.90694427e-01 7.23100231e-01 -8.20148443e-03 -7.31932754e+01] [-1.14522004e-02 4.02399182e-04 9.99934340e-01 -2.38335587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.36, Y:-73.24, Z:-2.38 [[ 7.22274975e-01 6.91559721e-01 8.00084392e-03 1.84356765e+02] [-6.91511171e-01 7.22319181e-01 -8.20373725e-03 -7.32354211e+01] [-1.14525373e-02 3.92681166e-04 9.99934340e-01 -2.38481008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:-73.28, Z:-2.39 [[ 7.19027322e-01 6.94935777e-01 7.99856289e-03 1.84403623e+02] [-6.94887410e-01 7.19071728e-01 -8.20596064e-03 -7.32758527e+01] [-1.14541561e-02 3.42209246e-04 9.99934340e-01 -2.38636096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:-73.32, Z:-2.39 [[ 7.15915692e-01 6.98140945e-01 7.99645660e-03 1.84450234e+02] [-6.98092754e-01 7.15960289e-01 -8.20801263e-03 -7.33171135e+01] [-1.14554951e-02 2.93976628e-04 9.99934340e-01 -2.38808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.50, Y:-73.36, Z:-2.39 [[ 7.11773413e-01 7.02363652e-01 7.99438719e-03 1.84499305e+02] [-7.02315703e-01 7.11818269e-01 -8.21002769e-03 -7.33555882e+01] [-1.14569759e-02 2.29095762e-04 9.99934340e-01 -2.39046286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:-73.40, Z:-2.39 [[ 7.09687769e-01 7.04471002e-01 7.99234959e-03 1.84546561e+02] [-7.04423164e-01 7.09732744e-01 -8.21201079e-03 -7.33978685e+01] [-1.14575557e-02 1.97967438e-04 9.99934340e-01 -2.39158771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:-73.44, Z:-2.39 [[ 7.07909589e-01 7.06257864e-01 7.99021370e-03 1.84591856e+02] [-7.06210117e-01 7.07954659e-01 -8.21408847e-03 -7.34397086e+01] [-1.14579736e-02 1.72062237e-04 9.99934340e-01 -2.39041777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:-73.48, Z:-2.39 [[ 7.07008836e-01 7.07159595e-01 7.98823796e-03 1.84636532e+02] [-7.07111884e-01 7.07053945e-01 -8.21600944e-03 -7.34823388e+01] [-1.14581451e-02 1.60213283e-04 9.99934340e-01 -2.39055321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:-73.52, Z:-2.39 [[ 7.05667577e-01 7.08498053e-01 7.98629659e-03 1.84683325e+02] [-7.08450405e-01 7.05712753e-01 -8.21789609e-03 -7.35233697e+01] [-1.14583947e-02 1.41207764e-04 9.99934340e-01 -2.39118586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:-73.57, Z:-2.39 [[ 7.04781800e-01 7.09379210e-01 7.98438469e-03 1.84727889e+02] [-7.09331598e-01 7.04827014e-01 -8.21975325e-03 -7.35675924e+01] [-1.14585321e-02 1.29556136e-04 9.99934340e-01 -2.39170318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.77, Y:-73.61, Z:-2.39 [[ 7.03772909e-01 7.10380162e-01 7.98237924e-03 1.84772071e+02] [-7.10332592e-01 7.03818167e-01 -8.22170032e-03 -7.36118704e+01] [-1.14586763e-02 1.16065811e-04 9.99934340e-01 -2.39223877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.82, Y:-73.66, Z:-2.39 [[ 7.03169007e-01 7.10977965e-01 7.98004735e-03 1.84816878e+02] [-7.10930408e-01 7.03214279e-01 -8.22396305e-03 -7.36561244e+01] [-1.14587398e-02 1.09577618e-04 9.99934340e-01 -2.39483978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:-73.70, Z:-2.40 [[ 7.03086954e-01 7.11059133e-01 7.97773513e-03 1.84860531e+02] [-7.11011556e-01 7.03132204e-01 -8.22620543e-03 -7.37002701e+01] [-1.14587210e-02 1.11475848e-04 9.99934340e-01 -2.39700238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:-73.75, Z:-2.40 [[ 7.05468918e-01 7.08695981e-01 7.97574525e-03 1.84903909e+02] [-7.08648231e-01 7.05513985e-01 -8.22813427e-03 -7.37450799e+01] [-1.14582455e-02 1.52695209e-04 9.99934340e-01 -2.39794171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.737628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:184.95, Y:-73.79, Z:-2.40 [[ 7.11209023e-01 7.02935378e-01 7.97367806e-03 1.84946397e+02] [-7.02887240e-01 7.11253676e-01 -8.23013705e-03 -7.37892632e+01] [-1.14565623e-02 2.48751164e-04 9.99934340e-01 -2.40151073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.99, Y:-73.84, Z:-2.40 [[ 7.16941130e-01 6.97088126e-01 7.97253736e-03 1.84987944e+02] [-6.97039612e-01 7.16985374e-01 -8.23124189e-03 -7.38352525e+01] [-1.14540937e-02 3.44141515e-04 9.99934340e-01 -2.39950302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:185.03, Y:-73.88, Z:-2.40 [[ 7.20015545e-01 6.93912160e-01 7.97049181e-03 1.85030986e+02] [-6.93863429e-01 7.20059550e-01 -8.23322216e-03 -7.38804839e+01] [-1.14523617e-02 3.97615163e-04 9.99934341e-01 -2.40185125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.08, Y:-73.92, Z:-2.40 [[ 7.20707615e-01 6.93193362e-01 7.96844346e-03 1.85075040e+02] [-6.93144565e-01 7.20751548e-01 -8.23520416e-03 -7.39244397e+01] [-1.14518568e-02 4.11891078e-04 9.99934341e-01 -2.40167575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97762799999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:185.12, Y:-73.97, Z:-2.40 [[ 7.20416609e-01 6.93495816e-01 7.96627975e-03 1.85118726e+02] [-6.93447015e-01 7.20460536e-01 -8.23729669e-03 -7.39690469e+01] [-1.14519210e-02 4.10092436e-04 9.99934341e-01 -2.40361876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:-74.01, Z:-2.40 [[ 7.18075860e-01 6.95919273e-01 7.96398023e-03 1.85162687e+02] [-6.95870595e-01 7.18119924e-01 -8.23951931e-03 -7.40132267e+01] [-1.14531332e-02 3.74700246e-04 9.99934341e-01 -2.40018360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.097628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:-74.06, Z:-2.40 [[ 7.12703753e-01 7.01419965e-01 7.96192707e-03 1.85206782e+02] [-7.01371606e-01 7.12748166e-01 -8.24150282e-03 -7.40573875e+01] [-1.14556035e-02 2.89480427e-04 9.99934341e-01 -2.40172950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:-74.10, Z:-2.40 [[ 7.07743102e-01 7.06425045e-01 7.95972584e-03 1.85250786e+02] [-7.06376976e-01 7.07787829e-01 -8.24362824e-03 -7.41015822e+01] [-1.14573025e-02 2.11803950e-04 9.99934341e-01 -2.39917449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:-74.15, Z:-2.40 [[ 7.01282164e-01 7.12839394e-01 7.95768045e-03 1.85294836e+02] [-7.12791711e-01 7.01327304e-01 -8.24560221e-03 -7.41466386e+01] [-1.14587287e-02 1.10325096e-04 9.99934341e-01 -2.40050973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.34, Y:-74.19, Z:-2.40 [[ 6.97488518e-01 7.16551799e-01 7.95534552e-03 1.85337413e+02] [-7.16504331e-01 6.97533882e-01 -8.24785433e-03 -7.41910836e+01] [-1.14591379e-02 5.27441669e-05 9.99934341e-01 -2.40140434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:-74.24, Z:-2.40 [[ 6.93399252e-01 7.20509697e-01 7.95318903e-03 1.85380529e+02] [-7.20462464e-01 6.93444861e-01 -8.24993326e-03 -7.42370586e+01] [-1.14592550e-02 -9.47661366e-06 9.99934341e-01 -2.40225657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.42, Y:-74.28, Z:-2.40 [[ 6.92302336e-01 7.21563759e-01 7.95088767e-03 1.85421670e+02] [-7.21516570e-01 6.92347991e-01 -8.25215060e-03 -7.42834209e+01] [-1.14592339e-02 -2.37140634e-05 9.99934341e-01 -2.40375638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:-74.33, Z:-2.41 [[ 6.92036334e-01 7.21818903e-01 7.94883831e-03 1.85461509e+02] [-7.21771708e-01 6.92081983e-01 -8.25412416e-03 -7.43313876e+01] [-1.14592306e-02 -2.50927826e-05 9.99934341e-01 -2.40594404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:-74.38, Z:-2.41 [[ 6.91812325e-01 7.22033626e-01 7.94672696e-03 1.85501964e+02] [-7.21986422e-01 6.91857964e-01 -8.25615638e-03 -7.43780206e+01] [-1.14592289e-02 -2.57182228e-05 9.99934341e-01 -2.40770081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.54, Y:-74.43, Z:-2.41 [[ 6.91079241e-01 7.22735338e-01 7.94449756e-03 1.85541321e+02] [-7.22688155e-01 6.91124902e-01 -8.25830107e-03 -7.44272036e+01] [-1.14592061e-02 -3.42538600e-05 9.99934341e-01 -2.40890395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.58, Y:-74.48, Z:-2.41 [[ 6.89903884e-01 7.23857412e-01 7.94219218e-03 1.85579373e+02] [-7.23810279e-01 6.89949596e-01 -8.26051760e-03 -7.44771795e+01] [-1.14591492e-02 -4.96771617e-05 9.99934341e-01 -2.41002492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.62, Y:-74.53, Z:-2.41 [[ 6.89584857e-01 7.24161362e-01 7.94020014e-03 1.85620308e+02] [-7.24114227e-01 6.89630567e-01 -8.26243196e-03 -7.45252339e+01] [-1.14591387e-02 -5.19639257e-05 9.99934341e-01 -2.41159735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:-74.57, Z:-2.41 [[ 6.90122782e-01 7.23648765e-01 7.93787871e-03 1.85660249e+02] [-7.23601570e-01 6.90168431e-01 -8.26466160e-03 -7.45737019e+01] [-1.14591855e-02 -4.02302387e-05 9.99934341e-01 -2.41328021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.70, Y:-74.62, Z:-2.41 [[ 6.91134496e-01 7.22682579e-01 7.93716408e-03 1.85697414e+02] [-7.22635312e-01 6.91180070e-01 -8.26534786e-03 -7.46243815e+01] [-1.14592325e-02 -2.32080206e-05 9.99934341e-01 -2.41376518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:-74.67, Z:-2.41 [[ 6.92482067e-01 7.21391448e-01 7.93512619e-03 1.85736964e+02] [-7.21344074e-01 6.92527530e-01 -8.26730387e-03 -7.46734225e+01] [-1.14592556e-02 1.00342163e-06 9.99934341e-01 -2.41429147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:-74.72, Z:-2.41 [[ 6.94118958e-01 7.19816604e-01 7.93279143e-03 1.85777088e+02] [-7.19769101e-01 6.94164286e-01 -8.26954355e-03 -7.47226873e+01] [-1.14592153e-02 3.02687893e-05 9.99934341e-01 -2.41464330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.82, Y:-74.77, Z:-2.41 [[ 6.92762954e-01 7.21121763e-01 7.93049017e-03 1.85820007e+02] [-7.21074320e-01 6.92808345e-01 -8.27174986e-03 -7.47671361e+01] [-1.14592486e-02 1.18890604e-05 9.99934341e-01 -2.41355578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:-74.81, Z:-2.42 [[ 6.92415147e-01 7.21455754e-01 7.92843781e-03 1.85863185e+02] [-7.21408310e-01 6.92460537e-01 -8.27371658e-03 -7.48134729e+01] [-1.14592507e-02 9.20574832e-06 9.99934341e-01 -2.41503730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:-74.86, Z:-2.42 [[ 6.91513513e-01 7.22320039e-01 7.92610462e-03 1.85906409e+02] [-7.22272627e-01 6.91558936e-01 -8.27595114e-03 -7.48573666e+01] [-1.14592538e-02 -1.87635145e-06 9.99934341e-01 -2.41681445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.95, Y:-74.90, Z:-2.42 [[ 6.91994258e-01 7.21859514e-01 7.92394988e-03 1.85951268e+02] [-7.21812048e-01 6.92039624e-01 -8.27801371e-03 -7.49009461e+01] [-1.14592503e-02 8.73546277e-06 9.99934341e-01 -2.41958663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.99, Y:-74.95, Z:-2.42 [[ 6.96240230e-01 7.17765133e-01 7.92191207e-03 1.85994510e+02] [-7.17717378e-01 6.96285292e-01 -8.27996341e-03 -7.49453717e+01] [-1.14589799e-02 7.91496695e-05 9.99934341e-01 -2.42086544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.297628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:186.04, Y:-74.99, Z:-2.42 [[ 6.99673694e-01 7.14418644e-01 7.91984741e-03 1.86038279e+02] [-7.14370651e-01 6.99718502e-01 -8.28193779e-03 -7.49904303e+01] [-1.14584345e-02 1.36947454e-04 9.99934341e-01 -2.42340126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:-75.03, Z:-2.42 [[ 7.04465125e-01 7.09694443e-01 7.91748447e-03 1.86080537e+02] [-7.09646124e-01 7.04509582e-01 -8.28419614e-03 -7.50348537e+01] [-1.14571916e-02 2.17315097e-04 9.99934341e-01 -2.42039427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:-75.08, Z:-2.42 [[ 7.07401385e-01 7.06767730e-01 7.91559868e-03 1.86123773e+02] [-7.06719207e-01 7.07445620e-01 -8.28599763e-03 -7.50796917e+01] [-1.14561313e-02 2.67420585e-04 9.99934341e-01 -2.41936791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:-75.12, Z:-2.42 [[ 7.09773538e-01 7.04385478e-01 7.91355201e-03 1.86166790e+02] [-7.04336785e-01 7.09817585e-01 -8.28795184e-03 -7.51241154e+01] [-1.14550913e-02 3.08763115e-04 9.99934341e-01 -2.41572682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:-75.17, Z:-2.42 [[ 7.09988946e-01 7.04168378e-01 7.91147879e-03 1.86211422e+02] [-7.04119650e-01 7.10032954e-01 -8.28993041e-03 -7.51687799e+01] [-1.14549175e-02 3.15131277e-04 9.99934341e-01 -2.41518249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:-75.21, Z:-2.42 [[ 7.07201405e-01 7.06967905e-01 7.90912000e-03 1.86255006e+02] [-7.06919325e-01 7.07245578e-01 -8.29218024e-03 -7.52124504e+01] [-1.14559954e-02 2.73131745e-04 9.99934341e-01 -2.41706015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:-75.26, Z:-2.42 [[ 7.03699041e-01 7.10454179e-01 7.90694082e-03 1.86298684e+02] [-7.10405795e-01 7.03743428e-01 -8.29425766e-03 -7.52569373e+01] [-1.14571476e-02 2.19524588e-04 9.99934341e-01 -2.42006530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.34, Y:-75.30, Z:-2.42 [[ 6.98469039e-01 7.15596614e-01 7.90493227e-03 1.86342446e+02] [-7.15548535e-01 6.98513756e-01 -8.29617149e-03 -7.53016871e+01] [-1.14584162e-02 1.38256212e-04 9.99934341e-01 -2.42406454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.39, Y:-75.35, Z:-2.43 [[ 6.95561177e-01 7.18423393e-01 7.90421616e-03 1.86385997e+02] [-7.18375489e-01 6.95606081e-01 -8.29685371e-03 -7.53466080e+01] [-1.14588746e-02 9.27741894e-05 9.99934341e-01 -2.42584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.43, Y:-75.39, Z:-2.43 [[ 6.92537003e-01 7.21339074e-01 7.90195134e-03 1.86428067e+02] [-7.21291334e-01 6.92582081e-01 -8.29901017e-03 -7.53926485e+01] [-1.14591502e-02 4.77626055e-05 9.99934341e-01 -2.42550130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:-75.44, Z:-2.43 [[ 6.91883708e-01 7.21965731e-01 7.90055427e-03 1.86470750e+02] [-7.21918016e-01 6.91928813e-01 -8.30033995e-03 -7.54389281e+01] [-1.14591821e-02 3.93175156e-05 9.99934341e-01 -2.42540644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:-75.49, Z:-2.42 [[ 6.91608388e-01 7.22229502e-01 7.89835040e-03 1.86511644e+02] [-7.22181781e-01 6.91653486e-01 -8.30243656e-03 -7.54862953e+01] [-1.14591862e-02 3.79900080e-05 9.99934341e-01 -2.42278008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:-75.53, Z:-2.42 [[ 6.91528419e-01 7.22306094e-01 7.89635088e-03 1.86553909e+02] [-7.22258356e-01 6.91573499e-01 -8.30433784e-03 -7.55333684e+01] [-1.14591808e-02 3.94802042e-05 9.99934341e-01 -2.42094968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.60, Y:-75.58, Z:-2.42 [[ 6.90660916e-01 7.23135660e-01 7.89405576e-03 1.86595677e+02] [-7.23087952e-01 6.90706027e-01 -8.30651900e-03 -7.55801782e+01] [-1.14592120e-02 2.88914152e-05 9.99934341e-01 -2.42182898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:-75.63, Z:-2.42 [[ 6.89697193e-01 7.24054903e-01 7.89173806e-03 1.86637614e+02] [-7.24007229e-01 6.89742342e-01 -8.30872038e-03 -7.56260134e+01] [-1.14592356e-02 1.68257275e-05 9.99934341e-01 -2.42434006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.68, Y:-75.67, Z:-2.43 [[ 6.88516658e-01 7.25177609e-01 7.88969771e-03 1.86678641e+02] [-7.25129987e-01 6.88561860e-01 -8.31065738e-03 -7.56730195e+01] [-1.14592476e-02 9.69643712e-07 9.99934341e-01 -2.42705100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:-75.72, Z:-2.43 [[ 6.88675942e-01 7.25026366e-01 7.88767586e-03 1.86720204e+02] [-7.24978712e-01 6.88721110e-01 -8.31257589e-03 -7.57191785e+01] [-1.14592456e-02 6.27394250e-06 9.99934341e-01 -2.42824828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:-75.77, Z:-2.43 [[ 6.90131718e-01 7.23640814e-01 7.88563090e-03 1.86761032e+02] [-7.23593047e-01 6.90176768e-01 -8.31451536e-03 -7.57651842e+01] [-1.14592019e-02 3.21230800e-05 9.99934341e-01 -2.42820478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.80, Y:-75.81, Z:-2.42 [[ 6.92665954e-01 7.21215444e-01 7.88419237e-03 1.86802700e+02] [-7.21167503e-01 6.92710819e-01 -8.31587922e-03 -7.58098247e+01] [-1.14590059e-02 7.43030815e-05 9.99934341e-01 -2.42475202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:-75.85, Z:-2.43 [[ 6.95646773e-01 7.18340752e-01 7.88236189e-03 1.86846040e+02] [-7.18292607e-01 6.95691418e-01 -8.31761391e-03 -7.58546037e+01] [-1.14585725e-02 1.24279003e-04 9.99934341e-01 -2.42542678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.89, Y:-75.90, Z:-2.43 [[ 7.01737729e-01 7.12391789e-01 7.88029769e-03 1.86890125e+02] [-7.12343243e-01 7.01781938e-01 -8.31956912e-03 -7.58999300e+01] [-1.14570433e-02 2.24678722e-04 9.99934341e-01 -2.42552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:-75.94, Z:-2.43 [[ 7.05891588e-01 7.08276079e-01 7.87792580e-03 1.86933498e+02] [-7.08227251e-01 7.05935485e-01 -8.32181450e-03 -7.59442119e+01] [-1.14554495e-02 2.94937119e-04 9.99934341e-01 -2.42590020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.98, Y:-75.99, Z:-2.43 [[ 7.09815509e-01 7.04343607e-01 7.87573832e-03 1.86979413e+02] [-7.04294512e-01 7.09859108e-01 -8.32388420e-03 -7.59868285e+01] [-1.14535392e-02 3.61582823e-04 9.99934341e-01 -2.42642941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.03, Y:-76.03, Z:-2.43 [[ 7.10498877e-01 7.03654286e-01 7.87345964e-03 1.87025292e+02] [-7.03605125e-01 7.10542402e-01 -8.32603902e-03 -7.60305115e+01] [-1.14530800e-02 3.75834815e-04 9.99934341e-01 -2.42597508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.07, Y:-76.07, Z:-2.43 [[ 7.08752695e-01 7.05413115e-01 7.87114155e-03 1.87072596e+02] [-7.05364038e-01 7.08796314e-01 -8.32822989e-03 -7.60705847e+01] [-1.14538787e-02 3.50635189e-04 9.99934341e-01 -2.42778435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.12, Y:-76.11, Z:-2.43 [[ 7.07073214e-01 7.07096563e-01 7.86900207e-03 1.87119140e+02] [-7.07047567e-01 7.07116924e-01 -8.33025089e-03 -7.61128362e+01] [-1.14545963e-02 3.26338496e-04 9.99934341e-01 -2.42761746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.17, Y:-76.15, Z:-2.43 [[ 7.05129158e-01 7.09035251e-01 7.86664143e-03 1.87166805e+02] [-7.08986351e-01 7.05172975e-01 -8.33247956e-03 -7.61538847e+01] [-1.14553647e-02 2.98132894e-04 9.99934341e-01 -2.42862454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.21, Y:-76.20, Z:-2.43 [[ 7.03958536e-01 7.10197530e-01 7.86429603e-03 1.87212470e+02] [-7.10148678e-01 7.04002406e-01 -8.33469259e-03 -7.61977542e+01] [-1.14557614e-02 2.82458568e-04 9.99934341e-01 -2.42895944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:-76.24, Z:-2.43 [[ 7.00732166e-01 7.13381120e-01 7.86190948e-03 1.87257350e+02] [-7.13332442e-01 7.00776229e-01 -8.33694316e-03 -7.62400582e+01] [-1.14568571e-02 2.33809144e-04 9.99934341e-01 -2.42979152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:-76.28, Z:-2.43 [[ 6.97022958e-01 7.17005733e-01 7.85970675e-03 1.87302393e+02] [-7.16957261e-01 6.97067247e-01 -8.33901928e-03 -7.62832954e+01] [-1.14578688e-02 1.77414063e-04 9.99934341e-01 -2.43080084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.35, Y:-76.32, Z:-2.43 [[ 6.90846023e-01 7.22959217e-01 7.85765988e-03 1.87348020e+02] [-7.22911104e-01 6.90890703e-01 -8.34094755e-03 -7.63238240e+01] [-1.14589491e-02 8.19208692e-05 9.99934341e-01 -2.43344753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.157628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:187.39, Y:-76.37, Z:-2.44 [[ 6.87671232e-01 7.25979719e-01 7.85651408e-03 1.87392168e+02] [-7.25931790e-01 6.87716109e-01 -8.34202666e-03 -7.63682383e+01] [-1.14591935e-02 3.32784210e-05 9.99934341e-01 -2.43602061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:-76.41, Z:-2.43 [[ 6.84386407e-01 7.29077196e-01 7.85422801e-03 1.87435560e+02] [-7.29029445e-01 6.84431474e-01 -8.34417851e-03 -7.64108133e+01] [-1.14592311e-02 -1.53211382e-05 9.99934341e-01 -2.43186632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.48, Y:-76.46, Z:-2.43 [[ 6.82962899e-01 7.30410847e-01 7.85324140e-03 1.87480499e+02] [-7.30363174e-01 6.83008048e-01 -8.34510696e-03 -7.64552164e+01] [-1.14591837e-02 -3.63198685e-05 9.99934341e-01 -2.43391506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:-76.50, Z:-2.44 [[ 6.81241066e-01 7.32017057e-01 7.85100943e-03 1.87523982e+02] [-7.31969467e-01 6.81286301e-01 -8.34720625e-03 -7.64991005e+01] [-1.14590825e-02 -6.02395036e-05 9.99934341e-01 -2.43870194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.397628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:187.56, Y:-76.54, Z:-2.44 [[ 6.80829841e-01 7.32399563e-01 7.84908875e-03 1.87564398e+02] [-7.32351977e-01 6.80875081e-01 -8.34901192e-03 -7.65446842e+01] [-1.14590616e-02 -6.40392074e-05 9.99934341e-01 -2.44232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:-76.59, Z:-2.44 [[ 6.80023821e-01 7.33148022e-01 7.84733058e-03 1.87606283e+02] [-7.33100467e-01 6.80069094e-01 -8.35066412e-03 -7.65903273e+01] [-1.14589999e-02 -7.42311883e-05 9.99934341e-01 -2.43768412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:-76.64, Z:-2.44 [[ 6.79050784e-01 7.34049375e-01 7.84523597e-03 1.87648694e+02] [-7.34001857e-01 6.79096096e-01 -8.35263150e-03 -7.66368636e+01] [-1.14589130e-02 -8.65567987e-05 9.99934341e-01 -2.43908431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:-76.68, Z:-2.44 [[ 6.77419958e-01 7.35554682e-01 7.84286578e-03 1.87688969e+02] [-7.35507239e-01 6.77465348e-01 -8.35485644e-03 -7.66842549e+01] [-1.14587236e-02 -1.08738058e-04 9.99934341e-01 -2.43764782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:-76.73, Z:-2.44 [[ 6.76275612e-01 7.36606963e-01 7.84081043e-03 1.87730303e+02] [-7.36559568e-01 6.76321053e-01 -8.35678488e-03 -7.67307069e+01] [-1.14585711e-02 -1.23734133e-04 9.99934341e-01 -2.43555971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:-76.78, Z:-2.44 [[ 6.76511358e-01 7.36390478e-01 7.83875138e-03 1.87771597e+02] [-7.36343046e-01 6.76556761e-01 -8.35871584e-03 -7.67765678e+01] [-1.14586390e-02 -1.17243860e-04 9.99934341e-01 -2.43543687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:-76.83, Z:-2.44 [[ 6.77490700e-01 7.35489590e-01 7.83671514e-03 1.87811371e+02] [-7.35442076e-01 6.77536016e-01 -8.36062449e-03 -7.68255099e+01] [-1.14588090e-02 -9.92047057e-05 9.99934341e-01 -2.43554509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.85, Y:-76.87, Z:-2.44 [[ 6.78348704e-01 7.34698345e-01 7.83431729e-03 1.87853090e+02] [-7.34650752e-01 6.78393938e-01 -8.36287079e-03 -7.68728056e+01] [-1.14589407e-02 -8.25445264e-05 9.99934341e-01 -2.43548741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:-76.92, Z:-2.44 [[ 6.80972758e-01 7.32266867e-01 7.83193365e-03 1.87893530e+02] [-7.32219087e-01 6.81017793e-01 -8.36510250e-03 -7.69208302e+01] [-1.14591736e-02 -3.82843837e-05 9.99934341e-01 -2.43759135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:-76.97, Z:-2.44 [[ 6.82228896e-01 7.31096732e-01 7.82952523e-03 1.87933064e+02] [-7.31048849e-01 6.82273822e-01 -8.36735612e-03 -7.69677727e+01] [-1.14592268e-02 -1.53132733e-05 9.99934341e-01 -2.44048112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.97, Y:-77.02, Z:-2.44 [[ 6.84328883e-01 7.29131467e-01 7.82835158e-03 1.87970804e+02] [-7.29083442e-01 6.84373658e-01 -8.36845402e-03 -7.70179362e+01] [-1.14592208e-02 1.92532755e-05 9.99934341e-01 -2.44049865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.057628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:-77.07, Z:-2.44 [[ 6.87648476e-01 7.26001600e-01 7.82627007e-03 1.88011724e+02] [-7.25953349e-01 6.87693007e-01 -8.37040022e-03 -7.70663761e+01] [-1.14589951e-02 7.43859898e-05 9.99934341e-01 -2.44401065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:-77.12, Z:-2.44 [[ 6.93640959e-01 7.20278423e-01 7.82391400e-03 1.88050205e+02] [-7.20229780e-01 6.93685061e-01 -8.37260189e-03 -7.71155881e+01] [-1.14579367e-02 1.72563747e-04 9.99934341e-01 -2.44041597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.177628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:-77.16, Z:-2.44 [[ 6.99548359e-01 7.14542450e-01 7.82184177e-03 1.88089740e+02] [-7.14493423e-01 6.99592035e-01 -8.37453735e-03 -7.71647698e+01] [-1.14560606e-02 2.69739355e-04 9.99934341e-01 -2.44225649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.237628 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:-77.22, Z:-2.44 [[ 7.06978867e-01 7.07191444e-01 7.81949458e-03 1.88128400e+02] [-7.07141939e-01 7.07022000e-01 -8.37672840e-03 -7.72151527e+01] [-1.14525053e-02 3.92677391e-04 9.99934341e-01 -2.44194158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:-77.26, Z:-2.44 [[ 7.05845089e-01 7.08323092e-01 7.81709988e-03 1.88171248e+02] [-7.08273633e-01 7.05888273e-01 -8.37896253e-03 -7.72593241e+01] [-1.14530118e-02 3.77603827e-04 9.99934341e-01 -2.43970829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:-77.30, Z:-2.44 [[ 7.04237566e-01 7.09921389e-01 7.81489147e-03 1.88214536e+02] [-7.09872004e-01 7.04280836e-01 -8.38102176e-03 -7.73034958e+01] [-1.14537449e-02 3.54657694e-04 9.99934341e-01 -2.44303979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:-77.35, Z:-2.45 [[ 7.03643629e-01 7.10510100e-01 7.81288883e-03 1.88258058e+02] [-7.10460731e-01 7.03686917e-01 -8.38288823e-03 -7.73473076e+01] [-1.14539544e-02 3.47815189e-04 9.99934341e-01 -2.44797465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47762799999998 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:-77.39, Z:-2.45 [[ 7.01383093e-01 7.12741711e-01 7.81089312e-03 1.88303950e+02] [-7.12692459e-01 7.01426514e-01 -8.38474735e-03 -7.73906324e+01] [-1.14549267e-02 3.14155404e-04 9.99934341e-01 -2.44762843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:-77.43, Z:-2.44 [[ 6.98320014e-01 7.15743100e-01 7.80858021e-03 1.88348191e+02] [-7.15694010e-01 6.98363618e-01 -8.38690078e-03 -7.74348754e+01] [-1.14560947e-02 2.68186581e-04 9.99934341e-01 -2.44341424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:-77.48, Z:-2.45 [[ 6.91720364e-01 7.22123260e-01 7.80613790e-03 1.88391764e+02] [-7.22074547e-01 6.91764389e-01 -8.38917335e-03 -7.74795001e+01] [-1.14580254e-02 1.66348548e-04 9.99934341e-01 -2.44530078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.657628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:188.44, Y:-77.52, Z:-2.45 [[ 6.82935592e-01 7.30436908e-01 7.80387936e-03 1.88436035e+02] [-7.30388708e-01 6.82980177e-01 -8.39127379e-03 -7.75228488e+01] [-1.14591910e-02 3.08341716e-05 9.99934341e-01 -2.45145792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.717628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:-77.57, Z:-2.45 [[ 6.76950971e-01 7.35986762e-01 7.80179642e-03 1.88479859e+02] [-7.35938905e-01 6.76995925e-01 -8.39320995e-03 -7.75673843e+01] [-1.14590758e-02 -5.98538830e-05 9.99934341e-01 -2.45347057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.52, Y:-77.61, Z:-2.45 [[ 6.72103348e-01 7.40416274e-01 7.79944829e-03 1.88521952e+02] [-7.40368687e-01 6.72148588e-01 -8.39539140e-03 -7.76136140e+01] [-1.14584726e-02 -1.31896623e-04 9.99934341e-01 -2.45126456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.56, Y:-77.66, Z:-2.45 [[ 6.68796029e-01 7.43405056e-01 7.79711961e-03 1.88561374e+02] [-7.43357646e-01 6.68841454e-01 -8.39755358e-03 -7.76603584e+01] [-1.14578206e-02 -1.79797997e-04 9.99934341e-01 -2.44964536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-77.71, Z:-2.45 [[ 6.68908248e-01 7.43304103e-01 7.79525746e-03 1.88599911e+02] [-7.43256666e-01 6.68953646e-01 -8.39928182e-03 -7.77082794e+01] [-1.14578865e-02 -1.75528187e-04 9.99934341e-01 -2.44746277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.64, Y:-77.76, Z:-2.45 [[ 6.69358933e-01 7.42898298e-01 7.79342125e-03 1.88640742e+02] [-7.42850815e-01 6.69404280e-01 -8.40098524e-03 -7.77562680e+01] [-1.14580272e-02 -1.66074810e-04 9.99934341e-01 -2.44808578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.68, Y:-77.80, Z:-2.45 [[ 6.71101201e-01 7.41324811e-01 7.79119349e-03 1.88678478e+02] [-7.41277197e-01 6.71146412e-01 -8.40305078e-03 -7.78045971e+01] [-1.14584216e-02 -1.36136599e-04 9.99934341e-01 -2.45188829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:-77.85, Z:-2.46 [[ 6.72479316e-01 7.40074925e-01 7.78941328e-03 1.88718402e+02] [-7.40027207e-01 6.72524418e-01 -8.40470067e-03 -7.78519355e+01] [-1.14586788e-02 -1.12390394e-04 9.99934341e-01 -2.45617026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.76, Y:-77.90, Z:-2.46 [[ 6.72505535e-01 7.40051120e-01 7.78751590e-03 1.88761090e+02] [-7.40003381e-01 6.72550614e-01 -8.40645835e-03 -7.78956188e+01] [-1.14587075e-02 -1.09398319e-04 9.99934341e-01 -2.46087820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.80, Y:-77.94, Z:-2.46 [[ 6.74355942e-01 7.38365388e-01 7.78578244e-03 1.88803782e+02] [-7.38317517e-01 6.74400881e-01 -8.40806352e-03 -7.79407429e+01] [-1.14589616e-02 -7.83519707e-05 9.99934341e-01 -2.46387739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-77.99, Z:-2.46 [[ 6.79669110e-01 7.33477546e-01 7.78394431e-03 1.88844257e+02] [-7.33429333e-01 6.79713682e-01 -8.40976486e-03 -7.79875471e+01] [-1.14592271e-02 6.88430810e-06 9.99934341e-01 -2.45759721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:-78.03, Z:-2.46 [[ 6.83830731e-01 7.29599187e-01 7.78187685e-03 1.88886056e+02] [-7.29550699e-01 6.83875004e-01 -8.41167752e-03 -7.80334862e+01] [-1.14589841e-02 7.48898832e-05 9.99934341e-01 -2.45585429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.377628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:188.93, Y:-78.08, Z:-2.46 [[ 6.90705129e-01 7.23094668e-01 7.77977365e-03 1.88928305e+02] [-7.23045742e-01 6.90748917e-01 -8.41362227e-03 -7.80774872e+01] [-1.14577156e-02 1.86199847e-04 9.99934341e-01 -2.45925536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:-78.12, Z:-2.46 [[ 6.93461423e-01 7.20451775e-01 7.77784551e-03 1.88969995e+02] [-7.20402662e-01 6.93505000e-01 -8.41540434e-03 -7.81236539e+01] [-1.14568677e-02 2.32577654e-04 9.99934341e-01 -2.45556629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.01, Y:-78.17, Z:-2.45 [[ 6.95277906e-01 7.18698943e-01 7.77578036e-03 1.89012471e+02] [-7.18649699e-01 6.95321335e-01 -8.41731209e-03 -7.81682759e+01] [-1.14561793e-02 2.64308911e-04 9.99934341e-01 -2.45274291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.06, Y:-78.21, Z:-2.45 [[ 6.94880869e-01 7.19082850e-01 7.77385016e-03 1.89056049e+02] [-7.19033610e-01 6.94924303e-01 -8.41909436e-03 -7.82124243e+01] [-1.14562638e-02 2.60608053e-04 9.99934341e-01 -2.45377581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.10, Y:-78.26, Z:-2.45 [[ 6.93233590e-01 7.20671070e-01 7.77165425e-03 1.89099428e+02] [-7.20621907e-01 6.93277111e-01 -8.42112091e-03 -7.82579970e+01] [-1.14567682e-02 2.37379573e-04 9.99934341e-01 -2.45419348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:-78.30, Z:-2.46 [[ 6.91920614e-01 7.21931785e-01 7.76928624e-03 1.89142865e+02] [-7.21882677e-01 6.91964196e-01 -8.42330506e-03 -7.83030972e+01] [-1.14571196e-02 2.19745253e-04 9.99934341e-01 -2.45691875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:-78.35, Z:-2.46 [[ 6.90727660e-01 7.23073284e-01 7.76692597e-03 1.89187378e+02] [-7.23024223e-01 6.90771297e-01 -8.42548085e-03 -7.83472474e+01] [-1.14574096e-02 2.04037060e-04 9.99934341e-01 -2.45983417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.23, Y:-78.39, Z:-2.46 [[ 6.90111636e-01 7.23661276e-01 7.76453690e-03 1.89231782e+02] [-7.23612227e-01 6.90155286e-01 -8.42768193e-03 -7.83924281e+01] [-1.14575232e-02 1.97527521e-04 9.99934341e-01 -2.46188460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.27, Y:-78.44, Z:-2.46 [[ 6.89103653e-01 7.24621214e-01 7.76216906e-03 1.89274674e+02] [-7.24572201e-01 6.89147344e-01 -8.42986222e-03 -7.84389282e+01] [-1.14577352e-02 1.84796927e-04 9.99934341e-01 -2.46140281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-78.48, Z:-2.46 [[ 6.87057675e-01 7.26561447e-01 7.75978258e-03 1.89317173e+02] [-7.26512534e-01 6.87101476e-01 -8.43205843e-03 -7.84845342e+01] [-1.14581666e-02 1.55731163e-04 9.99934341e-01 -2.46151536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.36, Y:-78.53, Z:-2.46 [[ 6.80447819e-01 7.32755475e-01 7.75757743e-03 1.89361481e+02] [-7.32706937e-01 6.80492036e-01 -8.43408671e-03 -7.85296711e+01] [-1.14590929e-02 5.49251045e-05 9.99934341e-01 -2.46262042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:-78.57, Z:-2.46 [[ 6.74826153e-01 7.37935986e-01 7.75524953e-03 1.89404554e+02] [-7.37887762e-01 6.74870714e-01 -8.43622669e-03 -7.85749520e+01] [-1.14591860e-02 -2.95173193e-05 9.99934341e-01 -2.46464063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:-78.62, Z:-2.47 [[ 6.68808443e-01 7.43394350e-01 7.75284052e-03 1.89446499e+02] [-7.43346465e-01 6.68853367e-01 -8.43843998e-03 -7.86213988e+01] [-1.14586021e-02 -1.19346680e-04 9.99934341e-01 -2.46685425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.49, Y:-78.67, Z:-2.47 [[ 6.66373380e-01 7.45577930e-01 7.75044334e-03 1.89487389e+02] [-7.45530166e-01 6.66418433e-01 -8.44064114e-03 -7.86690376e+01] [-1.14581941e-02 -1.53570747e-04 9.99934341e-01 -2.46654639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:-78.72, Z:-2.47 [[ 6.65318996e-01 7.46518989e-01 7.74807388e-03 1.89527580e+02] [-7.46471264e-01 6.65364089e-01 -8.44281562e-03 -7.87174927e+01] [-1.14580123e-02 -1.66548889e-04 9.99934341e-01 -2.46658191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:-78.77, Z:-2.47 [[ 6.65557050e-01 7.46306785e-01 7.74570121e-03 1.89568444e+02] [-7.46259020e-01 6.65602101e-01 -8.44499182e-03 -7.87654913e+01] [-1.14581097e-02 -1.59675547e-04 9.99934341e-01 -2.46845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:-78.82, Z:-2.47 [[ 6.68906479e-01 7.43306238e-01 7.74331131e-03 1.89606200e+02] [-7.43258246e-01 6.68951288e-01 -8.44718259e-03 -7.88155702e+01] [-1.14587416e-02 -1.04904818e-04 9.99934341e-01 -2.46886998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.65, Y:-78.86, Z:-2.47 [[ 6.72551342e-01 7.40009980e-01 7.74089378e-03 1.89645566e+02] [-7.39961743e-01 6.72595887e-01 -8.44939740e-03 -7.88639148e+01] [-1.14591317e-02 -4.53116901e-05 9.99934341e-01 -2.47100749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:-78.91, Z:-2.47 [[ 6.75753063e-01 7.37087452e-01 7.73865887e-03 1.89687068e+02] [-7.37038998e-01 6.75797372e-01 -8.45144382e-03 -7.89112783e+01] [-1.14592185e-02 7.39566447e-06 9.99934341e-01 -2.47001200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.73, Y:-78.96, Z:-2.47 [[ 6.77796619e-01 7.35208741e-01 7.73627476e-03 1.89728588e+02] [-7.35160140e-01 6.77840767e-01 -8.45362562e-03 -7.89584710e+01] [-1.14591419e-02 4.24380285e-05 9.99934341e-01 -2.47022465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:-79.01, Z:-2.47 [[ 6.83609468e-01 7.29807017e-01 7.73385208e-03 1.89770647e+02] [-7.29758042e-01 6.83653201e-01 -8.45584144e-03 -7.90051990e+01] [-1.14584052e-02 1.36652516e-04 9.99934341e-01 -2.47034690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:-79.05, Z:-2.47 [[ 6.87907714e-01 7.25756985e-01 7.73146293e-03 1.89813739e+02] [-7.25707728e-01 6.87951129e-01 -8.45802536e-03 -7.90508496e+01] [-1.14573396e-02 2.07558490e-04 9.99934341e-01 -2.46974640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.86, Y:-79.10, Z:-2.47 [[ 6.96165900e-01 7.17839328e-01 7.72908917e-03 1.89856478e+02] [-7.17789553e-01 6.96208721e-01 -8.46019398e-03 -7.90961724e+01] [-1.14541192e-02 3.41839098e-04 9.99934341e-01 -2.47136923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:-79.14, Z:-2.48 [[ 7.03250849e-01 7.10899807e-01 7.72704047e-03 1.89901846e+02] [-7.10849590e-01 7.03293150e-01 -8.46206474e-03 -7.91393400e+01] [-1.14500548e-02 4.58190665e-04 9.99934341e-01 -2.47512435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.94, Y:-79.18, Z:-2.47 [[ 7.06149319e-01 7.08020807e-01 7.72501672e-03 1.89944797e+02] [-7.07970397e-01 7.06191390e-01 -8.46391181e-03 -7.91823507e+01] [-1.14479660e-02 5.07702413e-04 9.99934341e-01 -2.47224255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.99, Y:-79.22, Z:-2.47 [[ 7.07893659e-01 7.06276802e-01 7.72316363e-03 1.89991322e+02] [-7.06226270e-01 7.07935583e-01 -8.46560238e-03 -7.92243485e+01] [-1.14465609e-02 5.38445197e-04 9.99934341e-01 -2.46877482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.04, Y:-79.27, Z:-2.47 [[ 7.05902447e-01 7.08266982e-01 7.72117833e-03 1.90037509e+02] [-7.08216549e-01 7.05944490e-01 -8.46741272e-03 -7.92659890e+01] [-1.14479122e-02 5.08901085e-04 9.99934341e-01 -2.46827383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:-79.30, Z:-2.47 [[ 6.99200909e-01 7.14883560e-01 7.71907953e-03 1.90087534e+02] [-7.14833504e-01 6.99243400e-01 -8.46932560e-03 -7.93049881e+01] [-1.14520971e-02 4.03903495e-04 9.99934341e-01 -2.46844061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:-79.35, Z:-2.47 [[ 6.94226884e-01 7.19714864e-01 7.71673883e-03 1.90134584e+02] [-7.19665080e-01 6.94269694e-01 -8.47145777e-03 -7.93474910e+01] [-1.14545320e-02 3.27646266e-04 9.99934341e-01 -2.46995024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:-79.39, Z:-2.47 [[ 6.88748263e-01 7.24959529e-01 7.71442803e-03 1.90182767e+02] [-7.24910047e-01 6.88791422e-01 -8.47356154e-03 -7.93863805e+01] [-1.14566210e-02 2.43884405e-04 9.99934341e-01 -2.47216694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:-79.43, Z:-2.47 [[ 6.85673086e-01 7.27868762e-01 7.71257796e-03 1.90230042e+02] [-7.27819445e-01 6.85716432e-01 -8.47524513e-03 -7.94277381e+01] [-1.14575076e-02 1.97883269e-04 9.99934341e-01 -2.47320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:-79.47, Z:-2.47 [[ 6.84274625e-01 7.29183643e-01 7.71048686e-03 1.90274816e+02] [-7.29134388e-01 6.84318042e-01 -8.47714712e-03 -7.94723092e+01] [-1.14578223e-02 1.78715556e-04 9.99934341e-01 -2.47415071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:-79.52, Z:-2.48 [[ 6.82435093e-01 7.30905552e-01 7.70828628e-03 1.90320555e+02] [-7.30856384e-01 6.82478608e-01 -8.47914763e-03 -7.95156116e+01] [-1.14581966e-02 1.52817662e-04 9.99934341e-01 -2.47561286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:-79.56, Z:-2.48 [[ 6.80810409e-01 7.32419144e-01 7.70611334e-03 1.90365220e+02] [-7.32370050e-01 6.80854008e-01 -8.48112202e-03 -7.95593446e+01] [-1.14584743e-02 1.30309542e-04 9.99934341e-01 -2.47684784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:-79.60, Z:-2.48 [[ 6.77667360e-01 7.35328223e-01 7.70410452e-03 1.90409103e+02] [-7.35279295e-01 6.77711146e-01 -8.48294640e-03 -7.96048790e+01] [-1.14589074e-02 8.39473470e-05 9.99934341e-01 -2.47507591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47762799999998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:-79.65, Z:-2.48 [[ 6.76232071e-01 7.36648403e-01 7.70172378e-03 1.90452951e+02] [-7.36599536e-01 6.76275925e-01 -8.48510734e-03 -7.96500005e+01] [-1.14590311e-02 6.48155521e-05 9.99934341e-01 -2.47790060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:-79.70, Z:-2.48 [[ 6.74635353e-01 7.38111008e-01 7.69933543e-03 1.90495435e+02] [-7.38062212e-01 6.74679285e-01 -8.48727395e-03 -7.96953101e+01] [-1.14591325e-02 4.32265179e-05 9.99934341e-01 -2.47908679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:-79.74, Z:-2.48 [[ 6.74083000e-01 7.38615503e-01 7.69726925e-03 1.90537197e+02] [-7.38566718e-01 6.74126945e-01 -8.48914740e-03 -7.97413141e+01] [-1.14591525e-02 3.74430599e-05 9.99934341e-01 -2.47994143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.58, Y:-79.79, Z:-2.48 [[ 6.71795116e-01 7.40697042e-01 7.69511037e-03 1.90576127e+02] [-7.40648371e-01 6.71839186e-01 -8.49110390e-03 -7.97878978e+01] [-1.14592122e-02 4.91117188e-06 9.99934341e-01 -2.48457401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.717628 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:190.62, Y:-79.84, Z:-2.49 [[ 6.71033737e-01 7.41386903e-01 7.69313750e-03 1.90617204e+02] [-7.41338257e-01 6.71077834e-01 -8.49289099e-03 -7.98352219e+01] [-1.14592122e-02 -4.20076664e-06 9.99934341e-01 -2.48690974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.66, Y:-79.88, Z:-2.48 [[ 6.70635828e-01 7.41746866e-01 7.69238313e-03 1.90655199e+02] [-7.41698236e-01 6.70679943e-01 -8.49357420e-03 -7.98840440e+01] [-1.14592091e-02 -9.33183383e-06 9.99934341e-01 -2.48336525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.837628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:190.69, Y:-79.93, Z:-2.48 [[ 6.72781040e-01 7.39801682e-01 7.69044889e-03 1.90692291e+02] [-7.39752904e-01 6.72824992e-01 -8.49532518e-03 -7.99337035e+01] [-1.14591821e-02 2.64618112e-05 9.99934341e-01 -2.48280935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:-79.98, Z:-2.48 [[ 6.76758763e-01 7.36164700e-01 7.68838213e-03 1.90728557e+02] [-7.36115664e-01 6.76802428e-01 -8.49719522e-03 -7.99847721e+01] [-1.14588509e-02 9.10128020e-05 9.99934341e-01 -2.47636187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:-80.03, Z:-2.48 [[ 6.79191353e-01 7.33920995e-01 7.68623609e-03 1.90766421e+02] [-7.33871794e-01 6.79234831e-01 -8.49913600e-03 -8.00323965e+01] [-1.14584536e-02 1.31827813e-04 9.99934341e-01 -2.47566800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:-80.08, Z:-2.48 [[ 6.80162521e-01 7.33021067e-01 7.68507993e-03 1.90804732e+02] [-7.32971796e-01 6.80205920e-01 -8.50018130e-03 -8.00819461e+01] [-1.14582488e-02 1.48557911e-04 9.99934341e-01 -2.47680772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.84, Y:-80.13, Z:-2.48 [[ 6.79740515e-01 7.33412441e-01 7.68272136e-03 1.90844421e+02] [-7.33363171e-01 6.79783915e-01 -8.50231250e-03 -8.01298225e+01] [-1.14582922e-02 1.45141379e-04 9.99934341e-01 -2.47941592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:-80.18, Z:-2.49 [[ 6.80758835e-01 7.32467348e-01 7.68062083e-03 1.90883056e+02] [-7.32417996e-01 6.80802142e-01 -8.50420961e-03 -8.01783230e+01] [-1.14580390e-02 1.63890912e-04 9.99934341e-01 -2.48605135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19762799999998 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:-80.23, Z:-2.49 [[ 6.83457110e-01 7.29950285e-01 7.67853436e-03 1.90921250e+02] [-7.29900753e-01 6.83500210e-01 -8.50609309e-03 -8.02275860e+01] [-1.14573049e-02 2.08981795e-04 9.99934341e-01 -2.48620159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:-80.27, Z:-2.49 [[ 6.84889973e-01 7.28606065e-01 7.67643431e-03 1.90960525e+02] [-7.28556426e-01 6.84932951e-01 -8.50798788e-03 -8.02749835e+01] [-1.14568144e-02 2.34320041e-04 9.99934341e-01 -2.48562577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.00, Y:-80.32, Z:-2.48 [[ 6.86497924e-01 7.27091264e-01 7.67421227e-03 1.90999809e+02] [-7.27041509e-01 6.86540767e-01 -8.50999169e-03 -8.03235996e+01] [-1.14562002e-02 2.62620758e-04 9.99934341e-01 -2.48443384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.377628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:-80.37, Z:-2.48 [[ 6.85310874e-01 7.28210233e-01 7.67215106e-03 1.91039864e+02] [-7.28160527e-01 6.85353774e-01 -8.51184956e-03 -8.03727151e+01] [-1.14565536e-02 2.46705503e-04 9.99934341e-01 -2.48465925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:-80.42, Z:-2.48 [[ 6.82680005e-01 7.30677210e-01 7.66971579e-03 1.91079298e+02] [-7.30627635e-01 6.82723056e-01 -8.51404333e-03 -8.04198206e+01] [-1.14573092e-02 2.08660839e-04 9.99934341e-01 -2.48434114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.497628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:-80.47, Z:-2.49 [[ 6.77787856e-01 7.35217529e-01 7.66855448e-03 1.91119232e+02] [-7.35168230e-01 6.77831223e-01 -8.51508919e-03 -8.04669191e+01] [-1.14584285e-02 1.33746418e-04 9.99934341e-01 -2.48743320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:-80.52, Z:-2.49 [[ 6.73515265e-01 7.39133556e-01 7.66645598e-03 1.91160351e+02] [-7.39084487e-01 6.73558893e-01 -8.51697813e-03 -8.05150769e+01] [-1.14589939e-02 7.01560935e-05 9.99934341e-01 -2.48613304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.617628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:191.20, Y:-80.56, Z:-2.49 [[ 6.68111960e-01 7.44021285e-01 7.66404957e-03 1.91199341e+02] [-7.43972510e-01 6.68155916e-01 -8.51914300e-03 -8.05643645e+01] [-1.14592038e-02 -1.01008719e-05 9.99934341e-01 -2.48882393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:-80.61, Z:-2.49 [[ 6.64505208e-01 7.47244357e-01 7.66160293e-03 1.91238934e+02] [-7.47195770e-01 6.64549372e-01 -8.52134279e-03 -8.06115258e+01] [-1.14590387e-02 -6.22406412e-05 9.99934341e-01 -2.48755103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-80.66, Z:-2.49 [[ 6.61311520e-01 7.50072269e-01 7.65933932e-03 1.91277841e+02] [-7.50023848e-01 6.61355865e-01 -8.52337693e-03 -8.06610473e+01] [-1.14586977e-02 -1.08079799e-04 9.99934341e-01 -2.48897663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:-80.71, Z:-2.49 [[ 6.59419752e-01 7.51735966e-01 7.65692844e-03 1.91316479e+02] [-7.51687631e-01 6.59464192e-01 -8.52554218e-03 -8.07098869e+01] [-1.14584268e-02 -1.33707493e-04 9.99934341e-01 -2.48979579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.35, Y:-80.76, Z:-2.49 [[ 6.57486741e-01 7.53427230e-01 7.65470041e-03 1.91353802e+02] [-7.53378987e-01 6.57531279e-01 -8.52754216e-03 -8.07597575e+01] [-1.14580874e-02 -1.60144545e-04 9.99934341e-01 -2.49270315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.39, Y:-80.81, Z:-2.49 [[ 6.56332531e-01 7.54432929e-01 7.65267816e-03 1.91394337e+02] [-7.54384733e-01 6.56377121e-01 -8.52935656e-03 -8.08075349e+01] [-1.14578703e-02 -1.74969392e-04 9.99934341e-01 -2.49419519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.44, Y:-80.85, Z:-2.50 [[ 6.56308517e-01 7.54453828e-01 7.65193109e-03 1.91437187e+02] [-7.54405625e-01 6.56353099e-01 -8.53002673e-03 -8.08527843e+01] [-1.14578800e-02 -1.74330666e-04 9.99934341e-01 -2.49564575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:-80.90, Z:-2.50 [[ 6.58082142e-01 7.52907281e-01 7.64980893e-03 1.91480413e+02] [-7.52858952e-01 6.58126587e-01 -8.53192948e-03 -8.08985927e+01] [-1.14582945e-02 -1.44516703e-04 9.99934341e-01 -2.49613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.097628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:-80.94, Z:-2.50 [[ 6.60080739e-01 7.51155734e-01 7.64737922e-03 1.91521957e+02] [-7.51107261e-01 6.60125027e-01 -8.53410672e-03 -8.09445174e+01] [-1.14586696e-02 -1.10802592e-04 9.99934341e-01 -2.49798062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:-80.99, Z:-2.50 [[ 6.58977520e-01 7.52123780e-01 7.64513949e-03 1.91563077e+02] [-7.52075349e-01 6.59021854e-01 -8.53611268e-03 -8.09905033e+01] [-1.14585273e-02 -1.24614595e-04 9.99934341e-01 -2.49506743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:-81.04, Z:-2.50 [[ 6.58529682e-01 7.52515941e-01 7.64308013e-03 1.91604981e+02] [-7.52467515e-01 6.58574022e-01 -8.53795620e-03 -8.10360199e+01] [-1.14584822e-02 -1.28671924e-04 9.99934341e-01 -2.49533741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.65, Y:-81.08, Z:-2.50 [[ 6.59328005e-01 7.51816598e-01 7.64100300e-03 1.91647251e+02] [-7.51768103e-01 6.59372270e-01 -8.53981471e-03 -8.10822652e+01] [-1.14586399e-02 -1.13723333e-04 9.99934341e-01 -2.49666750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:-81.13, Z:-2.49 [[ 6.62268762e-01 7.49227428e-01 7.63864480e-03 1.91686320e+02] [-7.49178736e-01 6.62312809e-01 -8.54192354e-03 -8.11301716e+01] [-1.14590157e-02 -6.56611330e-05 9.99934341e-01 -2.49494579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:-81.18, Z:-2.50 [[ 6.63901946e-01 7.47780642e-01 7.63657129e-03 1.91726218e+02] [-7.47731833e-01 6.63945864e-01 -8.54377688e-03 -8.11774777e+01] [-1.14591409e-02 -3.78773444e-05 9.99934341e-01 -2.49537892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:-81.22, Z:-2.50 [[ 6.64591158e-01 7.47168193e-01 7.63438120e-03 1.91766904e+02] [-7.47119321e-01 6.64635006e-01 -8.54573341e-03 -8.12248159e+01] [-1.14591772e-02 -2.43748371e-05 9.99934341e-01 -2.49783399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.81, Y:-81.27, Z:-2.50 [[ 6.63949836e-01 7.47738164e-01 7.63237968e-03 1.91808561e+02] [-7.47689309e-01 6.63993703e-01 -8.54752063e-03 -8.12713127e+01] [-1.14591594e-02 -3.15237634e-05 9.99934341e-01 -2.49826472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:191.85, Y:-81.32, Z:-2.50 [[ 6.62971165e-01 7.48606050e-01 7.62997173e-03 1.91849149e+02] [-7.48557227e-01 6.63015068e-01 -8.54966956e-03 -8.13175399e+01] [-1.14591206e-02 -4.32860921e-05 9.99934341e-01 -2.50183016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:-81.36, Z:-2.50 [[ 6.61985840e-01 7.49477518e-01 7.62878518e-03 1.91889574e+02] [-7.49428741e-01 6.62029793e-01 -8.55072817e-03 -8.13642242e+01] [-1.14590616e-02 -5.67699042e-05 9.99934341e-01 -2.49769784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:-81.41, Z:-2.50 [[ 6.63344214e-01 7.48275542e-01 7.62668120e-03 1.91930603e+02] [-7.48226664e-01 6.63388055e-01 -8.55260437e-03 -8.14108390e+01] [-1.14591539e-02 -3.31656071e-05 9.99934341e-01 -2.49682383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75762799999998 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:-81.46, Z:-2.50 [[ 6.66653478e-01 7.45328791e-01 7.62458146e-03 1.91973448e+02] [-7.45279698e-01 6.66697078e-01 -8.55447586e-03 -8.14568616e+01] [-1.14591833e-02 2.04253154e-05 9.99934341e-01 -2.50151512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:-81.50, Z:-2.50 [[ 6.67064377e-01 7.44961086e-01 7.62217802e-03 1.92015621e+02] [-7.44911945e-01 6.67107922e-01 -8.55661683e-03 -8.15032624e+01] [-1.14591619e-02 2.99628212e-05 9.99934341e-01 -2.49952666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.877628 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:192.06, Y:-81.55, Z:-2.51 [[ 6.71053767e-01 7.41369530e-01 7.61978362e-03 1.92055826e+02] [-7.41320132e-01 6.71097020e-01 -8.55874855e-03 -8.15489950e+01] [-1.14588095e-02 9.46814647e-05 9.99934341e-01 -2.50502623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:-81.60, Z:-2.50 [[ 6.72904521e-01 7.39690120e-01 7.61787039e-03 1.92097372e+02] [-7.39640594e-01 6.72947629e-01 -8.56045112e-03 -8.15957343e+01] [-1.14585089e-02 1.25880082e-04 9.99934341e-01 -2.50256906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:-81.64, Z:-2.50 [[ 6.75053496e-01 7.37729477e-01 7.61547053e-03 1.92139413e+02] [-7.37679802e-01 6.75096432e-01 -8.56258553e-03 -8.16407240e+01] [-1.14580487e-02 1.62424508e-04 9.99934341e-01 -2.50246958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.18, Y:-81.69, Z:-2.50 [[ 6.74937513e-01 7.37835610e-01 7.61355101e-03 1.92181270e+02] [-7.37785922e-01 6.74980434e-01 -8.56429195e-03 -8.16867134e+01] [-1.14580375e-02 1.63191155e-04 9.99934341e-01 -2.50174649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:-81.73, Z:-2.50 [[ 6.72482045e-01 7.40074297e-01 7.61142610e-03 1.92222790e+02] [-7.40024731e-01 6.72525106e-01 -8.56618003e-03 -8.17325429e+01] [-1.14584848e-02 1.27958713e-04 9.99934341e-01 -2.50277985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.27, Y:-81.78, Z:-2.50 [[ 6.69109437e-01 7.43124915e-01 7.61067137e-03 1.92265635e+02] [-7.43075537e-01 6.69152714e-01 -8.56685052e-03 -8.17790270e+01] [-1.14589415e-02 7.68568128e-05 9.99934341e-01 -2.50374479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.237628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:192.31, Y:-81.82, Z:-2.51 [[ 6.63278770e-01 7.48333742e-01 7.60819468e-03 1.92308795e+02] [-7.48284679e-01 6.63322403e-01 -8.56904949e-03 -8.18238095e+01] [-1.14591949e-02 -9.42690864e-06 9.99934341e-01 -2.50946953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.35, Y:-81.87, Z:-2.51 [[ 6.59263070e-01 7.51873894e-01 7.60606330e-03 1.92351339e+02] [-7.51825044e-01 6.59306941e-01 -8.57094093e-03 -8.18707244e+01] [-1.14589971e-02 -6.79240456e-05 9.99934341e-01 -2.50860329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:-81.92, Z:-2.51 [[ 6.56803629e-01 7.54023327e-01 7.60363690e-03 1.92391079e+02] [-7.53974595e-01 6.56847632e-01 -8.57309296e-03 -8.19182658e+01] [-1.14587430e-02 -1.02110487e-04 9.99934341e-01 -2.50848663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.43, Y:-81.97, Z:-2.51 [[ 6.56559838e-01 7.54235638e-01 7.60139541e-03 1.92429861e+02] [-7.54186897e-01 6.56603832e-01 -8.57507993e-03 -8.19659892e+01] [-1.14587362e-02 -1.02819728e-04 9.99934341e-01 -2.50760341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:-82.01, Z:-2.51 [[ 6.56655203e-01 7.54152632e-01 7.59949847e-03 1.92469350e+02] [-7.54103866e-01 6.56699169e-01 -8.57676073e-03 -8.20137723e+01] [-1.14587710e-02 -9.88366165e-05 9.99934341e-01 -2.50648760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:-82.06, Z:-2.51 [[ 6.56043399e-01 7.54684926e-01 7.59744372e-03 1.92509127e+02] [-7.54636175e-01 6.56087381e-01 -8.57858047e-03 -8.20629136e+01] [-1.14587123e-02 -1.05384780e-04 9.99934341e-01 -2.50733533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:-82.11, Z:-2.51 [[ 6.55532932e-01 7.55128393e-01 7.59500135e-03 1.92548539e+02] [-7.55079647e-01 6.55576920e-01 -8.58074227e-03 -8.21108510e+01] [-1.14586697e-02 -1.09871794e-04 9.99934341e-01 -2.50953093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:-82.16, Z:-2.51 [[ 6.53652448e-01 7.56756781e-01 7.59288335e-03 1.92591104e+02] [-7.56708122e-01 6.53696532e-01 -8.58261602e-03 -8.21560922e+01] [-1.14583944e-02 -1.35548532e-04 9.99934341e-01 -2.51352668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.63, Y:-82.20, Z:-2.52 [[ 6.51909702e-01 7.58258611e-01 7.59077765e-03 1.92633239e+02] [-7.58210032e-01 6.51953874e-01 -8.58447797e-03 -8.22009887e+01] [-1.14580912e-02 -1.59099289e-04 9.99934341e-01 -2.51562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.777628 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:192.68, Y:-82.25, Z:-2.52 [[ 6.52667026e-01 7.57606867e-01 7.58869566e-03 1.92676610e+02] [-7.57558223e-01 6.52711127e-01 -8.58631807e-03 -8.22457267e+01] [-1.14582796e-02 -1.44872114e-04 9.99934341e-01 -2.51964132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:-82.29, Z:-2.52 [[ 6.55904294e-01 7.54805935e-01 7.58663052e-03 1.92718021e+02] [-7.54757082e-01 6.55948162e-01 -8.58814238e-03 -8.22935401e+01] [-1.14588172e-02 -9.30636534e-05 9.99934341e-01 -2.51629090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.897628 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:192.76, Y:-82.34, Z:-2.52 [[ 6.66539684e-01 7.45430969e-01 7.58421439e-03 1.92755618e+02] [-7.45381474e-01 6.66582827e-01 -8.59027554e-03 -8.23414702e+01] [-1.14589645e-02 7.26266492e-05 9.99934341e-01 -2.51735824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:-82.39, Z:-2.51 [[ 6.74277109e-01 7.38439496e-01 7.58228652e-03 1.92796230e+02] [-7.38389535e-01 6.74319711e-01 -8.59197686e-03 -8.23889224e+01] [-1.14575403e-02 1.94692298e-04 9.99934341e-01 -2.51274641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:-82.43, Z:-2.51 [[ 6.84063390e-01 7.29383177e-01 7.58019486e-03 1.92839033e+02] [-7.29332632e-01 6.84105298e-01 -8.59382181e-03 -8.24339928e+01] [-1.14538405e-02 3.50235417e-04 9.99934341e-01 -2.51083028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.077628 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:192.88, Y:-82.48, Z:-2.51 [[ 6.89817028e-01 7.23944087e-01 7.57807364e-03 1.92880507e+02] [-7.23893191e-01 6.89858509e-01 -8.59569190e-03 -8.24813252e+01] [-1.14505989e-02 4.43738734e-04 9.99934341e-01 -2.51428607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:192.92, Y:-82.53, Z:-2.52 [[ 6.93551508e-01 7.20367210e-01 7.57557702e-03 1.92923668e+02] [-7.20316076e-01 6.93592695e-01 -8.59789167e-03 -8.25274151e+01] [-1.14480041e-02 5.06270820e-04 9.99934341e-01 -2.51622542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19762799999998 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:-82.57, Z:-2.52 [[ 6.92002343e-01 7.21855529e-01 7.57312976e-03 1.92967778e+02] [-7.21804461e-01 6.92043611e-01 -8.60004671e-03 -8.25704984e+01] [-1.14489273e-02 4.84933630e-04 9.99934341e-01 -2.51729271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25762799999998 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:-82.61, Z:-2.52 [[ 6.87217169e-01 7.26412586e-01 7.57087274e-03 1.93013899e+02] [-7.26361769e-01 6.87258747e-01 -8.60203317e-03 -8.26133318e+01] [-1.14517737e-02 4.12272372e-04 9.99934341e-01 -2.51895153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31762799999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:-82.66, Z:-2.51 [[ 6.82528456e-01 7.30819831e-01 7.56843243e-03 1.93057002e+02] [-7.30769259e-01 6.82570332e-01 -8.60417972e-03 -8.26587553e+01] [-1.14540926e-02 3.41819747e-04 9.99934341e-01 -2.51456626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.10, Y:-82.70, Z:-2.51 [[ 6.75256642e-01 7.37544048e-01 7.56597335e-03 1.93103641e+02] [-7.37493870e-01 6.75298988e-01 -8.60634154e-03 -8.27014330e+01] [-1.14568501e-02 2.31630322e-04 9.99934341e-01 -2.51356347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.437628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:193.15, Y:-82.75, Z:-2.52 [[ 6.73452438e-01 7.39191861e-01 7.56351701e-03 1.93146975e+02] [-7.39141762e-01 6.73494877e-01 -8.60849970e-03 -8.27461695e+01] [-1.14573229e-02 2.06903819e-04 9.99934341e-01 -2.51768795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:-82.79, Z:-2.52 [[ 6.67880026e-01 7.44230541e-01 7.56124563e-03 1.93192640e+02] [-7.44180740e-01 6.67922815e-01 -8.61049430e-03 -8.27891748e+01] [-1.14585213e-02 1.23843796e-04 9.99934341e-01 -2.51574113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:-82.83, Z:-2.52 [[ 6.65848763e-01 7.46048450e-01 7.55880891e-03 1.93235820e+02] [-7.45998741e-01 6.65891659e-01 -8.61263286e-03 -8.28349333e+01] [-1.14587892e-02 9.58490071e-05 9.99934341e-01 -2.51614800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:-82.88, Z:-2.52 [[ 6.64725291e-01 7.47049656e-01 7.55639943e-03 1.93280863e+02] [-7.46999987e-01 6.64768234e-01 -8.61474634e-03 -8.28790336e+01] [-1.14588976e-02 8.18094881e-05 9.99934341e-01 -2.51882278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:-82.92, Z:-2.52 [[ 6.65445859e-01 7.46407895e-01 7.55398171e-03 1.93323601e+02] [-7.46358161e-01 6.65488727e-01 -8.61686583e-03 -8.29243418e+01] [-1.14587864e-02 9.60817863e-05 9.99934341e-01 -2.52166473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:-82.97, Z:-2.52 [[ 6.70627817e-01 7.41755546e-01 7.55249286e-03 1.93364250e+02] [-7.41705500e-01 6.70670320e-01 -8.61817058e-03 -8.29718232e+01] [-1.14578086e-02 1.77859434e-04 9.99934341e-01 -2.52325614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:-83.02, Z:-2.52 [[ 6.75962235e-01 7.36897587e-01 7.54998815e-03 1.93404913e+02] [-7.36847211e-01 6.76004346e-01 -8.62036429e-03 -8.30195604e+01] [-1.14561504e-02 2.63853002e-04 9.99934341e-01 -2.52498767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:-83.07, Z:-2.53 [[ 6.83419354e-01 7.29987001e-01 7.54751585e-03 1.93444429e+02] [-7.29936176e-01 6.83460921e-01 -8.62252835e-03 -8.30667407e+01] [-1.14527657e-02 3.83597900e-04 9.99934341e-01 -2.52650516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.49, Y:-83.11, Z:-2.53 [[ 6.86478737e-01 7.27110729e-01 7.54523716e-03 1.93485469e+02] [-7.27059708e-01 6.86520064e-01 -8.62452188e-03 -8.31146324e+01] [-1.14509391e-02 4.34712955e-04 9.99934341e-01 -2.52798528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:-83.16, Z:-2.53 [[ 6.87989280e-01 7.25681649e-01 7.54282377e-03 1.93526859e+02] [-7.25630519e-01 6.88030472e-01 -8.62663207e-03 -8.31613661e+01] [-1.14498812e-02 4.61727263e-04 9.99934341e-01 -2.52979398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03762799999998 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:193.57, Y:-83.21, Z:-2.53 [[ 6.86615425e-01 7.26981706e-01 7.54041680e-03 1.93569059e+02] [-7.26930631e-01 6.86656685e-01 -8.62873545e-03 -8.32081160e+01] [-1.14506104e-02 4.43262918e-04 9.99934341e-01 -2.53178721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.097628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:193.61, Y:-83.25, Z:-2.53 [[ 6.79682357e-01 7.33467841e-01 7.53796410e-03 1.93612803e+02] [-7.33417136e-01 6.79724071e-01 -8.63087757e-03 -8.32539667e+01] [-1.14542068e-02 3.37783164e-04 9.99934341e-01 -2.53095401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.66, Y:-83.30, Z:-2.53 [[ 6.69597031e-01 7.42686361e-01 7.53553268e-03 1.93656622e+02] [-7.42636208e-01 6.69639406e-01 -8.63299989e-03 -8.32988506e+01] [-1.14577009e-02 1.84471688e-04 9.99934341e-01 -2.53157351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.70, Y:-83.34, Z:-2.53 [[ 6.62714021e-01 7.48834681e-01 7.53306077e-03 1.93699180e+02] [-7.48784895e-01 6.62756829e-01 -8.63515632e-03 -8.33445842e+01] [-1.14588920e-02 8.19970521e-05 9.99934341e-01 -2.53310555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.74, Y:-83.39, Z:-2.53 [[ 6.54290079e-01 7.56206177e-01 7.53061289e-03 1.93740130e+02] [-7.56156850e-01 6.54333413e-01 -8.63729056e-03 -8.33920448e+01] [-1.14591041e-02 -4.30309988e-05 9.99934341e-01 -2.53229575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:-83.44, Z:-2.53 [[ 6.50069611e-01 7.59837369e-01 7.52813698e-03 1.93780492e+02] [-7.59788259e-01 6.50113191e-01 -8.63944798e-03 -8.34404112e+01] [-1.14587166e-02 -1.03547497e-04 9.99934341e-01 -2.53181711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:-83.49, Z:-2.53 [[ 6.45064738e-01 7.64090863e-01 7.52567210e-03 1.93820360e+02] [-7.64042015e-01 6.45108612e-01 -8.64159457e-03 -8.34886018e+01] [-1.14578393e-02 -1.75541736e-04 9.99934341e-01 -2.53300749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.86, Y:-83.54, Z:-2.53 [[ 6.42572807e-01 7.66187698e-01 7.52317663e-03 1.93859648e+02] [-7.66138968e-01 6.42616812e-01 -8.64376652e-03 -8.35369653e+01] [-1.14572674e-02 -2.09549455e-04 9.99934341e-01 -2.53455333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:-83.59, Z:-2.54 [[ 6.40966879e-01 7.67531691e-01 7.52087006e-03 1.93896985e+02] [-7.67483030e-01 6.41010959e-01 -8.64577298e-03 -8.35875254e+01] [-1.14568649e-02 -2.30486019e-04 9.99934341e-01 -2.53546673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:-83.64, Z:-2.54 [[ 6.41051474e-01 7.67461062e-01 7.51846096e-03 1.93935630e+02] [-7.67412371e-01 6.41095522e-01 -8.64786745e-03 -8.36366451e+01] [-1.14569532e-02 -2.26031780e-04 9.99934341e-01 -2.53611823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:-83.69, Z:-2.54 [[ 6.42332300e-01 7.66389410e-01 7.51594063e-03 1.93971425e+02] [-7.66340620e-01 6.42376238e-01 -8.65005734e-03 -8.36875123e+01] [-1.14573740e-02 -2.03559377e-04 9.99934341e-01 -2.53717641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.01, Y:-83.74, Z:-2.54 [[ 6.45234254e-01 7.63947840e-01 7.51361397e-03 1.94006235e+02] [-7.63898860e-01 6.45277981e-01 -8.65207785e-03 -8.37398844e+01] [-1.14581058e-02 -1.57024145e-04 9.99934341e-01 -2.53957406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:-83.79, Z:-2.54 [[ 6.46468522e-01 7.62903682e-01 7.51142481e-03 1.94042932e+02] [-7.62854609e-01 6.46512145e-01 -8.65397798e-03 -8.37903641e+01] [-1.14583790e-02 -1.35600684e-04 9.99934341e-01 -2.54110738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:-83.84, Z:-2.54 [[ 6.47692427e-01 7.61864898e-01 7.50988273e-03 1.94079437e+02] [-7.61815740e-01 6.47735953e-01 -8.65531599e-03 -8.38410720e+01] [-1.14586025e-02 -1.15164249e-04 9.99934341e-01 -2.54353013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.877628 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:-83.89, Z:-2.55 [[ 6.49433050e-01 7.60381712e-01 7.50771173e-03 1.94116489e+02] [-7.60332432e-01 6.49476439e-01 -8.65719873e-03 -8.38905109e+01] [-1.14588575e-02 -8.60857501e-05 9.99934341e-01 -2.54813844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:-83.94, Z:-2.54 [[ 6.52320106e-01 7.57906424e-01 7.50554076e-03 1.94153431e+02] [-7.57856958e-01 6.52363282e-01 -8.65908049e-03 -8.39413103e+01] [-1.14591119e-02 -3.96339893e-05 9.99934341e-01 -2.54331317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.19, Y:-83.99, Z:-2.54 [[ 6.53837852e-01 7.56597490e-01 7.50339863e-03 1.94194056e+02] [-7.56547917e-01 6.53880905e-01 -8.66093633e-03 -8.39884068e+01] [-1.14591718e-02 -1.38325983e-05 9.99934341e-01 -2.54097533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:-84.03, Z:-2.54 [[ 6.61341161e-01 7.50047733e-01 7.50121526e-03 1.94239616e+02] [-7.49997711e-01 6.61383692e-01 -8.66282692e-03 -8.40324833e+01] [-1.14587151e-02 1.03189735e-04 9.99934341e-01 -2.54093430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.28, Y:-84.08, Z:-2.54 [[ 6.63474958e-01 7.48160912e-01 7.49862639e-03 1.94280830e+02] [-7.48110745e-01 6.63517317e-01 -8.66506730e-03 -8.40801612e+01] [-1.14583331e-02 1.39252195e-04 9.99934341e-01 -2.54247600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:-84.13, Z:-2.54 [[ 6.62811093e-01 7.48749132e-01 7.49610391e-03 1.94318595e+02] [-7.48698978e-01 6.62853468e-01 -8.66724893e-03 -8.41295026e+01] [-1.14584136e-02 1.32423402e-04 9.99934341e-01 -2.53998339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:-84.18, Z:-2.54 [[ 6.63687326e-01 7.47972577e-01 7.49376943e-03 1.94361971e+02] [-7.47922351e-01 6.63729615e-01 -8.66926687e-03 -8.41755148e+01] [-1.14582106e-02 1.48924901e-04 9.99934341e-01 -2.54232563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.41, Y:-84.22, Z:-2.54 [[ 6.64851423e-01 7.46938060e-01 7.49133375e-03 1.94405849e+02] [-7.46887743e-01 6.64893605e-01 -8.67137109e-03 -8.42201684e+01] [-1.14579170e-02 1.69988043e-04 9.99934341e-01 -2.54493956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:-84.27, Z:-2.55 [[ 6.65565965e-01 7.46301456e-01 7.48889422e-03 1.94447955e+02] [-7.46251076e-01 6.65608070e-01 -8.67347744e-03 -8.42674801e+01] [-1.14576973e-02 1.84176017e-04 9.99934341e-01 -2.54907629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.49, Y:-84.31, Z:-2.55 [[ 6.66953390e-01 7.45061830e-01 7.48638105e-03 1.94490235e+02] [-7.45011347e-01 6.66995372e-01 -8.67564610e-03 -8.43132752e+01] [-1.14572743e-02 2.08812742e-04 9.99934341e-01 -2.54678894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:-84.36, Z:-2.55 [[ 6.67891532e-01 7.44220995e-01 7.48406078e-03 1.94531241e+02] [-7.44170437e-01 6.67933424e-01 -8.67764722e-03 -8.43593092e+01] [-1.14569416e-02 2.26310315e-04 9.99934341e-01 -2.54808813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.57, Y:-84.41, Z:-2.55 [[ 6.67772036e-01 7.44328242e-01 7.48178287e-03 1.94573193e+02] [-7.44277668e-01 6.67813909e-01 -8.67961077e-03 -8.44063502e+01] [-1.14569181e-02 2.27477448e-04 9.99934341e-01 -2.54994707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.597628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:-84.45, Z:-2.55 [[ 6.66594583e-01 7.45382936e-01 7.47937540e-03 1.94614391e+02] [-7.45332405e-01 6.66636508e-01 -8.68168484e-03 -8.44535253e+01] [-1.14572044e-02 2.12543228e-04 9.99934341e-01 -2.55158925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:-84.50, Z:-2.55 [[ 6.62138409e-01 7.49344262e-01 7.47690184e-03 1.94654617e+02] [-7.49293958e-01 6.62180606e-01 -8.68381461e-03 -8.45011155e+01] [-1.14582260e-02 1.47489812e-04 9.99934341e-01 -2.55015487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:-84.55, Z:-2.55 [[ 6.58123692e-01 7.52872722e-01 7.47461313e-03 1.94696172e+02] [-7.52822623e-01 6.58166131e-01 -8.68578417e-03 -8.45480717e+01] [-1.14588272e-02 8.92624872e-05 9.99934341e-01 -2.55151070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.74, Y:-84.59, Z:-2.56 [[ 6.52168540e-01 7.58037177e-01 7.47219434e-03 1.94737880e+02] [-7.57987389e-01 6.52211345e-01 -8.68786451e-03 -8.45948326e+01] [-1.14591742e-02 2.12283079e-06 9.99934342e-01 -2.55516677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.78, Y:-84.64, Z:-2.56 [[ 6.48452265e-01 7.61218669e-01 7.46980275e-03 1.94777306e+02] [-7.61169068e-01 6.48495285e-01 -8.68992031e-03 -8.46435007e+01] [-1.14590614e-02 -5.07842905e-05 9.99934342e-01 -2.55742754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:-84.69, Z:-2.56 [[ 6.45759683e-01 7.63504204e-01 7.46737225e-03 1.94814352e+02] [-7.63454731e-01 6.45802851e-01 -8.69200837e-03 -8.46921680e+01] [-1.14588352e-02 -8.80520994e-05 9.99934342e-01 -2.56107379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.957628 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:-84.74, Z:-2.56 [[ 6.47767180e-01 7.61801777e-01 7.46542925e-03 1.94852578e+02] [-7.61752172e-01 6.47810195e-01 -8.69367686e-03 -8.47424689e+01] [-1.14590397e-02 -5.53283945e-05 9.99934342e-01 -2.56414399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:-84.79, Z:-2.56 [[ 6.49800324e-01 7.60068314e-01 7.46298283e-03 1.94890176e+02] [-7.60018570e-01 6.49843179e-01 -8.69577645e-03 -8.47919338e+01] [-1.14591526e-02 -2.14871831e-05 9.99934342e-01 -2.55972477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.93, Y:-84.84, Z:-2.56 [[ 6.51680129e-01 7.58457214e-01 7.46082872e-03 1.94931555e+02] [-7.58407342e-01 6.51722836e-01 -8.69762425e-03 -8.48387445e+01] [-1.14591683e-02 9.72161524e-06 9.99934342e-01 -2.55898147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:-84.89, Z:-2.56 [[ 6.53361964e-01 7.57008928e-01 7.45837730e-03 1.94973014e+02] [-7.56958937e-01 6.53404532e-01 -8.69972588e-03 -8.48863262e+01] [-1.14591077e-02 3.83846317e-05 9.99934342e-01 -2.55989410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:-84.93, Z:-2.56 [[ 6.54649268e-01 7.55895989e-01 7.45594227e-03 1.95013608e+02] [-7.55845902e-01 6.54691722e-01 -8.70181228e-03 -8.49338057e+01] [-1.14590087e-02 6.10916190e-05 9.99934342e-01 -2.56041803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:-84.98, Z:-2.56 [[ 6.53912060e-01 7.56533848e-01 7.45347885e-03 1.95055357e+02] [-7.56483779e-01 6.53954535e-01 -8.70392180e-03 -8.49806579e+01] [-1.14590477e-02 5.31635873e-05 9.99934342e-01 -2.56182044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:195.10, Y:-85.03, Z:-2.57 [[ 6.52487004e-01 7.57763282e-01 7.45101964e-03 1.95097225e+02] [-7.57713269e-01 6.52529545e-01 -8.70602650e-03 -8.50267057e+01] [-1.14591177e-02 3.48326971e-05 9.99934342e-01 -2.56678896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.377628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:195.14, Y:-85.07, Z:-2.57 [[ 6.50068632e-01 7.59838988e-01 7.44886784e-03 1.95138750e+02] [-7.59789090e-01 6.50111307e-01 -8.70786719e-03 -8.50720498e+01] [-1.14591702e-02 1.14279707e-06 9.99934342e-01 -2.56958381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.18, Y:-85.12, Z:-2.57 [[ 6.45785967e-01 7.63482165e-01 7.44766577e-03 1.95180253e+02] [-7.63432496e-01 6.45828909e-01 -8.70889518e-03 -8.51187631e+01] [-1.14590040e-02 -6.17077641e-05 9.99934342e-01 -2.56820862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:-85.17, Z:-2.57 [[ 6.44511128e-01 7.64558680e-01 7.44522344e-03 1.95221118e+02] [-7.64509058e-01 6.44554124e-01 -8.71098262e-03 -8.51667559e+01] [-1.14589068e-02 -7.76155257e-05 9.99934342e-01 -2.56831695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:-85.21, Z:-2.57 [[ 6.45871993e-01 7.63409441e-01 7.44273940e-03 1.95260197e+02] [-7.63359718e-01 6.45914873e-01 -8.71310449e-03 -8.52149136e+01] [-1.14590423e-02 -5.39372868e-05 9.99934342e-01 -2.56738473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:-85.26, Z:-2.57 [[ 6.49487455e-01 7.60335902e-01 7.44054490e-03 1.95298344e+02] [-7.60285955e-01 6.49530073e-01 -8.71497807e-03 -8.52642889e+01] [-1.14591684e-02 3.32714321e-06 9.99934342e-01 -2.56672308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:-85.31, Z:-2.57 [[ 6.51557635e-01 7.58562668e-01 7.43822988e-03 1.95337404e+02] [-7.58512582e-01 6.51600090e-01 -8.71695349e-03 -8.53135536e+01] [-1.14591068e-02 3.76066497e-05 9.99934342e-01 -2.56662035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:-85.36, Z:-2.57 [[ 6.51520570e-01 7.58594527e-01 7.43576639e-03 1.95377980e+02] [-7.58544419e-01 6.51563000e-01 -8.71905441e-03 -8.53610852e+01] [-1.14590972e-02 4.02842054e-05 9.99934342e-01 -2.56585930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:-85.41, Z:-2.57 [[ 6.50813765e-01 7.59201020e-01 7.43327201e-03 1.95419622e+02] [-7.59150928e-01 6.50856213e-01 -8.72118043e-03 -8.54081956e+01] [-1.14591203e-02 3.28889263e-05 9.99934342e-01 -2.56652779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:-85.45, Z:-2.57 [[ 6.50108128e-01 7.59805373e-01 7.43080249e-03 1.95462654e+02] [-7.59755296e-01 6.50150593e-01 -8.72328405e-03 -8.54533735e+01] [-1.14591387e-02 2.54863179e-05 9.99934342e-01 -2.57237038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:195.50, Y:-85.50, Z:-2.58 [[ 6.50520109e-01 7.59452700e-01 7.42861944e-03 1.95503509e+02] [-7.59402579e-01 6.50562522e-01 -8.72514271e-03 -8.54994720e+01] [-1.14591146e-02 3.45680309e-05 9.99934342e-01 -2.57745309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97762799999998 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:-85.55, Z:-2.58 [[ 6.51532357e-01 7.58584495e-01 7.42645464e-03 1.95544502e+02] [-7.58534296e-01 6.51574678e-01 -8.72698490e-03 -8.55468608e+01] [-1.14590452e-02 5.26924936e-05 9.99934342e-01 -2.57731692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:-85.59, Z:-2.58 [[ 6.51489738e-01 7.58621121e-01 7.42398075e-03 1.95585916e+02] [-7.58570901e-01 6.51532034e-01 -8.72908892e-03 -8.55943181e+01] [-1.14590325e-02 5.52960868e-05 9.99934342e-01 -2.57508804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.63, Y:-85.64, Z:-2.58 [[ 6.51222587e-01 7.58850489e-01 7.42151232e-03 1.95626453e+02] [-7.58800259e-01 6.51264872e-01 -8.73118708e-03 -8.56417721e+01] [-1.14590358e-02 5.45007570e-05 9.99934342e-01 -2.57556277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.157628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:-85.69, Z:-2.58 [[ 6.51690652e-01 7.58448582e-01 7.41905057e-03 1.95666762e+02] [-7.58398303e-01 6.51732878e-01 -8.73327838e-03 -8.56894245e+01] [-1.14589818e-02 6.48005228e-05 9.99934342e-01 -2.57765455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:-85.74, Z:-2.57 [[ 6.51071156e-01 7.58980463e-01 7.41658910e-03 1.95707084e+02] [-7.58930195e-01 6.51113395e-01 -8.73536823e-03 -8.57375427e+01] [-1.14590143e-02 5.86728857e-05 9.99934342e-01 -2.57478242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.75, Y:-85.79, Z:-2.58 [[ 6.50280739e-01 7.59657812e-01 7.41410549e-03 1.95748190e+02] [-7.59607563e-01 6.50323001e-01 -8.73747568e-03 -8.57855130e+01] [-1.14590550e-02 5.00015326e-05 9.99934342e-01 -2.57519677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:-85.83, Z:-2.58 [[ 6.47869007e-01 7.61715707e-01 7.41163531e-03 1.95789043e+02] [-7.61665568e-01 6.47911400e-01 -8.73957053e-03 -8.58331529e+01] [-1.14591511e-02 1.69094560e-05 9.99934342e-01 -2.57537982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:-85.88, Z:-2.58 [[ 6.46524516e-01 7.62857231e-01 7.40916209e-03 1.95829634e+02] [-7.62807144e-01 6.46566969e-01 -8.74166675e-03 -8.58815731e+01] [-1.14591632e-02 -5.99107038e-08 9.99934342e-01 -2.57688461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.87, Y:-85.93, Z:-2.58 [[ 6.45763260e-01 7.63501770e-01 7.40669284e-03 1.95869651e+02] [-7.63451701e-01 6.45805735e-01 -8.74375841e-03 -8.59304200e+01] [-1.14591597e-02 -8.25431291e-06 9.99934342e-01 -2.57947066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.91, Y:-85.98, Z:-2.58 [[ 6.45788987e-01 7.63480034e-01 7.40422361e-03 1.95909023e+02] [-7.63429939e-01 6.45831432e-01 -8.74584886e-03 -8.59797897e+01] [-1.14591613e-02 -4.63310198e-06 9.99934342e-01 -2.58074500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:-86.03, Z:-2.58 [[ 6.46852487e-01 7.62579225e-01 7.40172219e-03 1.95948379e+02] [-7.62529047e-01 6.46894833e-01 -8.74796533e-03 -8.60276193e+01] [-1.14591525e-02 1.46149617e-05 9.99934342e-01 -2.58218196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.99, Y:-86.07, Z:-2.58 [[ 6.48135199e-01 7.61489338e-01 7.39941146e-03 1.95990236e+02] [-7.61439067e-01 6.48177434e-01 -8.74991941e-03 -8.60743943e+01] [-1.14591019e-02 3.69297973e-05 9.99934342e-01 -2.58438210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:-86.12, Z:-2.59 [[ 6.49459501e-01 7.60360205e-01 7.39693654e-03 1.96031599e+02] [-7.60309837e-01 6.49501620e-01 -8.75201114e-03 -8.61221735e+01] [-1.14590033e-02 6.01131702e-05 9.99934342e-01 -2.58602326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75762799999998 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:-86.17, Z:-2.59 [[ 6.51934507e-01 7.58239224e-01 7.39448749e-03 1.96071712e+02] [-7.58188695e-01 6.51976433e-01 -8.75407983e-03 -8.61702203e+01] [-1.14587183e-02 1.00669896e-04 9.99934342e-01 -2.59037395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.11, Y:-86.22, Z:-2.59 [[ 6.52788811e-01 7.57503862e-01 7.39373047e-03 1.96113264e+02] [-7.57453279e-01 6.52830671e-01 -8.75471916e-03 -8.62169745e+01] [-1.14585876e-02 1.14577318e-04 9.99934342e-01 -2.58975472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.877628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:-86.26, Z:-2.59 [[ 6.54170559e-01 7.56310948e-01 7.39122092e-03 1.96154351e+02] [-7.56260264e-01 6.54212298e-01 -8.75683735e-03 -8.62639146e+01] [-1.14583196e-02 1.38778489e-04 9.99934342e-01 -2.59298523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:-86.31, Z:-2.59 [[ 6.54007348e-01 7.56452110e-01 7.38871978e-03 1.96195270e+02] [-7.56401412e-01 6.54049069e-01 -8.75894722e-03 -8.63112058e+01] [-1.14583094e-02 1.39577767e-04 9.99934342e-01 -2.59099847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.997628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:-86.36, Z:-2.59 [[ 6.51793053e-01 7.58360903e-01 7.38623622e-03 1.96237144e+02] [-7.58310303e-01 6.51834893e-01 -8.76104106e-03 -8.63582532e+01] [-1.14586375e-02 1.09326670e-04 9.99934342e-01 -2.59354942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.28, Y:-86.41, Z:-2.59 [[ 6.47246732e-01 7.62244808e-01 7.38376211e-03 1.96278505e+02] [-7.62194435e-01 6.47288846e-01 -8.76312573e-03 -8.64056501e+01] [-1.14590739e-02 4.40421018e-05 9.99934342e-01 -2.59283914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:-86.45, Z:-2.59 [[ 6.44715428e-01 7.64387032e-01 7.38123852e-03 1.96317751e+02] [-7.64336775e-01 6.44757679e-01 -8.76525085e-03 -8.64529677e+01] [-1.14591543e-02 9.34040045e-06 9.99934342e-01 -2.59406291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:-86.50, Z:-2.60 [[ 6.41527695e-01 7.67064376e-01 7.37968297e-03 1.96356923e+02] [-7.67014280e-01 6.41570137e-01 -8.76656031e-03 -8.65025364e+01] [-1.14591003e-02 -3.63309973e-05 9.99934342e-01 -2.59592504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.40, Y:-86.55, Z:-2.60 [[ 6.39763745e-01 7.68536224e-01 7.37715556e-03 1.96395555e+02] [-7.68486201e-01 6.39806274e-01 -8.76868664e-03 -8.65502866e+01] [-1.14590037e-02 -5.93544442e-05 9.99934342e-01 -2.59674624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.43, Y:-86.60, Z:-2.60 [[ 6.38131489e-01 7.69892080e-01 7.37482257e-03 1.96434219e+02] [-7.69842124e-01 6.38174098e-01 -8.77064834e-03 -8.65999735e+01] [-1.14588734e-02 -8.06221868e-05 9.99934342e-01 -2.59671644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:-86.65, Z:-2.60 [[ 6.37295182e-01 7.70584518e-01 7.37232707e-03 1.96474351e+02] [-7.70534585e-01 6.37337816e-01 -8.77274547e-03 -8.66485925e+01] [-1.14588047e-02 -8.98045604e-05 9.99934342e-01 -2.59694197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.52, Y:-86.70, Z:-2.60 [[ 6.37393805e-01 7.70502967e-01 7.36982077e-03 1.96515044e+02] [-7.70453004e-01 6.37436405e-01 -8.77485047e-03 -8.66971488e+01] [-1.14588404e-02 -8.50652176e-05 9.99934342e-01 -2.59715651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:-86.74, Z:-2.60 [[ 6.39287191e-01 7.68932774e-01 7.36730074e-03 1.96554816e+02] [-7.68882682e-01 6.39329638e-01 -8.77696576e-03 -8.67446956e+01] [-1.14590303e-02 -5.35881676e-05 9.99934342e-01 -2.59796961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:-86.79, Z:-2.60 [[ 6.44919391e-01 7.64215111e-01 7.36497186e-03 1.96592837e+02] [-7.64164686e-01 6.44961443e-01 -8.77891954e-03 -8.67937173e+01] [-1.14591058e-02 3.36440392e-05 9.99934342e-01 -2.59852696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.63, Y:-86.84, Z:-2.60 [[ 6.49181313e-01 7.60598063e-01 7.36268268e-03 1.96633298e+02] [-7.60547382e-01 6.49223056e-01 -8.78083901e-03 -8.68425524e+01] [-1.14587125e-02 1.00687557e-04 9.99934342e-01 -2.59957759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.67, Y:-86.89, Z:-2.60 [[ 6.56248698e-01 7.54508756e-01 7.36094668e-03 1.96673933e+02] [-7.54457672e-01 6.56289946e-01 -8.78229405e-03 -8.68889867e+01] [-1.14572331e-02 2.09846341e-04 9.99934342e-01 -2.60095135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:-86.93, Z:-2.60 [[ 6.62769005e-01 7.48787750e-01 7.35876722e-03 1.96715505e+02] [-7.48736289e-01 6.62809783e-01 -8.78411986e-03 -8.69346120e+01] [-1.14549042e-02 3.12066326e-04 9.99934342e-01 -2.60360040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.76, Y:-86.98, Z:-2.61 [[ 6.66379821e-01 7.45576163e-01 7.35656393e-03 1.96756534e+02] [-7.45524486e-01 6.66420324e-01 -8.78596469e-03 -8.69796649e+01] [-1.14531696e-02 3.70291041e-04 9.99934342e-01 -2.60543911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.837628 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:-87.02, Z:-2.61 [[ 6.71496735e-01 7.40971015e-01 7.35455321e-03 1.96801130e+02] [-7.40919042e-01 6.71536857e-01 -8.78764750e-03 -8.70240757e+01] [-1.14502456e-02 4.51748089e-04 9.99934342e-01 -2.60577733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:-87.07, Z:-2.60 [[ 6.70305311e-01 7.42049012e-01 7.35210726e-03 1.96844784e+02] [-7.41997081e-01 6.70345487e-01 -8.78969341e-03 -8.70687389e+01] [-1.14508352e-02 4.36536041e-04 9.99934342e-01 -2.60049749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:-87.12, Z:-2.60 [[ 6.65381358e-01 7.46467432e-01 7.34992103e-03 1.96887873e+02] [-7.46415748e-01 6.65421851e-01 -8.79152115e-03 -8.71150902e+01] [-1.14533823e-02 3.63617477e-04 9.99934342e-01 -2.59798021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.93, Y:-87.16, Z:-2.60 [[ 6.52934929e-01 7.57378369e-01 7.34738927e-03 1.96933841e+02] [-7.57327339e-01 6.52976243e-01 -8.79363652e-03 -8.71574392e+01] [-1.14577807e-02 1.77293675e-04 9.99934342e-01 -2.59840966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.077628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:-87.20, Z:-2.60 [[ 6.41214134e-01 7.67326843e-01 7.34504909e-03 1.96977932e+02] [-7.67276431e-01 6.41256201e-01 -8.79559076e-03 -8.72021611e+01] [-1.14591512e-02 4.17405923e-06 9.99934342e-01 -2.60281877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:-87.25, Z:-2.60 [[ 6.35447396e-01 7.72109234e-01 7.34426784e-03 1.97018511e+02] [-7.72059131e-01 6.35489831e-01 -8.79624305e-03 -8.72498699e+01] [-1.14588680e-02 -8.06593025e-05 9.99934342e-01 -2.60177513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:-87.30, Z:-2.60 [[ 6.33499850e-01 7.73707980e-01 7.34177646e-03 1.97058527e+02] [-7.73657960e-01 6.33542382e-01 -8.79832199e-03 -8.72982202e+01] [-1.14586585e-02 -1.06288144e-04 9.99934342e-01 -2.60293292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.10, Y:-87.35, Z:-2.60 [[ 6.32036231e-01 7.74904083e-01 7.33928112e-03 1.97096397e+02] [-7.74854120e-01 6.32078829e-01 -8.80040304e-03 -8.73477287e+01] [-1.14584725e-02 -1.24698646e-04 9.99934342e-01 -2.60465245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:-87.40, Z:-2.61 [[ 6.32648442e-01 7.74404362e-01 7.33708776e-03 1.97134296e+02] [-7.74354344e-01 6.32690976e-01 -8.80223130e-03 -8.73975391e+01] [-1.14585955e-02 -1.12787859e-04 9.99934342e-01 -2.60693168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:-87.45, Z:-2.61 [[ 6.35190549e-01 7.72320640e-01 7.33457709e-03 1.97168272e+02] [-7.72270458e-01 6.35232889e-01 -8.80432286e-03 -8.74491947e+01] [-1.14589249e-02 -7.18545405e-05 9.99934342e-01 -2.61066581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:-87.50, Z:-2.61 [[ 6.39116729e-01 7.69074795e-01 7.33257027e-03 1.97202387e+02] [-7.69024379e-01 6.39158791e-01 -8.80599390e-03 -8.75020495e+01] [-1.14591447e-02 -1.08672761e-05 9.99934342e-01 -2.61151332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.24, Y:-87.55, Z:-2.61 [[ 6.43248320e-01 7.65622534e-01 7.33040059e-03 1.97237816e+02] [-7.65571871e-01 6.43290084e-01 -8.80779964e-03 -8.75536504e+01] [-1.14590239e-02 5.36538204e-05 9.99934342e-01 -2.61179848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:-87.61, Z:-2.61 [[ 6.50062720e-01 7.59845221e-01 7.32811050e-03 1.97271362e+02] [-7.59794165e-01 6.50104003e-01 -8.80970459e-03 -8.76072770e+01] [-1.14580459e-02 1.59004923e-04 9.99934342e-01 -2.61102837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:-87.66, Z:-2.61 [[ 6.52164827e-01 7.58041801e-01 7.32565248e-03 1.97310071e+02] [-7.57990609e-01 6.52205941e-01 -8.81174806e-03 -8.76567529e+01] [-1.14575074e-02 1.93936369e-04 9.99934342e-01 -2.61091621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.35, Y:-87.70, Z:-2.61 [[ 6.52168343e-01 7.58038801e-01 7.32314439e-03 1.97349745e+02] [-7.57987585e-01 6.52209428e-01 -8.81383196e-03 -8.77038813e+01] [-1.14574504e-02 1.97249662e-04 9.99934342e-01 -2.61217371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.737628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:197.39, Y:-87.75, Z:-2.62 [[ 6.54948329e-01 7.55638200e-01 7.32096055e-03 1.97391328e+02] [-7.55586814e-01 6.54989199e-01 -8.81564553e-03 -8.77494314e+01] [-1.14565886e-02 2.42171051e-04 9.99934342e-01 -2.61686094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:-87.80, Z:-2.62 [[ 6.57783630e-01 7.53171383e-01 7.31879288e-03 1.97432609e+02] [-7.53119823e-01 6.57824281e-01 -8.81744477e-03 -8.77971438e+01] [-1.14555267e-02 2.88042830e-04 9.99934342e-01 -2.61658304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:-87.84, Z:-2.62 [[ 6.63859584e-01 7.47821453e-01 7.31630955e-03 1.97475014e+02] [-7.47769542e-01 6.63899787e-01 -8.81950485e-03 -8.78431905e+01] [-1.14527113e-02 3.83999373e-04 9.99934342e-01 -2.61599992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:197.52, Y:-87.89, Z:-2.61 [[ 6.66851858e-01 7.45154415e-01 7.31414673e-03 1.97515704e+02] [-7.45102325e-01 6.66891828e-01 -8.82129814e-03 -8.78902563e+01] [-1.14509739e-02 4.32711324e-04 9.99934342e-01 -2.61341055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:-87.94, Z:-2.61 [[ 6.65720089e-01 7.46165730e-01 7.31200450e-03 1.97559467e+02] [-7.46113681e-01 6.65760113e-01 -8.82307349e-03 -8.79351586e+01] [-1.14515160e-02 4.18110681e-04 9.99934342e-01 -2.60919966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:-87.98, Z:-2.61 [[ 6.61604760e-01 7.49817117e-01 7.30983305e-03 1.97602050e+02] [-7.49765269e-01 6.61645043e-01 -8.82487214e-03 -8.79807945e+01] [-1.14535550e-02 3.57918469e-04 9.99934342e-01 -2.60902980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:-88.03, Z:-2.61 [[ 6.52770539e-01 7.57520444e-01 7.30753548e-03 1.97645889e+02] [-7.57469051e-01 6.52811401e-01 -8.82677426e-03 -8.80256921e+01] [-1.14569044e-02 2.26626231e-04 9.99934342e-01 -2.60925951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.69, Y:-88.07, Z:-2.61 [[ 6.45818764e-01 7.63455800e-01 7.30510567e-03 1.97688197e+02] [-7.63404760e-01 6.45860066e-01 -8.82878474e-03 -8.80719545e+01] [-1.14584629e-02 1.25042414e-04 9.99934342e-01 -2.61146269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:-88.12, Z:-2.61 [[ 6.36775097e-01 7.71015011e-01 7.30266568e-03 1.97730495e+02] [-7.70964437e-01 6.36816970e-01 -8.83080250e-03 -8.81186572e+01] [-1.14591427e-02 -6.86041311e-06 9.99934342e-01 -2.61431478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.77, Y:-88.17, Z:-2.62 [[ 6.33007119e-01 7.74111551e-01 7.30023155e-03 1.97770085e+02] [-7.74061159e-01 6.33049211e-01 -8.83281428e-03 -8.81668938e+01] [-1.14589894e-02 -5.95913773e-05 9.99934342e-01 -2.61548673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:-88.22, Z:-2.62 [[ 6.31846709e-01 7.75059017e-01 7.29767579e-03 1.97807308e+02] [-7.75008664e-01 6.31888847e-01 -8.83492535e-03 -8.82159156e+01] [-1.14589085e-02 -7.34434532e-05 9.99934342e-01 -2.61804330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.84, Y:-88.27, Z:-2.62 [[ 6.33955121e-01 7.73335427e-01 7.29531615e-03 1.97843333e+02] [-7.73284937e-01 6.33997095e-01 -8.83687335e-03 -8.82674003e+01] [-1.14590765e-02 -3.91769702e-05 9.99934342e-01 -2.61945772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.88, Y:-88.32, Z:-2.62 [[ 6.35489266e-01 7.72075260e-01 7.29281603e-03 1.97879689e+02] [-7.72024663e-01 6.35531111e-01 -8.83893615e-03 -8.83186602e+01] [-1.14591354e-02 -1.31847923e-05 9.99934342e-01 -2.62028187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:-88.37, Z:-2.62 [[ 6.37902316e-01 7.70082779e-01 7.29033875e-03 1.97913998e+02] [-7.70032028e-01 6.37943974e-01 -8.84097893e-03 -8.83725141e+01] [-1.14591133e-02 2.58866057e-05 9.99934342e-01 -2.62013623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:-88.42, Z:-2.62 [[ 6.39484296e-01 7.68769616e-01 7.28789098e-03 1.97949608e+02] [-7.68718756e-01 6.39525821e-01 -8.84299625e-03 -8.84247638e+01] [-1.14590213e-02 5.26187352e-05 9.99934342e-01 -2.62180183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:-88.47, Z:-2.62 [[ 6.37891952e-01 7.70091411e-01 7.28537491e-03 1.97987929e+02] [-7.70040614e-01 6.37933553e-01 -8.84506864e-03 -8.84749064e+01] [-1.14590965e-02 3.21635274e-05 9.99934342e-01 -2.62238297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:-88.52, Z:-2.62 [[ 6.36332190e-01 7.71380777e-01 7.28287647e-03 1.98028216e+02] [-7.71330041e-01 6.36373865e-01 -8.84712534e-03 -8.85230501e+01] [-1.14591347e-02 1.22092385e-05 9.99934342e-01 -2.62392488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.07, Y:-88.57, Z:-2.63 [[ 6.38635355e-01 7.69475068e-01 7.28033506e-03 1.98069181e+02] [-7.69424184e-01 6.38676849e-01 -8.84921619e-03 -8.85699529e+01] [-1.14590327e-02 4.97564575e-05 9.99934342e-01 -2.62736056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:-88.62, Z:-2.63 [[ 6.42727958e-01 7.66059920e-01 7.27812853e-03 1.98109263e+02] [-7.66008794e-01 6.42769155e-01 -8.85103059e-03 -8.86179753e+01] [-1.14585763e-02 1.13694358e-04 9.99934342e-01 -2.62742248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.877628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:198.15, Y:-88.67, Z:-2.63 [[ 6.52104059e-01 7.58094560e-01 7.27561080e-03 1.98148798e+02] [-7.58042908e-01 6.52144594e-01 -8.85309970e-03 -8.86665964e+01] [-1.14562370e-02 2.57917075e-04 9.99934342e-01 -2.62975464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:-88.71, Z:-2.63 [[ 6.57435593e-01 7.53475642e-01 7.27311284e-03 1.98188353e+02] [-7.53423683e-01 6.57475733e-01 -8.85515138e-03 -8.87149645e+01] [-1.14540361e-02 3.41956226e-04 9.99934342e-01 -2.62648893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:-88.76, Z:-2.63 [[ 6.62461525e-01 7.49060655e-01 7.27062436e-03 1.98230475e+02] [-7.49008407e-01 6.62501288e-01 -8.85719410e-03 -8.87623672e+01] [-1.14513736e-02 4.21791545e-04 9.99934342e-01 -2.62640788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:-88.81, Z:-2.63 [[ 6.62751366e-01 7.48804248e-01 7.26810146e-03 1.98271146e+02] [-7.48751961e-01 6.62791079e-01 -8.85926389e-03 -8.88103674e+01] [-1.14510872e-02 4.29484020e-04 9.99934342e-01 -2.62689367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:-88.86, Z:-2.63 [[ 6.60130272e-01 7.51115993e-01 7.26561577e-03 1.98313871e+02] [-7.51063823e-01 6.60170138e-01 -8.86130197e-03 -8.88569596e+01] [-1.14524082e-02 3.92672524e-04 9.99934342e-01 -2.62676912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:-88.90, Z:-2.63 [[ 6.55300610e-01 7.55333276e-01 7.26311274e-03 1.98354764e+02] [-7.55281340e-01 6.55340780e-01 -8.86335309e-03 -8.89030081e+01] [-1.14545995e-02 3.22467158e-04 9.99934342e-01 -2.62766403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.40, Y:-88.95, Z:-2.63 [[ 6.46189141e-01 7.63142754e-01 7.26156908e-03 1.98398713e+02] [-7.63091290e-01 6.46229914e-01 -8.86461759e-03 -8.89482593e+01] [-1.14576118e-02 1.86979511e-04 9.99934342e-01 -2.63064483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.44, Y:-89.00, Z:-2.63 [[ 6.40827784e-01 7.67650349e-01 7.25905710e-03 1.98438942e+02] [-7.67599148e-01 6.40868887e-01 -8.86667413e-03 -8.89954772e+01] [-1.14586093e-02 1.09965085e-04 9.99934342e-01 -2.63257504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:-89.04, Z:-2.63 [[ 6.36008363e-01 7.71648043e-01 7.25673634e-03 1.98478381e+02] [-7.71597079e-01 6.36049759e-01 -8.86857309e-03 -8.90447867e+01] [-1.14590625e-02 4.12100902e-05 9.99934342e-01 -2.63396869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.52, Y:-89.09, Z:-2.64 [[ 6.34645861e-01 7.72769051e-01 7.25426728e-03 1.98517246e+02] [-7.72718137e-01 6.34687319e-01 -8.87059226e-03 -8.90939319e+01] [-1.14591106e-02 2.41807645e-05 9.99934342e-01 -2.63589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:-89.14, Z:-2.64 [[ 6.36010570e-01 7.71646270e-01 7.25175423e-03 1.98554697e+02] [-7.71595260e-01 6.36051909e-01 -8.87264622e-03 -8.91448176e+01] [-1.14590365e-02 4.76775918e-05 9.99934342e-01 -2.63660105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:-89.20, Z:-2.64 [[ 6.40950736e-01 7.67547785e-01 7.24926145e-03 1.98589884e+02] [-7.67496487e-01 6.40991718e-01 -8.87468244e-03 -8.91957025e+01] [-1.14584594e-02 1.24451549e-04 9.99934342e-01 -2.63608236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.63, Y:-89.25, Z:-2.64 [[ 6.44734753e-01 7.64372017e-01 7.24696311e-03 1.98626672e+02] [-7.64320496e-01 6.44775454e-01 -8.87655884e-03 -8.92454461e+01] [-1.14576571e-02 1.84023536e-04 9.99934342e-01 -2.63695514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:-89.30, Z:-2.64 [[ 6.49146395e-01 7.60628998e-01 7.24470647e-03 1.98663290e+02] [-7.60577222e-01 6.49186771e-01 -8.87840024e-03 -8.92972941e+01] [-1.14563363e-02 2.53222791e-04 9.99934342e-01 -2.63792269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.70, Y:-89.35, Z:-2.64 [[ 6.49023347e-01 7.60734017e-01 7.24232505e-03 1.98703908e+02] [-7.60682226e-01 6.49063703e-01 -8.88034240e-03 -8.93454155e+01] [-1.14563089e-02 2.54441605e-04 9.99934342e-01 -2.63936703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.74, Y:-89.39, Z:-2.64 [[ 6.48850327e-01 7.60881617e-01 7.23997323e-03 1.98743547e+02] [-7.60829814e-01 6.48890669e-01 -8.88225938e-03 -8.93923698e+01] [-1.14562990e-02 2.54869421e-04 9.99934342e-01 -2.64267068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.78, Y:-89.44, Z:-2.64 [[ 6.47755296e-01 7.61814076e-01 7.23809154e-03 1.98784645e+02] [-7.61762314e-01 6.47795689e-01 -8.88379250e-03 -8.94394514e+01] [-1.14566027e-02 2.40818274e-04 9.99934342e-01 -2.64475920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.897628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:-89.49, Z:-2.65 [[ 6.47160417e-01 7.62319511e-01 7.23590613e-03 1.98825440e+02] [-7.62267760e-01 6.47200826e-01 -8.88557217e-03 -8.94859344e+01] [-1.14567294e-02 2.34692632e-04 9.99934342e-01 -2.64926914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.87, Y:-89.53, Z:-2.65 [[ 6.45120231e-01 7.64046831e-01 7.23373294e-03 1.98866402e+02] [-7.63995169e-01 6.45160753e-01 -8.88734101e-03 -8.95330639e+01] [-1.14572653e-02 2.06866467e-04 9.99934342e-01 -2.64660233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:-89.58, Z:-2.65 [[ 6.42674931e-01 7.66104848e-01 7.23151541e-03 1.98905370e+02] [-7.66053296e-01 6.42715591e-01 -8.88914501e-03 -8.95795271e+01] [-1.14578248e-02 1.73104441e-04 9.99934342e-01 -2.64508872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:-89.63, Z:-2.64 [[ 6.37068296e-01 7.70773447e-01 7.23042182e-03 1.98945106e+02] [-7.70722183e-01 6.37109319e-01 -8.89003445e-03 -8.96274949e+01] [-1.14587716e-02 9.09126156e-05 9.99934342e-01 -2.64367024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:-89.68, Z:-2.64 [[ 6.33298903e-01 7.73873537e-01 7.22824317e-03 1.98985021e+02] [-7.73822453e-01 6.33340151e-01 -8.89180550e-03 -8.96757372e+01] [-1.14590696e-02 3.77938155e-05 9.99934342e-01 -2.64481466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.02, Y:-89.73, Z:-2.65 [[ 6.28982161e-01 7.77386153e-01 7.22568096e-03 1.99023439e+02] [-7.77335275e-01 6.29023663e-01 -8.89388712e-03 -8.97254198e+01] [-1.14591090e-02 -2.26803544e-05 9.99934342e-01 -2.64529762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.06, Y:-89.78, Z:-2.65 [[ 6.27001379e-01 7.78984658e-01 7.22315168e-03 1.99061936e+02] [-7.78933862e-01 6.27042982e-01 -8.89594080e-03 -8.97753098e+01] [-1.14590280e-02 -4.85902873e-05 9.99934342e-01 -2.64675682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:-89.83, Z:-2.65 [[ 6.25526063e-01 7.80169858e-01 7.22061619e-03 1.99098746e+02] [-7.80119118e-01 6.25567733e-01 -8.89799832e-03 -8.98253306e+01] [-1.14589346e-02 -6.70108756e-05 9.99934342e-01 -2.65009092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:-89.88, Z:-2.65 [[ 6.25219763e-01 7.80415366e-01 7.21838690e-03 1.99135433e+02] [-7.80364621e-01 6.25261427e-01 -8.89980643e-03 -8.98760113e+01] [-1.14589246e-02 -6.86388860e-05 9.99934342e-01 -2.65225221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.17, Y:-89.93, Z:-2.65 [[ 6.26240597e-01 7.79596464e-01 7.21586216e-03 1.99173532e+02] [-7.79545640e-01 6.26282166e-01 -8.90185299e-03 -8.99259941e+01] [-1.14590189e-02 -5.03921599e-05 9.99934342e-01 -2.65253455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:-89.97, Z:-2.65 [[ 6.25789207e-01 7.79958869e-01 7.21326490e-03 1.99215058e+02] [-7.79908046e-01 6.25830775e-01 -8.90395708e-03 -8.99724982e+01] [-1.14590035e-02 -5.36830983e-05 9.99934342e-01 -2.65351693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.26, Y:-90.02, Z:-2.65 [[ 6.25070631e-01 7.80534887e-01 7.21086941e-03 1.99256131e+02] [-7.80484079e-01 6.25112220e-01 -8.90589665e-03 -9.00195368e+01] [-1.14589656e-02 -6.11543301e-05 9.99934342e-01 -2.65417491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:-90.07, Z:-2.66 [[ 6.25737485e-01 7.80000410e-01 7.20837460e-03 1.99297898e+02] [-7.79949544e-01 6.25779001e-01 -8.90791547e-03 -9.00665381e+01] [-1.14590272e-02 -4.81518585e-05 9.99934342e-01 -2.65666713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-90.11, Z:-2.66 [[ 6.26596021e-01 7.79310915e-01 7.20582465e-03 1.99336191e+02] [-7.79259979e-01 6.26637452e-01 -8.90997771e-03 -9.01148417e+01] [-1.14590825e-02 -3.22541855e-05 9.99934342e-01 -2.65882319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.737628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:199.38, Y:-90.16, Z:-2.66 [[ 6.28788393e-01 7.77543095e-01 7.20360600e-03 1.99375397e+02] [-7.77492023e-01 6.28829655e-01 -8.91177110e-03 -9.01623727e+01] [-1.14591272e-02 2.87202903e-06 9.99934342e-01 -2.66433647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.41, Y:-90.21, Z:-2.66 [[ 6.29604964e-01 7.76882056e-01 7.20136816e-03 1.99414699e+02] [-7.76830920e-01 6.29646147e-01 -8.91357907e-03 -9.02104094e+01] [-1.14591134e-02 1.77881861e-05 9.99934342e-01 -2.66426122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.45, Y:-90.26, Z:-2.66 [[ 6.30943851e-01 7.75795096e-01 7.19900568e-03 1.99453105e+02] [-7.75743867e-01 6.30984918e-01 -8.91548670e-03 -9.02594500e+01] [-1.14590549e-02 4.05870091e-05 9.99934342e-01 -2.66244740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:199.49, Y:-90.31, Z:-2.66 [[ 6.33585712e-01 7.73639032e-01 7.19680362e-03 1.99491143e+02] [-7.73587643e-01 6.33626579e-01 -8.91726391e-03 -9.03088170e+01] [-1.14588295e-02 8.24926593e-05 9.99934342e-01 -2.66252462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.53, Y:-90.36, Z:-2.66 [[ 6.33444975e-01 7.73754291e-01 7.19457052e-03 1.99530537e+02] [-7.73702888e-01 6.33485825e-01 -8.91906525e-03 -9.03583838e+01] [-1.14588234e-02 8.32770728e-05 9.99934342e-01 -2.66093131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.57, Y:-90.41, Z:-2.66 [[ 6.33826617e-01 7.73441720e-01 7.19201674e-03 1.99568699e+02] [-7.73390275e-01 6.33867413e-01 -8.92112405e-03 -9.04074112e+01] [-1.14587546e-02 9.22100718e-05 9.99934342e-01 -2.66168981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:-90.46, Z:-2.66 [[ 6.33671541e-01 7.73568799e-01 7.18966180e-03 1.99606642e+02] [-7.73517340e-01 6.33712320e-01 -8.92302152e-03 -9.04573678e+01] [-1.14587483e-02 9.29367238e-05 9.99934342e-01 -2.66065381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:-90.51, Z:-2.66 [[ 6.31531112e-01 7.75317225e-01 7.18715549e-03 1.99647831e+02] [-7.75265856e-01 6.31572004e-01 -8.92503980e-03 -9.05055042e+01] [-1.14589433e-02 6.44840563e-05 9.99934342e-01 -2.66287776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:-90.55, Z:-2.67 [[ 6.28928037e-01 7.77430322e-01 7.18463169e-03 1.99689709e+02] [-7.77379067e-01 6.28969073e-01 -8.92707099e-03 -9.05514726e+01] [-1.14590868e-02 2.93029590e-05 9.99934342e-01 -2.66568896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.73, Y:-90.60, Z:-2.67 [[ 6.26150706e-01 7.79668973e-01 7.18230135e-03 1.99732803e+02] [-7.79617843e-01 6.26191897e-01 -8.92894548e-03 -9.05968499e+01] [-1.14591207e-02 -8.58476632e-06 9.99934342e-01 -2.67039243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.77, Y:-90.64, Z:-2.67 [[ 6.25993788e-01 7.79794988e-01 7.18010386e-03 1.99773420e+02] [-7.79743846e-01 6.26034964e-01 -8.93071222e-03 -9.06443663e+01] [-1.14591207e-02 -8.07143080e-06 9.99934342e-01 -2.67262198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.81, Y:-90.69, Z:-2.67 [[ 6.28723075e-01 7.77596153e-01 7.17756973e-03 1.99811920e+02] [-7.77544844e-01 6.28764042e-01 -8.93274842e-03 -9.06933430e+01] [-1.14590686e-02 3.53427115e-05 9.99934342e-01 -2.67110457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.85, Y:-90.74, Z:-2.67 [[ 6.30985895e-01 7.75761119e-01 7.17536786e-03 1.99851538e+02] [-7.75709671e-01 6.31026688e-01 -8.93451675e-03 -9.07419475e+01] [-1.14588993e-02 7.15518033e-05 9.99934342e-01 -2.67076841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:-90.79, Z:-2.67 [[ 6.32836707e-01 7.74252060e-01 7.17283454e-03 1.99889775e+02] [-7.74200492e-01 6.32877347e-01 -8.93655010e-03 -9.07916861e+01] [-1.14586668e-02 1.02164901e-04 9.99934342e-01 -2.67105842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.93, Y:-90.84, Z:-2.67 [[ 6.31965197e-01 7.74963597e-01 7.17032168e-03 1.99927884e+02] [-7.74912051e-01 6.32005866e-01 -8.93856586e-03 -9.08405223e+01] [-1.14587485e-02 9.24938507e-05 9.99934342e-01 -2.67392162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.97, Y:-90.89, Z:-2.68 [[ 6.29592665e-01 7.76892331e-01 7.16807762e-03 1.99965975e+02] [-7.76840890e-01 6.29633466e-01 -8.94036507e-03 -9.08887231e+01] [-1.14589626e-02 6.03324763e-05 9.99934342e-01 -2.67666159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.01, Y:-90.94, Z:-2.68 [[ 6.25630932e-01 7.80086260e-01 7.16682063e-03 2.00006484e+02] [-7.80035015e-01 6.25671980e-01 -8.94137259e-03 -9.09361499e+01] [-1.14591208e-02 3.62823028e-06 9.99934342e-01 -2.67881910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.05, Y:-90.98, Z:-2.68 [[ 6.23768525e-01 7.81576289e-01 7.16458659e-03 2.00047109e+02] [-7.81525122e-01 6.23809670e-01 -8.94316234e-03 -9.09842732e+01] [-1.14591020e-02 -2.08412241e-05 9.99934342e-01 -2.67992075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:-91.03, Z:-2.68 [[ 6.23809534e-01 7.81543582e-01 7.16200343e-03 2.00084581e+02] [-7.81492389e-01 6.23850646e-01 -8.94523054e-03 -9.10335780e+01] [-1.14591080e-02 -1.69310732e-05 9.99934342e-01 -2.67997349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-91.08, Z:-2.68 [[ 6.24455059e-01 7.81027925e-01 7.15961647e-03 2.00122624e+02] [-7.80976676e-01 6.24496102e-01 -8.94714063e-03 -9.10837705e+01] [-1.14591192e-02 -4.40624041e-06 9.99934342e-01 -2.67956123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.16, Y:-91.13, Z:-2.68 [[ 6.24119791e-01 7.81295887e-01 7.15704828e-03 2.00161195e+02] [-7.81244632e-01 6.24160826e-01 -8.94919451e-03 -9.11333503e+01] [-1.14591180e-02 -6.03613567e-06 9.99934342e-01 -2.67983896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.20, Y:-91.18, Z:-2.68 [[ 6.23166229e-01 7.82056688e-01 7.15450109e-03 2.00200176e+02] [-7.82005460e-01 6.23207298e-01 -8.95123042e-03 -9.11824735e+01] [-1.14591069e-02 -1.67544036e-05 9.99934342e-01 -2.68018284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.24, Y:-91.23, Z:-2.68 [[ 6.21231816e-01 7.83594207e-01 7.15195896e-03 2.00239331e+02] [-7.83543057e-01 6.21272981e-01 -8.95326110e-03 -9.12310300e+01] [-1.14590424e-02 -4.18171326e-05 9.99934342e-01 -2.68197104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.28, Y:-91.28, Z:-2.68 [[ 6.19765321e-01 7.84754631e-01 7.14945969e-03 2.00279102e+02] [-7.84703535e-01 6.19806554e-01 -8.95525640e-03 -9.12795201e+01] [-1.14589609e-02 -6.00489305e-05 9.99934342e-01 -2.68153071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.32, Y:-91.33, Z:-2.68 [[ 6.18374974e-01 7.85850694e-01 7.14686002e-03 2.00318643e+02] [-7.85799647e-01 6.18416268e-01 -8.95733063e-03 -9.13265478e+01] [-1.14588590e-02 -7.70109817e-05 9.99934342e-01 -2.68274773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.36, Y:-91.38, Z:-2.68 [[ 6.18774760e-01 7.85535966e-01 7.14445676e-03 2.00356662e+02] [-7.85484876e-01 6.18816000e-01 -8.95924708e-03 -9.13753470e+01] [-1.14589150e-02 -6.81067649e-05 9.99934342e-01 -2.68319147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.39, Y:-91.42, Z:-2.68 [[ 6.22582920e-01 7.82521243e-01 7.14221365e-03 2.00393673e+02] [-7.82469933e-01 6.22623886e-01 -8.96103490e-03 -9.14246658e+01] [-1.14591130e-02 -9.58016621e-06 9.99934342e-01 -2.68326083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:-91.47, Z:-2.69 [[ 6.25141350e-01 7.80478901e-01 7.13984556e-03 2.00432496e+02] [-7.80427436e-01 6.25182120e-01 -8.96292132e-03 -9.14739618e+01] [-1.14590748e-02 3.09613649e-05 9.99934342e-01 -2.68507537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:-91.52, Z:-2.69 [[ 6.28693256e-01 7.77620633e-01 7.13733814e-03 2.00470368e+02] [-7.77568959e-01 6.28733762e-01 -8.96491758e-03 -9.15230429e+01] [-1.14587903e-02 8.64106310e-05 9.99934342e-01 -2.68611113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.51, Y:-91.57, Z:-2.69 [[ 6.29071578e-01 7.77314634e-01 7.13512337e-03 2.00510501e+02] [-7.77262921e-01 6.29112034e-01 -8.96667995e-03 -9.15714806e+01] [-1.14587235e-02 9.48166717e-05 9.99934342e-01 -2.68738607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:-91.62, Z:-2.69 [[ 6.27765116e-01 7.78370147e-01 7.13254605e-03 2.00551149e+02] [-7.78318479e-01 6.27805629e-01 -8.96872962e-03 -9.16198556e+01] [-1.14588439e-02 7.88631931e-05 9.99934342e-01 -2.68646940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.59, Y:-91.67, Z:-2.68 [[ 6.26430235e-01 7.79444882e-01 7.12998619e-03 2.00590123e+02] [-7.79393260e-01 6.26470807e-01 -8.97076420e-03 -9.16664843e+01] [-1.14589444e-02 6.24947396e-05 9.99934342e-01 -2.68476837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.63, Y:-91.71, Z:-2.68 [[ 6.23407367e-01 7.81864724e-01 7.12794102e-03 2.00631081e+02] [-7.81813241e-01 6.23448116e-01 -8.97238894e-03 -9.17127950e+01] [-1.14590958e-02 2.07346987e-05 9.99934342e-01 -2.68387632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.67, Y:-91.76, Z:-2.69 [[ 6.21410981e-01 7.83452371e-01 7.12572142e-03 2.00672217e+02] [-7.83400971e-01 6.21451835e-01 -8.97415137e-03 -9.17610542e+01] [-1.14591128e-02 -5.66088241e-06 9.99934342e-01 -2.68587622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.71, Y:-91.81, Z:-2.69 [[ 6.19582226e-01 7.84899437e-01 7.12318933e-03 2.00711304e+02] [-7.84848109e-01 6.19623171e-01 -8.97616075e-03 -9.18090715e+01] [-1.14590767e-02 -2.91520144e-05 9.99934342e-01 -2.68703083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.75, Y:-91.86, Z:-2.69 [[ 6.19449328e-01 7.85004339e-01 7.12162811e-03 2.00750297e+02] [-7.84953005e-01 6.19490263e-01 -8.97739925e-03 -9.18583594e+01] [-1.14590766e-02 -2.90994545e-05 9.99934342e-01 -2.68735729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:-91.91, Z:-2.69 [[ 6.21917816e-01 7.83050157e-01 7.11913208e-03 2.00788997e+02] [-7.82998671e-01 6.21958561e-01 -8.97937817e-03 -9.19080316e+01] [-1.14591086e-02 1.01643053e-05 9.99934342e-01 -2.68743912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:-91.96, Z:-2.69 [[ 6.24715503e-01 7.80820014e-01 7.11663821e-03 2.00825466e+02] [-7.80768360e-01 6.24756035e-01 -8.98135426e-03 -9.19578194e+01] [-1.14589838e-02 5.43452971e-05 9.99934342e-01 -2.68826360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:-92.01, Z:-2.69 [[ 6.26136709e-01 7.79680837e-01 7.11433602e-03 2.00863706e+02] [-7.79629089e-01 6.26177121e-01 -8.98317751e-03 -9.20076110e+01] [-1.14588458e-02 7.81538997e-05 9.99934342e-01 -2.69018834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.90, Y:-92.06, Z:-2.69 [[ 6.28055177e-01 7.78136309e-01 7.11192538e-03 2.00902450e+02] [-7.78084440e-01 6.28095433e-01 -8.98508559e-03 -9.20569557e+01] [-1.14585892e-02 1.09451043e-04 9.99934342e-01 -2.69152572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:-92.11, Z:-2.69 [[ 6.28118150e-01 7.78085499e-01 7.10955129e-03 2.00940797e+02] [-7.78033606e-01 6.28158374e-01 -8.98696373e-03 -9.21060503e+01] [-1.14585503e-02 1.13405202e-04 9.99934342e-01 -2.68898236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:-92.16, Z:-2.69 [[ 6.27298001e-01 7.78746881e-01 7.10734448e-03 2.00980198e+02] [-7.78695010e-01 6.27338254e-01 -8.98870865e-03 -9.21553266e+01] [-1.14586379e-02 1.04145286e-04 9.99934342e-01 -2.68893342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.02, Y:-92.20, Z:-2.69 [[ 6.26395522e-01 7.79473009e-01 7.10481509e-03 2.01020026e+02] [-7.79421162e-01 6.26435806e-01 -8.99070747e-03 -9.22038296e+01] [-1.14587244e-02 9.40956579e-05 9.99934342e-01 -2.69030606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.06, Y:-92.25, Z:-2.69 [[ 6.25665706e-01 7.80058960e-01 7.10227428e-03 2.01059002e+02] [-7.80007128e-01 6.25706010e-01 -8.99271416e-03 -9.22532404e+01] [-1.14587830e-02 8.66082879e-05 9.99934342e-01 -2.69042431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:-92.30, Z:-2.69 [[ 6.25699121e-01 7.80032181e-01 7.09972257e-03 2.01098737e+02] [-7.79980325e-01 6.25739393e-01 -8.99472827e-03 -9.23020155e+01] [-1.14587536e-02 9.03496631e-05 9.99934342e-01 -2.69048587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-92.35, Z:-2.69 [[ 6.27261221e-01 7.78776599e-01 7.09718125e-03 2.01137912e+02] [-7.78724639e-01 6.27301360e-01 -8.99673302e-03 -9.23510962e+01] [-1.14585166e-02 1.16551840e-04 9.99934342e-01 -2.69120639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.18, Y:-92.40, Z:-2.69 [[ 6.28145461e-01 7.78063587e-01 7.09465977e-03 2.01177484e+02] [-7.78011559e-01 6.28185512e-01 -8.99872098e-03 -9.23999004e+01] [-1.14583396e-02 1.32778433e-04 9.99934342e-01 -2.69115146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:-92.45, Z:-2.69 [[ 6.28909797e-01 7.77445926e-01 7.09212074e-03 2.01217415e+02] [-7.77393837e-01 6.28949767e-01 -9.00072160e-03 -9.24481543e+01] [-1.14581620e-02 1.47271046e-04 9.99934342e-01 -2.69187986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:-92.50, Z:-2.69 [[ 6.28995046e-01 7.77376981e-01 7.08960885e-03 2.01257098e+02] [-7.77324864e-01 6.29034981e-01 -9.00269972e-03 -9.24971960e+01] [-1.14581035e-02 1.51724285e-04 9.99934342e-01 -2.69154505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.30, Y:-92.54, Z:-2.69 [[ 6.31608607e-01 7.75255017e-01 7.08704388e-03 2.01302435e+02] [-7.75202744e-01 6.31648336e-01 -9.00471844e-03 -9.25413758e+01] [-1.14574726e-02 1.93561803e-04 9.99934342e-01 -2.69388855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.34, Y:-92.59, Z:-2.69 [[ 6.25027546e-01 7.80570547e-01 7.08435079e-03 2.01338469e+02] [-7.80518588e-01 6.25067685e-01 -9.00683670e-03 -9.25922092e+01] [-1.14586702e-02 1.00053570e-04 9.99934342e-01 -2.68994667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.38, Y:-92.64, Z:-2.69 [[ 6.21577292e-01 7.83320827e-01 7.08187392e-03 2.01380978e+02] [-7.83269023e-01 6.21617632e-01 -9.00878378e-03 -9.26385697e+01] [-1.14589857e-02 5.26429593e-05 9.99934342e-01 -2.69400857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.42, Y:-92.69, Z:-2.70 [[ 6.19595483e-01 7.84889368e-01 7.07931956e-03 2.01420782e+02] [-7.84837644e-01 6.19635924e-01 -9.01079062e-03 -9.26870311e+01] [-1.14590745e-02 2.69286859e-05 9.99934342e-01 -2.69577400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:-92.74, Z:-2.70 [[ 6.17879880e-01 7.86240659e-01 7.07670739e-03 2.01460229e+02] [-7.86189000e-01 6.17920404e-01 -9.01284164e-03 -9.27353811e+01] [-1.14591044e-02 5.22399767e-06 9.99934342e-01 -2.69714415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.50, Y:-92.78, Z:-2.70 [[ 6.16552735e-01 7.87281831e-01 7.07413796e-03 2.01499072e+02] [-7.87230217e-01 6.16593317e-01 -9.01485792e-03 -9.27846743e+01] [-1.14591000e-02 -1.08398605e-05 9.99934342e-01 -2.69755872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:-92.83, Z:-2.70 [[ 6.16209754e-01 7.87550336e-01 7.07157905e-03 2.01538375e+02] [-7.87498716e-01 6.16250329e-01 -9.01686478e-03 -9.28332012e+01] [-1.14590978e-02 -1.25793902e-05 9.99934342e-01 -2.69791362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.58, Y:-92.88, Z:-2.70 [[ 6.18072664e-01 7.86089188e-01 7.06902522e-03 2.01577751e+02] [-7.86037449e-01 6.18113087e-01 -9.01886648e-03 -9.28809330e+01] [-1.14590904e-02 1.77962859e-05 9.99934342e-01 -2.69968821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.62, Y:-92.93, Z:-2.70 [[ 6.23955963e-01 7.81427550e-01 7.06678758e-03 2.01620843e+02] [-7.81375490e-01 6.23995972e-01 -9.02061945e-03 -9.29261602e+01] [-1.14586075e-02 1.06654695e-04 9.99934342e-01 -2.70223166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.65, Y:-92.98, Z:-2.70 [[ 6.23145432e-01 7.82074079e-01 7.06443260e-03 2.01654752e+02] [-7.82022039e-01 6.23185467e-01 -9.02246336e-03 -9.29767162e+01] [-1.14586864e-02 9.77648437e-05 9.99934342e-01 -2.70182244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.70, Y:-93.03, Z:-2.70 [[ 6.24280853e-01 7.81168062e-01 7.06230050e-03 2.01695541e+02] [-7.81115945e-01 6.24320787e-01 -9.02413195e-03 -9.30252722e+01] [-1.14585047e-02 1.17117261e-04 9.99934342e-01 -2.70158956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.73, Y:-93.07, Z:-2.70 [[ 6.24853730e-01 7.80709919e-01 7.05968381e-03 2.01734384e+02] [-7.80657750e-01 6.24893596e-01 -9.02617855e-03 -9.30740430e+01] [-1.14583783e-02 1.28844460e-04 9.99934342e-01 -2.70184209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.78, Y:-93.12, Z:-2.70 [[ 6.27741815e-01 7.78389625e-01 7.05727041e-03 2.01777270e+02] [-7.78337287e-01 6.27781460e-01 -9.02806511e-03 -9.31193595e+01] [-1.14577757e-02 1.74357275e-04 9.99934342e-01 -2.70339116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.82, Y:-93.17, Z:-2.71 [[ 6.27660572e-01 7.78455159e-01 7.05489090e-03 2.01818586e+02] [-7.78402805e-01 6.27700194e-01 -9.02992418e-03 -9.31669846e+01] [-1.14577475e-02 1.76180507e-04 9.99934342e-01 -2.70594288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.85, Y:-93.22, Z:-2.71 [[ 6.23954113e-01 7.81429160e-01 7.05214790e-03 2.01853115e+02] [-7.81376970e-01 6.23993952e-01 -9.03206588e-03 -9.32182385e+01] [-1.14584173e-02 1.25208695e-04 9.99934342e-01 -2.70656846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.89, Y:-93.27, Z:-2.71 [[ 6.23953413e-01 7.81429740e-01 7.04979218e-03 2.01891599e+02] [-7.81377530e-01 6.23993225e-01 -9.03390422e-03 -9.32673430e+01] [-1.14583840e-02 1.28186175e-04 9.99934342e-01 -2.70696867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.93, Y:-93.32, Z:-2.71 [[ 6.24170508e-01 7.81256366e-01 7.04754981e-03 2.01931093e+02] [-7.81204125e-01 6.24210279e-01 -9.03565320e-03 -9.33159674e+01] [-1.14583146e-02 1.34213269e-04 9.99934342e-01 -2.70868650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.97, Y:-93.37, Z:-2.71 [[ 6.24634151e-01 7.80885729e-01 7.04675807e-03 2.01968207e+02] [-7.80833457e-01 6.24673882e-01 -9.03627063e-03 -9.33653147e+01] [-1.14582205e-02 1.42018769e-04 9.99934342e-01 -2.70585181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.01, Y:-93.41, Z:-2.71 [[ 6.24427395e-01 7.81051089e-01 7.04449208e-03 2.02006074e+02] [-7.80998808e-01 6.24467114e-01 -9.03803680e-03 -9.34142835e+01] [-1.14582221e-02 1.41857855e-04 9.99934342e-01 -2.70547985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:-93.46, Z:-2.71 [[ 6.23002553e-01 7.82188101e-01 7.04222514e-03 2.02043061e+02] [-7.82135873e-01 6.23042341e-01 -9.03980280e-03 -9.34627420e+01] [-1.14584306e-02 1.23843320e-04 9.99934342e-01 -2.70506707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.08, Y:-93.51, Z:-2.71 [[ 6.20819838e-01 7.83921658e-01 7.04015227e-03 2.02081439e+02] [-7.83869522e-01 6.20859747e-01 -9.04141685e-03 -9.35124623e+01] [-1.14587096e-02 9.45301516e-05 9.99934342e-01 -2.70596597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:-93.56, Z:-2.71 [[ 6.16920001e-01 7.86994400e-01 7.03757628e-03 2.02117067e+02] [-7.86942440e-01 6.16960139e-01 -9.04342149e-03 -9.35616907e+01] [-1.14590261e-02 4.09001444e-05 9.99934342e-01 -2.70848721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:-93.61, Z:-2.71 [[ 6.13385885e-01 7.89752023e-01 7.03551731e-03 2.02152476e+02] [-7.89700225e-01 6.13426232e-01 -9.04502302e-03 -9.36124956e+01] [-1.14590961e-02 -7.86015362e-06 9.99934342e-01 -2.71105674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.19, Y:-93.66, Z:-2.71 [[ 6.11338610e-01 7.91337878e-01 7.03326659e-03 2.02188119e+02] [-7.91286165e-01 6.11379065e-01 -9.04677280e-03 -9.36636797e+01] [-1.14590459e-02 -3.46850341e-05 9.99934342e-01 -2.71216478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.22, Y:-93.72, Z:-2.72 [[ 6.09462601e-01 7.92783643e-01 7.03097551e-03 2.02221461e+02] [-7.92732005e-01 6.09503152e-01 -9.04855304e-03 -9.37153949e+01] [-1.14589466e-02 -5.89246413e-05 9.99934342e-01 -2.71606889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.26, Y:-93.77, Z:-2.72 [[ 6.09471683e-01 7.92776671e-01 7.02968234e-03 2.02255946e+02] [-7.92725021e-01 6.09512220e-01 -9.04955757e-03 -9.37677274e+01] [-1.14589554e-02 -5.71559994e-05 9.99934342e-01 -2.71628695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.29, Y:-93.82, Z:-2.72 [[ 6.09871160e-01 7.92469424e-01 7.02713863e-03 2.02287002e+02] [-7.92417731e-01 6.09911641e-01 -9.05153237e-03 -9.38206583e+01] [-1.14589963e-02 -4.81607036e-05 9.99934342e-01 -2.71577586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.297628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:202.32, Y:-93.87, Z:-2.72 [[ 6.09784240e-01 7.92536327e-01 7.02510462e-03 2.02321542e+02] [-7.92484620e-01 6.09824703e-01 -9.05311074e-03 -9.38734426e+01] [-1.14590015e-02 -4.68431054e-05 9.99934342e-01 -2.71605067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:-93.93, Z:-2.71 [[ 6.07957312e-01 7.93938656e-01 7.02258544e-03 2.02354991e+02] [-7.93887020e-01 6.07997866e-01 -9.05506448e-03 -9.39258281e+01] [-1.14588827e-02 -7.00467659e-05 9.99934342e-01 -2.71242961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.39, Y:-93.98, Z:-2.71 [[ 6.06308661e-01 7.95198417e-01 7.02032300e-03 2.02390365e+02] [-7.95146845e-01 6.06349296e-01 -9.05681818e-03 -9.39785629e+01] [-1.14587354e-02 -9.09603816e-05 9.99934342e-01 -2.71291974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:-94.03, Z:-2.71 [[ 6.06283946e-01 7.95217284e-01 7.01773623e-03 2.02422565e+02] [-7.95165690e-01 6.06324553e-01 -9.05882212e-03 -9.40308253e+01] [-1.14587577e-02 -8.80446523e-05 9.99934342e-01 -2.71475741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:-94.08, Z:-2.72 [[ 6.12076207e-01 7.90767664e-01 7.01567100e-03 2.02459405e+02] [-7.90715756e-01 6.12116412e-01 -9.06042127e-03 -9.40790828e+01] [-1.14590955e-02 -1.73331207e-06 9.99934342e-01 -2.71995315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.50, Y:-94.13, Z:-2.72 [[ 6.15256600e-01 7.88295709e-01 7.01363808e-03 2.02498799e+02] [-7.88243622e-01 6.15296573e-01 -9.06199467e-03 -9.41285239e+01] [-1.14589990e-02 4.69965517e-05 9.99934342e-01 -2.71966338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:-93.64, Z:-1.80 [[ 6.62466409e-01 7.49058810e-01 7.01112250e-03 2.03197383e+02] [-7.49004348e-01 6.62503081e-01 -9.06394052e-03 -9.36382082e+01] [-1.14343148e-02 7.53194891e-04 9.99934342e-01 -1.80138890e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 224.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.24, Y:-93.69, Z:-1.80 [[ 6.67020907e-01 7.45001512e-01 7.47373137e-03 2.03237267e+02] [-7.44951151e-01 6.67062742e-01 -8.66493099e-03 -9.36851789e+01] [-1.14408344e-02 2.12125349e-04 9.99934529e-01 -1.79984968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:-93.73, Z:-1.80 [[ 6.73098731e-01 7.39514880e-01 7.47259821e-03 2.03279442e+02] [-7.39464167e-01 6.73140139e-01 -8.66590811e-03 -9.37290742e+01] [-1.14386738e-02 3.07293143e-04 9.99934529e-01 -1.79954478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.32, Y:-93.77, Z:-1.80 [[ 6.74472708e-01 7.38261982e-01 7.47071063e-03 2.03321929e+02] [-7.38211174e-01 6.74514000e-01 -8.66753505e-03 -9.37743943e+01] [-1.14380105e-02 3.31053772e-04 9.99934529e-01 -1.79598870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:-93.82, Z:-1.79 [[ 6.71512858e-01 7.40955262e-01 7.46871753e-03 2.03364831e+02] [-7.40904600e-01 6.71554330e-01 -8.66925215e-03 -9.38203145e+01] [-1.14391776e-02 2.87907114e-04 9.99934529e-01 -1.79377812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.41, Y:-93.86, Z:-1.80 [[ 6.61369250e-01 7.50023313e-01 7.46628306e-03 2.03411527e+02] [-7.49973197e-01 6.61411379e-01 -8.67134830e-03 -9.38625510e+01] [-1.14419979e-02 1.35450952e-04 9.99934529e-01 -1.79771603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:-93.91, Z:-1.80 [[ 6.51595317e-01 7.58530048e-01 7.46386743e-03 2.03455199e+02] [-7.58480458e-01 6.51638064e-01 -8.67342705e-03 -9.39063871e+01] [-1.14427952e-02 -9.63313347e-06 9.99934529e-01 -1.80216041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.50, Y:-93.95, Z:-1.81 [[ 6.46680231e-01 7.62724722e-01 7.46169882e-03 2.03495964e+02] [-7.62675388e-01 6.46723273e-01 -8.67529230e-03 -9.39521515e+01] [-1.14425142e-02 -8.07140075e-05 9.99934529e-01 -1.80586212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:-94.00, Z:-1.81 [[ 6.43325160e-01 7.65556713e-01 7.46047237e-03 2.03535574e+02] [-7.65507556e-01 6.43368404e-01 -8.67634687e-03 -9.39997397e+01] [-1.14420678e-02 -1.29335731e-04 9.99934529e-01 -1.80599341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:-94.05, Z:-1.80 [[ 6.43115031e-01 7.65733263e-01 7.45834180e-03 2.03575113e+02] [-7.65684097e-01 6.43158264e-01 -8.67817797e-03 -9.40473171e+01] [-1.14420637e-02 -1.29667011e-04 9.99934529e-01 -1.80489943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.61, Y:-94.09, Z:-1.80 [[ 6.45540109e-01 7.63689971e-01 7.45624356e-03 2.03612848e+02] [-7.63640647e-01 6.45583163e-01 -8.67998038e-03 -9.40949674e+01] [-1.14424393e-02 -9.06151728e-05 9.99934529e-01 -1.80270055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.65, Y:-94.15, Z:-1.80 [[ 6.48884766e-01 7.60850170e-01 7.45520791e-03 2.03649728e+02] [-7.60800647e-01 6.48927590e-01 -8.68086981e-03 -9.41457610e+01] [-1.14427314e-02 -3.90428321e-05 9.99934529e-01 -1.80176501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:-94.20, Z:-1.80 [[ 6.49791039e-01 7.60076353e-01 7.45272292e-03 2.03687645e+02] [-7.60026755e-01 6.49833776e-01 -8.68300271e-03 -9.41957052e+01] [-1.14427761e-02 -2.21314714e-05 9.99934529e-01 -1.80388146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.73, Y:-94.24, Z:-1.81 [[ 6.46230403e-01 7.63105979e-01 7.45194321e-03 2.03729411e+02] [-7.63056574e-01 6.46273362e-01 -8.68367182e-03 -9.42405760e+01] [-1.14425543e-02 -7.46015127e-05 9.99934529e-01 -1.80777776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:-94.29, Z:-1.81 [[ 6.45314623e-01 7.63880569e-01 7.45072477e-03 2.03771460e+02] [-7.63831204e-01 6.45357628e-01 -8.68471713e-03 -9.42870368e+01] [-1.14424687e-02 -8.67211119e-05 9.99934529e-01 -1.81128112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.81, Y:-94.33, Z:-1.81 [[ 6.47953131e-01 7.61643774e-01 7.44995690e-03 2.03812084e+02] [-7.61594252e-01 6.47995956e-01 -8.68537578e-03 -9.43338391e+01] [-1.14427043e-02 -4.61279205e-05 9.99934529e-01 -1.81333091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.85, Y:-94.38, Z:-1.81 [[ 6.53752391e-01 7.56671885e-01 7.44777139e-03 2.03852670e+02] [-7.56622016e-01 6.53794812e-01 -8.68724946e-03 -9.43823555e+01] [-1.14427117e-02 4.41622990e-05 9.99934529e-01 -1.81239904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:-94.43, Z:-1.81 [[ 6.56176878e-01 7.54570389e-01 7.44526465e-03 2.03893884e+02] [-7.54520360e-01 6.56219110e-01 -8.68939730e-03 -9.44304163e+01] [-1.14424868e-02 8.41778259e-05 9.99934529e-01 -1.81264911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-94.48, Z:-1.81 [[ 6.64393605e-01 7.47345799e-01 7.44278890e-03 2.03936144e+02] [-7.47295287e-01 6.64435258e-01 -8.69151735e-03 -9.44767055e+01] [-1.14408203e-02 2.12627480e-04 9.99934529e-01 -1.81310786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.98, Y:-94.52, Z:-1.81 [[ 6.69345352e-01 7.42914155e-01 7.44034758e-03 2.03977671e+02] [-7.42863344e-01 6.69386640e-01 -8.69360674e-03 -9.45234240e+01] [-1.14390728e-02 2.91863778e-04 9.99934529e-01 -1.81258358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:-94.57, Z:-1.81 [[ 6.74127191e-01 7.38577825e-01 7.43819691e-03 2.04019054e+02] [-7.38526728e-01 6.74168125e-01 -8.69544645e-03 -9.45693137e+01] [-1.14368592e-02 3.68529662e-04 9.99934529e-01 -1.80896947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.06, Y:-94.62, Z:-1.81 [[ 6.73895226e-01 7.38789503e-01 7.43604725e-03 2.04061768e+02] [-7.38738399e-01 6.73936150e-01 -8.69728438e-03 -9.46156578e+01] [-1.14368835e-02 3.67764777e-04 9.99934529e-01 -1.80923014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.11, Y:-94.66, Z:-1.81 [[ 6.69607421e-01 7.42678022e-01 7.43358449e-03 2.04106040e+02] [-7.42627132e-01 6.69648612e-01 -8.69938879e-03 -9.46599819e+01] [-1.14387344e-02 3.04793756e-04 9.99934529e-01 -1.81017388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.15, Y:-94.70, Z:-1.81 [[ 6.64129917e-01 7.47580251e-01 7.43111049e-03 2.04150005e+02] [-7.47529642e-01 6.64171452e-01 -8.70150159e-03 -9.47035819e+01] [-1.14406022e-02 2.23952167e-04 9.99934529e-01 -1.81356882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.19, Y:-94.75, Z:-1.81 [[ 6.62177342e-01 7.49310335e-01 7.42897422e-03 2.04190771e+02] [-7.49259814e-01 6.62218984e-01 -8.70332507e-03 -9.47497903e+01] [-1.14410992e-02 1.96912820e-04 9.99934529e-01 -1.81228827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.23, Y:-94.80, Z:-1.81 [[ 6.64395844e-01 7.47343965e-01 7.42696305e-03 2.04230699e+02] [-7.47293302e-01 6.64437313e-01 -8.70504096e-03 -9.47968043e+01] [-1.14404112e-02 2.33473299e-04 9.99934529e-01 -1.81053496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.27, Y:-94.84, Z:-1.81 [[ 6.67946297e-01 7.44172437e-01 7.42480907e-03 2.04271532e+02] [-7.44121557e-01 6.67987499e-01 -8.70687777e-03 -9.48447394e+01] [-1.14390981e-02 2.90766284e-04 9.99934529e-01 -1.81005576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.31, Y:-94.89, Z:-1.81 [[ 6.73050367e-01 7.39559405e-01 7.42232958e-03 2.04313018e+02] [-7.39508219e-01 6.73091188e-01 -8.70899094e-03 -9.48913419e+01] [-1.14367208e-02 3.72715823e-04 9.99934529e-01 -1.81011484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.36, Y:-94.94, Z:-1.81 [[ 6.76495074e-01 7.36409775e-01 7.42004649e-03 2.04356865e+02] [-7.36358378e-01 6.76535630e-01 -8.71093569e-03 -9.49367636e+01] [-1.14347440e-02 4.29091686e-04 9.99934529e-01 -1.81356695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:-94.98, Z:-1.81 [[ 6.72568041e-01 7.39998102e-01 7.41888864e-03 2.04395860e+02] [-7.39946910e-01 6.72608856e-01 -8.71192170e-03 -9.49841260e+01] [-1.14368157e-02 3.69776388e-04 9.99934529e-01 -1.81252376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:-95.03, Z:-1.81 [[ 6.67915454e-01 7.44200200e-01 7.41674755e-03 2.04439182e+02] [-7.44149245e-01 6.67956564e-01 -8.71374409e-03 -9.50302530e+01] [-1.14388353e-02 3.00877253e-04 9.99934529e-01 -1.81424260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:-95.08, Z:-1.81 [[ 6.65217539e-01 7.46612788e-01 7.41428950e-03 2.04480484e+02] [-7.46561958e-01 6.65258804e-01 -8.71583508e-03 -9.50783475e+01] [-1.14397753e-02 2.62699871e-04 9.99934529e-01 -1.81397708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.577628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:-95.13, Z:-1.82 [[ 6.61389246e-01 7.50006219e-01 7.41186294e-03 2.04520893e+02] [-7.49955579e-01 6.61430743e-01 -8.71789812e-03 -9.51251060e+01] [-1.14409118e-02 2.07356101e-04 9.99934529e-01 -1.81838911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:-95.17, Z:-1.82 [[ 6.56725038e-01 7.54093708e-01 7.40970773e-03 2.04561359e+02] [-7.54043306e-01 6.56766823e-01 -8.71972954e-03 -9.51721563e+01] [-1.14419434e-02 1.39224202e-04 9.99934529e-01 -1.81971986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:-95.22, Z:-1.82 [[ 6.54559742e-01 7.55973989e-01 7.40756793e-03 2.04601257e+02] [-7.55923686e-01 6.54601647e-01 -8.72154695e-03 -9.52209023e+01] [-1.14422688e-02 1.09217469e-04 9.99934529e-01 -1.81923660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.64, Y:-95.27, Z:-1.82 [[ 6.54422984e-01 7.56092403e-01 7.40513596e-03 2.04639463e+02] [-7.56042084e-01 6.54464870e-01 -8.72361136e-03 -9.52699061e+01] [-1.14422576e-02 1.10337356e-04 9.99934529e-01 -1.81687437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.68, Y:-95.32, Z:-1.82 [[ 6.58696201e-01 7.52372589e-01 7.40291799e-03 2.04677084e+02] [-7.52322012e-01 6.58737775e-01 -8.72549314e-03 -9.53192079e+01] [-1.14414036e-02 1.78071024e-04 9.99934529e-01 -1.81660613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.72, Y:-95.37, Z:-1.82 [[ 6.62920138e-01 7.48653539e-01 7.40057690e-03 2.04716339e+02] [-7.48602707e-01 6.62961400e-01 -8.72747830e-03 -9.53689537e+01] [-1.14401543e-02 2.45529211e-04 9.99934529e-01 -1.81612388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.76, Y:-95.42, Z:-1.82 [[ 6.70435580e-01 7.41930860e-01 7.39810499e-03 2.04757273e+02] [-7.41879591e-01 6.70476298e-01 -8.72957318e-03 -9.54162944e+01] [-1.14369938e-02 3.64113355e-04 9.99934529e-01 -1.81592351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.79, Y:-95.47, Z:-1.82 [[ 6.71453804e-01 7.41009511e-01 7.39548803e-03 2.04794173e+02] [-7.40958162e-01 6.71494421e-01 -8.73178964e-03 -9.54658997e+01] [-1.14363681e-02 3.83246156e-04 9.99934529e-01 -1.81718990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:-95.51, Z:-1.82 [[ 6.75076869e-01 7.37710352e-01 7.39308399e-03 2.04834585e+02] [-7.37658782e-01 6.75117206e-01 -8.73382464e-03 -9.55139208e+01] [-1.14342310e-02 4.42429662e-04 9.99934529e-01 -1.81943505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.88, Y:-95.56, Z:-1.82 [[ 6.76848617e-01 7.36085137e-01 7.39058539e-03 2.04875006e+02] [-7.36033448e-01 6.76888800e-01 -8.73593845e-03 -9.55614050e+01] [-1.14329989e-02 4.73189817e-04 9.99934529e-01 -1.82207237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:-95.61, Z:-1.82 [[ 6.77874653e-01 7.35140373e-01 7.38828295e-03 2.04914910e+02] [-7.35088607e-01 6.77914736e-01 -8.73788527e-03 -9.56097466e+01] [-1.14321981e-02 4.92148319e-04 9.99934529e-01 -1.82274463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:-95.65, Z:-1.83 [[ 6.79599206e-01 7.33546432e-01 7.38582350e-03 2.04963108e+02] [-7.33494549e-01 6.79639139e-01 -8.73996366e-03 -9.56507278e+01] [-1.14308639e-02 5.22211083e-04 9.99934529e-01 -1.82918652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:-95.70, Z:-1.83 [[ 6.71169693e-01 7.41266977e-01 7.38324404e-03 2.04998969e+02] [-7.41215530e-01 6.71210186e-01 -8.74214216e-03 -9.57000391e+01] [-1.14359699e-02 3.94885725e-04 9.99934529e-01 -1.82696088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.04, Y:-95.75, Z:-1.83 [[ 6.64183416e-01 7.47533215e-01 7.38119089e-03 2.05042005e+02] [-7.47482131e-01 6.64224366e-01 -8.74387534e-03 -9.57454488e+01] [-1.14391041e-02 2.90228701e-04 9.99934529e-01 -1.82719510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:-95.79, Z:-1.83 [[ 6.59092260e-01 7.52025895e-01 7.37875328e-03 2.05084720e+02] [-7.51975068e-01 6.59133527e-01 -8.74593190e-03 -9.57912512e+01] [-1.14407509e-02 2.15737518e-04 9.99934529e-01 -1.82690258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.13, Y:-95.84, Z:-1.83 [[ 6.51473915e-01 7.58635175e-01 7.37627279e-03 2.05128210e+02] [-7.58584743e-01 6.51515664e-01 -8.74802343e-03 -9.58368645e+01] [-1.14423156e-02 1.03581072e-04 9.99934529e-01 -1.82613954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.17, Y:-95.88, Z:-1.83 [[ 6.48727339e-01 7.60985195e-01 7.37377264e-03 2.05171954e+02] [-7.60934890e-01 6.48769242e-01 -8.75013032e-03 -9.58815727e+01] [-1.14425965e-02 6.54878944e-05 9.99934529e-01 -1.82771256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.21, Y:-95.93, Z:-1.83 [[ 6.44263513e-01 7.64768066e-01 7.37095246e-03 2.05209905e+02] [-7.64717980e-01 6.44305677e-01 -8.75250534e-03 -9.59306790e+01] [-1.14427831e-02 2.21996105e-06 9.99934529e-01 -1.82778955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:-95.98, Z:-1.83 [[ 6.43141452e-01 7.65711944e-01 7.36830587e-03 2.05250045e+02] [-7.65661894e-01 6.43183659e-01 -8.75473281e-03 -9.59791387e+01] [-1.14427774e-02 -1.10994468e-05 9.99934529e-01 -1.82971628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.29, Y:-96.03, Z:-1.83 [[ 6.44142185e-01 7.64870310e-01 7.36579098e-03 2.05286634e+02] [-7.64820181e-01 6.44184297e-01 -8.75684820e-03 -9.60290243e+01] [-1.14427801e-02 7.14974257e-06 9.99934529e-01 -1.83304339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.32, Y:-96.08, Z:-1.84 [[ 6.45868819e-01 7.63412895e-01 7.36347003e-03 2.05323538e+02] [-7.63362648e-01 6.45910792e-01 -8.75879941e-03 -9.60802124e+01] [-1.14427252e-02 3.60374484e-05 9.99934529e-01 -1.83507221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.36, Y:-96.13, Z:-1.84 [[ 6.48329832e-01 7.61324007e-01 7.36102680e-03 2.05357815e+02] [-7.61273602e-01 6.48371615e-01 -8.76085225e-03 -9.61336057e+01] [-1.14425280e-02 7.61664831e-05 9.99934529e-01 -1.83614181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:-96.19, Z:-1.84 [[ 6.50081500e-01 7.59828859e-01 7.35859478e-03 2.05391554e+02] [-7.59778334e-01 6.50123138e-01 -8.76289453e-03 -9.61874778e+01] [-1.14422929e-02 1.05694741e-04 9.99934529e-01 -1.83559879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.43, Y:-96.24, Z:-1.84 [[ 6.51778898e-01 7.58373361e-01 7.35617501e-03 2.05427039e+02] [-7.58322721e-01 6.51820395e-01 -8.76492538e-03 -9.62395890e+01] [-1.14419908e-02 1.34438757e-04 9.99934529e-01 -1.83560719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.017628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:205.46, Y:-96.29, Z:-1.84 [[ 6.54960216e-01 7.55627579e-01 7.35372443e-03 2.05461453e+02] [-7.55576742e-01 6.55001471e-01 -8.76698093e-03 -9.62933844e+01] [-1.14412729e-02 1.85720579e-04 9.99934529e-01 -1.83710157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:-96.34, Z:-1.84 [[ 6.51749778e-01 7.58398435e-01 7.35125740e-03 2.05502054e+02] [-7.58347749e-01 6.51791220e-01 -8.76904908e-03 -9.63420675e+01] [-1.14419181e-02 1.40416289e-04 9.99934529e-01 -1.83592466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.54, Y:-96.39, Z:-1.84 [[ 6.50404792e-01 7.59552238e-01 7.34876974e-03 2.05541464e+02] [-7.59501602e-01 6.50446295e-01 -8.77113333e-03 -9.63896028e+01] [-1.14421140e-02 1.23384762e-04 9.99934529e-01 -1.83739463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.58, Y:-96.44, Z:-1.84 [[ 6.50900815e-01 7.59127233e-01 7.34658120e-03 2.05580773e+02] [-7.59076550e-01 6.50942260e-01 -8.77296604e-03 -9.64378661e+01] [-1.14419976e-02 1.33713237e-04 9.99934529e-01 -1.83883159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.62, Y:-96.48, Z:-1.84 [[ 6.54459757e-01 7.56061165e-01 7.34442304e-03 2.05622679e+02] [-7.56010268e-01 6.54500938e-01 -8.77477240e-03 -9.64845828e+01] [-1.14411964e-02 1.90276188e-04 9.99934529e-01 -1.83932443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:-96.53, Z:-1.84 [[ 6.56408432e-01 7.54369980e-01 7.34197030e-03 2.05663148e+02] [-7.54318953e-01 6.56449453e-01 -8.77682416e-03 -9.65321577e+01] [-1.14406051e-02 2.22994030e-04 9.99934529e-01 -1.83809776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.70, Y:-96.58, Z:-1.84 [[ 6.57980717e-01 7.52999010e-01 7.33947085e-03 2.05704230e+02] [-7.52947875e-01 6.58021602e-01 -8.77891380e-03 -9.65791070e+01] [-1.14400438e-02 2.50117017e-04 9.99934529e-01 -1.83622281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.75, Y:-96.63, Z:-1.84 [[ 6.57149805e-01 7.53724285e-01 7.33728631e-03 2.05745900e+02] [-7.53673174e-01 6.57190722e-01 -8.78073922e-03 -9.66262864e+01] [-1.14402529e-02 2.40345204e-04 9.99934529e-01 -1.83529602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.79, Y:-96.67, Z:-1.84 [[ 6.53447687e-01 7.56936140e-01 7.33480542e-03 2.05787917e+02] [-7.56885208e-01 6.53488825e-01 -8.78281109e-03 -9.66731284e+01] [-1.14412405e-02 1.87501873e-04 9.99934529e-01 -1.83515398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:-96.72, Z:-1.84 [[ 6.48710990e-01 7.60999533e-01 7.33233996e-03 2.05829830e+02] [-7.60948835e-01 6.48752416e-01 -8.78486890e-03 -9.67198387e+01] [-1.14421544e-02 1.19305454e-04 9.99934529e-01 -1.83676768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.87, Y:-96.77, Z:-1.84 [[ 6.45423284e-01 7.63789930e-01 7.32990830e-03 2.05871035e+02] [-7.63739388e-01 6.45464900e-01 -8.78689735e-03 -9.67678951e+01] [-1.14425422e-02 7.31284582e-05 9.99934529e-01 -1.83917209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.91, Y:-96.82, Z:-1.84 [[ 6.43253452e-01 7.65618250e-01 7.32747754e-03 2.05910187e+02] [-7.65567803e-01 6.43295184e-01 -8.78892393e-03 -9.68163484e+01] [-1.14426916e-02 4.38247717e-05 9.99934529e-01 -1.84039185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:-96.87, Z:-1.84 [[ 6.44334171e-01 7.64708975e-01 7.32523051e-03 2.05949354e+02] [-7.64658449e-01 6.44375806e-01 -8.79079634e-03 -9.68656775e+01] [-1.14426022e-02 6.29110703e-05 9.99934529e-01 -1.84309925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.99, Y:-96.92, Z:-1.84 [[ 6.47002184e-01 7.62452983e-01 7.32274678e-03 2.05987278e+02] [-7.62402288e-01 6.47043613e-01 -8.79286480e-03 -9.69160689e+01] [-1.14422825e-02 1.06123836e-04 9.99934529e-01 -1.84474626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.03, Y:-96.97, Z:-1.84 [[ 6.52491524e-01 7.57760665e-01 7.32027761e-03 2.06025131e+02] [-7.57709648e-01 6.52532557e-01 -8.79491996e-03 -9.69654621e+01] [-1.14411639e-02 1.91965753e-04 9.99934529e-01 -1.84285477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:-97.01, Z:-1.85 [[ 6.51333171e-01 7.58756580e-01 7.31796118e-03 2.06064107e+02] [-7.58705605e-01 6.51374256e-01 -8.79684697e-03 -9.70124199e+01] [-1.14413970e-02 1.77500072e-04 9.99934529e-01 -1.84770761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:-97.06, Z:-1.85 [[ 6.49157921e-01 7.60618472e-01 7.31670581e-03 2.06104579e+02] [-7.60567603e-01 6.49199136e-01 -8.79789099e-03 -9.70591142e+01] [-1.14418375e-02 1.46371223e-04 9.99934529e-01 -1.85125246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:-97.11, Z:-1.85 [[ 6.47425847e-01 7.62093347e-01 7.31456736e-03 2.06145059e+02] [-7.62042552e-01 6.47467154e-01 -8.79966854e-03 -9.71055749e+01] [-1.14421110e-02 1.23121282e-04 9.99934529e-01 -1.85330592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:-97.15, Z:-1.86 [[ 6.46089360e-01 7.63226747e-01 7.31241565e-03 2.06185419e+02] [-7.63176004e-01 6.46130731e-01 -8.80145622e-03 -9.71523239e+01] [-1.14422833e-02 1.05867067e-04 9.99934529e-01 -1.85512203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.23, Y:-97.20, Z:-1.86 [[ 6.42774552e-01 7.66020520e-01 7.31013979e-03 2.06226309e+02] [-7.65969935e-01 6.42816116e-01 -8.80334605e-03 -9.72000242e+01] [-1.14426194e-02 5.92195162e-05 9.99934529e-01 -1.85683381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.27, Y:-97.25, Z:-1.86 [[ 6.40229059e-01 7.68149301e-01 7.30777243e-03 2.06265562e+02] [-7.68098832e-01 6.40270764e-01 -8.80531079e-03 -9.72487055e+01] [-1.14427464e-02 2.43243763e-05 9.99934529e-01 -1.85637037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:-97.30, Z:-1.85 [[ 6.38797096e-01 7.69340563e-01 7.30538636e-03 2.06303402e+02] [-7.69290149e-01 6.38838867e-01 -8.80728997e-03 -9.72978724e+01] [-1.14427702e-02 6.10949669e-06 9.99934529e-01 -1.85313730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.34, Y:-97.35, Z:-1.85 [[ 6.37656618e-01 7.70286115e-01 7.30331345e-03 2.06342744e+02] [-7.70235743e-01 6.37698440e-01 -8.80900856e-03 -9.73470924e+01] [-1.14427686e-02 -8.15045732e-06 9.99934529e-01 -1.85091669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.38, Y:-97.40, Z:-1.85 [[ 6.35367110e-01 7.72175714e-01 7.30085770e-03 2.06381719e+02] [-7.72125443e-01 6.35409053e-01 -8.81104340e-03 -9.73967564e+01] [-1.14427048e-02 -3.89308109e-05 9.99934529e-01 -1.85113265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:-97.45, Z:-1.85 [[ 6.34228606e-01 7.73111123e-01 7.29835661e-03 2.06421300e+02] [-7.73060891e-01 6.34270595e-01 -8.81311462e-03 -9.74457621e+01] [-1.14426499e-02 -5.25446623e-05 9.99934529e-01 -1.85151775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:-97.50, Z:-1.85 [[ 6.31742474e-01 7.75143997e-01 7.29586657e-03 2.06458042e+02] [-7.75093876e-01 6.31784596e-01 -8.81517549e-03 -9.74955517e+01] [-1.14424465e-02 -8.60607230e-05 9.99934529e-01 -1.85416146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:-97.55, Z:-1.86 [[ 6.30139502e-01 7.76447680e-01 7.29432926e-03 2.06495976e+02] [-7.76397632e-01 6.30181710e-01 -8.81644740e-03 -9.75453298e+01] [-1.14422630e-02 -1.07708184e-04 9.99934529e-01 -1.85551201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:-97.59, Z:-1.86 [[ 6.27908827e-01 7.78252745e-01 7.29179445e-03 2.06536562e+02] [-7.78202793e-01 6.27951150e-01 -8.81854335e-03 -9.75920011e+01] [-1.14419463e-02 -1.37253596e-04 9.99934529e-01 -1.85995247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.58, Y:-97.64, Z:-1.86 [[ 6.26184664e-01 7.79640706e-01 7.28945083e-03 2.06576561e+02] [-7.79590826e-01 6.26227070e-01 -8.82048018e-03 -9.76395147e+01] [-1.14416568e-02 -1.59539578e-04 9.99934529e-01 -1.86268995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.62, Y:-97.69, Z:-1.87 [[ 6.26942759e-01 7.79031241e-01 7.28714830e-03 2.06618092e+02] [-7.78981297e-01 6.26985092e-01 -8.82238203e-03 -9.76863722e+01] [-1.14418446e-02 -1.45423692e-04 9.99934529e-01 -1.86500840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.66, Y:-97.73, Z:-1.87 [[ 6.26870653e-01 7.79089288e-01 7.28463718e-03 2.06659369e+02] [-7.79039323e-01 6.26912962e-01 -8.82445497e-03 -9.77320959e+01] [-1.14418718e-02 -1.43226964e-04 9.99934529e-01 -1.86779246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:-97.78, Z:-1.86 [[ 6.26849830e-01 7.79106064e-01 7.28232492e-03 2.06701712e+02] [-7.79056079e-01 6.26892113e-01 -8.82636273e-03 -9.77778526e+01] [-1.14419048e-02 -1.40535523e-04 9.99934529e-01 -1.86162458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:-97.82, Z:-1.87 [[ 6.26315436e-01 7.79535744e-01 7.28002555e-03 2.06741023e+02] [-7.79485766e-01 6.26357727e-01 -8.82825886e-03 -9.78240968e+01] [-1.14418436e-02 -1.45401502e-04 9.99934529e-01 -1.87007646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.78, Y:-97.87, Z:-1.86 [[ 6.25886848e-01 7.79879917e-01 7.27793397e-03 2.06780754e+02] [-7.79829942e-01 6.25929143e-01 -8.82998281e-03 -9.78720144e+01] [-1.14417972e-02 -1.48980722e-04 9.99934529e-01 -1.86233340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.82, Y:-97.92, Z:-1.87 [[ 6.27150152e-01 7.78864399e-01 7.27560160e-03 2.06818239e+02] [-7.78814333e-01 6.27192340e-01 -8.83190418e-03 -9.79197338e+01] [-1.14420573e-02 -1.27412756e-04 9.99934529e-01 -1.86963158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.86, Y:-97.97, Z:-1.86 [[ 6.27881810e-01 7.78274713e-01 7.27347453e-03 2.06855411e+02] [-7.78224587e-01 6.27923927e-01 -8.83365557e-03 -9.79699787e+01] [-1.14421994e-02 -1.13905060e-04 9.99934529e-01 -1.86100640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:-98.02, Z:-1.87 [[ 6.28983264e-01 7.77384837e-01 7.27112368e-03 2.06892938e+02] [-7.77334629e-01 6.29025283e-01 -8.83559017e-03 -9.80177432e+01] [-1.14423745e-02 -9.46578951e-05 9.99934529e-01 -1.86988336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.93, Y:-98.07, Z:-1.87 [[ 6.30338433e-01 7.76286430e-01 7.26899177e-03 2.06932229e+02] [-7.76236129e-01 6.30380340e-01 -8.83734373e-03 -9.80657636e+01] [-1.14425395e-02 -7.19366421e-05 9.99934529e-01 -1.86652244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:-98.11, Z:-1.88 [[ 6.31401954e-01 7.75421671e-01 7.26665635e-03 2.06972466e+02] [-7.75371291e-01 6.31443766e-01 -8.83926366e-03 -9.81109496e+01] [-1.14426414e-02 -5.32283616e-05 9.99934529e-01 -1.87651692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.01, Y:-98.16, Z:-1.88 [[ 6.33899357e-01 7.73381424e-01 7.26484726e-03 2.07012344e+02] [-7.73330892e-01 6.33940986e-01 -8.84075026e-03 -9.81581546e+01] [-1.14427565e-02 -1.39849000e-05 9.99934529e-01 -1.87809239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:-98.21, Z:-1.87 [[ 6.39017425e-01 7.69157972e-01 7.26254861e-03 2.07051179e+02] [-7.69107144e-01 6.39058690e-01 -8.84263817e-03 -9.82080407e+01] [-1.14425804e-02 6.49218565e-05 9.99934529e-01 -1.87498676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.09, Y:-98.26, Z:-1.87 [[ 6.43503270e-01 7.65408932e-01 7.26012023e-03 2.07091554e+02] [-7.65357840e-01 6.43544209e-01 -8.84463151e-03 -9.82560910e+01] [-1.14419683e-02 1.34959357e-04 9.99934529e-01 -1.87270906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.13, Y:-98.30, Z:-1.87 [[ 6.44938738e-01 7.64199811e-01 7.25759466e-03 2.07133745e+02] [-7.64148619e-01 6.44979553e-01 -8.84670341e-03 -9.83034279e+01] [-1.14416492e-02 1.59700799e-04 9.99934529e-01 -1.87486005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:-98.35, Z:-1.88 [[ 6.44835477e-01 7.64286969e-01 7.25510644e-03 2.07173533e+02] [-7.64235760e-01 6.44876269e-01 -8.84874351e-03 -9.83523469e+01] [-1.14416253e-02 1.61371957e-04 9.99934529e-01 -1.87766508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:-98.40, Z:-1.88 [[ 6.41941027e-01 7.66719712e-01 7.25264290e-03 2.07212892e+02] [-7.66668635e-01 6.41981984e-01 -8.85076223e-03 -9.84000782e+01] [-1.14421200e-02 1.21293559e-04 9.99934529e-01 -1.88272384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.25, Y:-98.45, Z:-1.89 [[ 6.38287184e-01 7.69764185e-01 7.25050859e-03 2.07253384e+02] [-7.69713284e-01 6.38328359e-01 -8.85251030e-03 -9.84476422e+01] [-1.14425506e-02 6.96310921e-05 9.99934529e-01 -1.88722963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.29, Y:-98.50, Z:-1.89 [[ 6.33975645e-01 7.73319043e-01 7.24840705e-03 2.07291540e+02] [-7.73268352e-01 6.34017081e-01 -8.85423070e-03 -9.84957510e+01] [-1.14427591e-02 8.40285369e-06 9.99934529e-01 -1.88929094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.837628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:207.33, Y:-98.54, Z:-1.89 [[ 6.32765818e-01 7.74309311e-01 7.24648301e-03 2.07329091e+02] [-7.74258667e-01 6.32807310e-01 -8.85580509e-03 -9.85449389e+01] [-1.14427598e-02 -7.00152754e-06 9.99934529e-01 -1.88885104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.37, Y:-98.59, Z:-1.89 [[ 6.32648645e-01 7.74405069e-01 7.24443465e-03 2.07366915e+02] [-7.74354412e-01 6.32690121e-01 -8.85748043e-03 -9.85939169e+01] [-1.14427600e-02 -6.08694537e-06 9.99934529e-01 -1.88649155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-98.64, Z:-1.89 [[ 6.32867711e-01 7.74226070e-01 7.24241311e-03 2.07405330e+02] [-7.74175383e-01 6.32909150e-01 -8.85913306e-03 -9.86427120e+01] [-1.14427613e-02 -2.38674800e-07 9.99934529e-01 -1.88599094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.44, Y:-98.69, Z:-1.89 [[ 6.33272812e-01 7.73894775e-01 7.24041113e-03 2.07443255e+02] [-7.73844047e-01 6.33314201e-01 -8.86076893e-03 -9.86915865e+01] [-1.14427580e-02 8.33500006e-06 9.99934529e-01 -1.88597254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.48, Y:-98.74, Z:-1.89 [[ 6.32080463e-01 7.74868954e-01 7.23828986e-03 2.07484097e+02] [-7.74818270e-01 6.32121906e-01 -8.86250144e-03 -9.87394419e+01] [-1.14427588e-02 -6.54521531e-06 9.99934529e-01 -1.88743039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:207.52, Y:-98.79, Z:-1.89 [[ 6.31115801e-01 7.75654875e-01 7.23607394e-03 2.07523919e+02] [-7.75604222e-01 6.31157282e-01 -8.86431033e-03 -9.87879662e+01] [-1.14427463e-02 -1.79231936e-05 9.99934529e-01 -1.89069472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.56, Y:-98.84, Z:-1.89 [[ 6.29258220e-01 7.77162636e-01 7.23387902e-03 2.07563714e+02] [-7.77112062e-01 6.29299797e-01 -8.86610117e-03 -9.88355291e+01] [-1.14426812e-02 -4.24676033e-05 9.99934529e-01 -1.89227803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:-98.88, Z:-1.90 [[ 6.28670521e-01 7.77638139e-01 7.23192605e-03 2.07601804e+02] [-7.77587578e-01 6.28712114e-01 -8.86769389e-03 -9.88829230e+01] [-1.14426565e-02 -4.85981220e-05 9.99934529e-01 -1.89573685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:-98.93, Z:-1.89 [[ 6.29199595e-01 7.77210136e-01 7.23013721e-03 2.07641847e+02] [-7.77159530e-01 6.29241133e-01 -8.86915216e-03 -9.89310012e+01] [-1.14426947e-02 -3.85030858e-05 9.99934529e-01 -1.89380550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.377628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:-98.98, Z:-1.90 [[ 6.30672655e-01 7.76015312e-01 7.22758440e-03 2.07681400e+02] [-7.75964604e-01 6.30714068e-01 -8.87123199e-03 -9.89804342e+01] [-1.14427510e-02 -1.35062328e-05 9.99934529e-01 -1.89518837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.72, Y:-99.03, Z:-1.89 [[ 6.32559559e-01 7.74478019e-01 7.22506281e-03 2.07720338e+02] [-7.74427187e-01 6.32600820e-01 -8.87328519e-03 -9.90288385e+01] [-1.14427450e-02 1.75962992e-05 9.99934529e-01 -1.89246400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:-99.08, Z:-1.89 [[ 6.35512423e-01 7.72056857e-01 7.22288243e-03 2.07759248e+02] [-7.72005847e-01 6.35553464e-01 -8.87505967e-03 -9.90754744e+01] [-1.14425786e-02 6.41032034e-05 9.99934529e-01 -1.89089798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:-99.12, Z:-1.89 [[ 6.37102529e-01 7.70745241e-01 7.22088887e-03 2.07799470e+02] [-7.70694128e-01 6.37143442e-01 -8.87668137e-03 -9.91244422e+01] [-1.14424019e-02 9.02594971e-05 9.99934530e-01 -1.89006102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.84, Y:-99.17, Z:-1.89 [[ 6.37887019e-01 7.70096127e-01 7.21840616e-03 2.07840952e+02] [-7.70044950e-01 6.37927851e-01 -8.87869981e-03 -9.91708529e+01] [-1.14422747e-02 1.05110143e-04 9.99934530e-01 -1.89243904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.677628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:-99.22, Z:-1.90 [[ 6.37828400e-01 7.70144701e-01 7.21611034e-03 2.07881774e+02] [-7.70093505e-01 6.37869210e-01 -8.88056534e-03 -9.92173028e+01] [-1.14422549e-02 1.07197072e-04 9.99934530e-01 -1.89761416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.737628 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:207.92, Y:-99.26, Z:-1.90 [[ 6.37647705e-01 7.70294336e-01 7.21391936e-03 2.07921197e+02] [-7.70243130e-01 6.37688501e-01 -8.88234477e-03 -9.92641841e+01] [-1.14422533e-02 1.07334932e-04 9.99934530e-01 -1.90029833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.797628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:207.96, Y:-99.31, Z:-1.90 [[ 6.37308293e-01 7.70575185e-01 7.21268462e-03 2.07960892e+02] [-7.70523986e-01 6.37349098e-01 -8.88334730e-03 -9.93121396e+01] [-1.14422850e-02 1.03884404e-04 9.99934530e-01 -1.90057219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.857628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:-99.36, Z:-1.90 [[ 6.37179777e-01 7.70681478e-01 7.21048108e-03 2.08000383e+02] [-7.70630265e-01 6.37220565e-01 -8.88513551e-03 -9.93607701e+01] [-1.14422762e-02 1.04813717e-04 9.99934530e-01 -1.90070375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:-99.41, Z:-1.90 [[ 6.37071008e-01 7.70771416e-01 7.20796051e-03 2.08038021e+02] [-7.70720186e-01 6.37111774e-01 -8.88717983e-03 -9.94099931e+01] [-1.14422607e-02 1.06443942e-04 9.99934530e-01 -1.89733304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.08, Y:-99.46, Z:-1.90 [[ 6.36233263e-01 7.71463098e-01 7.20578693e-03 2.08075217e+02] [-7.71411892e-01 6.36274060e-01 -8.88894184e-03 -9.94598519e+01] [-1.14423459e-02 9.68107439e-05 9.99934530e-01 -1.89572192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.11, Y:-99.51, Z:-1.90 [[ 6.35198407e-01 7.72315409e-01 7.20363492e-03 2.08114188e+02] [-7.72264239e-01 6.35239247e-01 -8.89068549e-03 -9.95091997e+01] [-1.14424450e-02 8.42396195e-05 9.99934530e-01 -1.89614119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.097628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:208.15, Y:-99.56, Z:-1.90 [[ 6.33455525e-01 7.73745592e-01 7.20113036e-03 2.08153149e+02] [-7.73694491e-01 6.33496452e-01 -8.89271363e-03 -9.95572863e+01] [-1.14425885e-02 6.16636970e-05 9.99934530e-01 -1.90166960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.157628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:208.19, Y:-99.61, Z:-1.90 [[ 6.31658730e-01 7.75213148e-01 7.19892302e-03 2.08191392e+02] [-7.75162121e-01 6.31699750e-01 -8.89450018e-03 -9.96058219e+01] [-1.14426914e-02 3.79562547e-05 9.99934530e-01 -1.90460339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:-99.65, Z:-1.91 [[ 6.28579158e-01 7.77712318e-01 7.19672613e-03 2.08231720e+02] [-7.77661434e-01 6.28620355e-01 -8.89627737e-03 -9.96529424e+01] [-1.14427530e-02 -4.60182780e-06 9.99934530e-01 -1.90568918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:-99.70, Z:-1.91 [[ 6.27622793e-01 7.78484340e-01 7.19455177e-03 2.08272453e+02] [-7.78433487e-01 6.27664028e-01 -8.89803547e-03 -9.97005271e+01] [-1.14427426e-02 -1.58701460e-05 9.99934530e-01 -1.90586738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.31, Y:-99.75, Z:-1.91 [[ 6.27366303e-01 7.78691079e-01 7.19209471e-03 2.08311646e+02] [-7.78640216e-01 6.27407526e-01 -8.90002101e-03 -9.97470475e+01] [-1.14427413e-02 -1.64808987e-05 9.99934530e-01 -1.90558020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.35, Y:-99.80, Z:-1.91 [[ 6.27493128e-01 7.78588901e-01 7.19013103e-03 2.08350872e+02] [-7.78538013e-01 6.27534321e-01 -8.90160715e-03 -9.97964895e+01] [-1.14427465e-02 -1.20930092e-05 9.99934530e-01 -1.90546673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.39, Y:-99.85, Z:-1.91 [[ 6.27786013e-01 7.78352785e-01 7.18771753e-03 2.08388312e+02] [-7.78301860e-01 6.27827159e-01 -8.90355553e-03 -9.98454763e+01] [-1.14427515e-02 -4.68629324e-06 9.99934530e-01 -1.90631719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:-99.90, Z:-1.90 [[ 6.27380341e-01 7.78679828e-01 7.18562197e-03 2.08426543e+02] [-7.78628905e-01 6.27421489e-01 -8.90524643e-03 -9.98957097e+01] [-1.14427494e-02 -7.95642752e-06 9.99934530e-01 -1.90481825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:-99.94, Z:-1.91 [[ 6.30385998e-01 7.76248605e-01 7.18309072e-03 2.08469178e+02] [-7.76197499e-01 6.30426921e-01 -8.90728770e-03 -9.99409256e+01] [-1.14426834e-02 3.95323900e-05 9.99934530e-01 -1.90975695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.50, Y:-99.99, Z:-1.91 [[ 6.24285656e-01 7.81163144e-01 7.18075867e-03 2.08502336e+02] [-7.81112339e-01 6.24326950e-01 -8.90916732e-03 -9.99924513e+01] [-1.14426543e-02 -4.71138359e-05 9.99934530e-01 -1.90640693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:-100.04, Z:-1.91 [[ 6.22327515e-01 7.82724044e-01 7.17880238e-03 2.08541196e+02] [-7.82673325e-01 6.22368914e-01 -8.91074338e-03 -1.00041378e+02] [-1.14425165e-02 -7.32563362e-05 9.99934530e-01 -1.90786282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.58, Y:-100.09, Z:-1.91 [[ 6.19838827e-01 7.84696327e-01 7.17660001e-03 2.08581481e+02] [-7.84645719e-01 6.19880362e-01 -8.91251679e-03 -1.00087455e+02] [-1.14422526e-02 -1.06764516e-04 9.99934530e-01 -1.90989150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.62, Y:-100.13, Z:-1.91 [[ 6.18826630e-01 7.85494830e-01 7.17458390e-03 2.08621804e+02] [-7.85444256e-01 6.18868207e-01 -8.91413946e-03 -1.00134771e+02] [-1.14421323e-02 -1.18928837e-04 9.99934530e-01 -1.90907067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.18, Z:-1.91 [[ 6.18576008e-01 7.85692229e-01 7.17238415e-03 2.08660576e+02] [-7.85641648e-01 6.18617577e-01 -8.91590905e-03 -1.00183435e+02] [-1.14421234e-02 -1.19756277e-04 9.99934530e-01 -1.90638177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:-100.23, Z:-1.91 [[ 6.18917320e-01 7.85423414e-01 7.17018692e-03 2.08699636e+02] [-7.85372795e-01 6.18958842e-01 -8.91767571e-03 -1.00231737e+02] [-1.14422019e-02 -1.11965788e-04 9.99934530e-01 -1.90587597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:-100.28, Z:-1.91 [[ 6.19747958e-01 7.84768175e-01 7.16795930e-03 2.08736696e+02] [-7.84717491e-01 6.19789401e-01 -8.91946590e-03 -1.00280079e+02] [-1.14423382e-02 -9.70022633e-05 9.99934530e-01 -1.90793776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.77, Y:-100.33, Z:-1.91 [[ 6.19366797e-01 7.85069054e-01 7.16592540e-03 2.08773415e+02] [-7.85018372e-01 6.19408242e-01 -8.92109964e-03 -1.00329648e+02] [-1.14423125e-02 -9.99501848e-05 9.99934530e-01 -1.91014196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:-100.38, Z:-1.91 [[ 6.17045664e-01 7.86894739e-01 7.16369794e-03 2.08812591e+02] [-7.86844158e-01 6.17087233e-01 -8.92288795e-03 -1.00377267e+02] [-1.14420001e-02 -1.30884554e-04 9.99934530e-01 -1.91390110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.85, Y:-100.42, Z:-1.92 [[ 6.14161123e-01 7.89148166e-01 7.16147709e-03 2.08851825e+02] [-7.89097717e-01 6.14202851e-01 -8.92467004e-03 -1.00424210e+02] [-1.14414866e-02 -1.69919858e-04 9.99934530e-01 -1.91746229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.237628 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:208.89, Y:-100.47, Z:-1.92 [[ 6.14175308e-01 7.89137145e-01 7.15944703e-03 2.08890700e+02] [-7.89086676e-01 6.14217013e-01 -8.92629827e-03 -1.00472188e+02] [-1.14415277e-02 -1.67112265e-04 9.99934530e-01 -1.91691915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.93, Y:-100.52, Z:-1.92 [[ 6.14648199e-01 7.88768893e-01 7.15719526e-03 2.08929941e+02] [-7.88718378e-01 6.14689848e-01 -8.92810340e-03 -1.00521795e+02] [-1.14416655e-02 -1.57368767e-04 9.99934530e-01 -1.91564679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.97, Y:-100.57, Z:-1.91 [[ 6.17051011e-01 7.86890628e-01 7.15464807e-03 2.08966940e+02] [-7.86839963e-01 6.17092477e-01 -8.93014415e-03 -1.00571062e+02] [-1.14421262e-02 -1.19208542e-04 9.99934530e-01 -1.91028552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:-100.62, Z:-1.91 [[ 6.21765436e-01 7.83170843e-01 7.15357194e-03 2.09003691e+02] [-7.83119920e-01 6.21806584e-01 -8.93100611e-03 -1.00620008e+02] [-1.14426417e-02 -4.91137787e-05 9.99934530e-01 -1.90704686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:-100.67, Z:-1.91 [[ 6.25075796e-01 7.80531296e-01 7.15149975e-03 2.09041245e+02] [-7.80480181e-01 6.25116705e-01 -8.93266512e-03 -1.00668291e+02] [-1.14427466e-02 1.98894909e-06 9.99934530e-01 -1.90829716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.08, Y:-100.72, Z:-1.91 [[ 6.29625643e-01 7.76865769e-01 7.15028609e-03 2.09078963e+02] [-7.76814404e-01 6.29666238e-01 -8.93363650e-03 -1.00717269e+02] [-1.14425301e-02 7.04013903e-05 9.99934530e-01 -1.91046516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.12, Y:-100.76, Z:-1.92 [[ 6.34680772e-01 7.72741369e-01 7.14810017e-03 2.09124096e+02] [-7.72689720e-01 6.34721006e-01 -8.93538518e-03 -1.00761037e+02] [-1.14417911e-02 1.47853645e-04 9.99934530e-01 -1.91529167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.16, Y:-100.81, Z:-1.91 [[ 6.30759036e-01 7.75945860e-01 7.14572284e-03 2.09159004e+02] [-7.75894394e-01 6.30799504e-01 -8.93728595e-03 -1.00811873e+02] [-1.14423685e-02 9.29475763e-05 9.99934530e-01 -1.91360943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.717628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:-100.86, Z:-1.92 [[ 6.32692651e-01 7.74370054e-01 7.14340502e-03 2.09198141e+02] [-7.74318467e-01 6.32732964e-01 -8.93913816e-03 -1.00858346e+02] [-1.14420687e-02 1.24456591e-04 9.99934530e-01 -1.91713441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.24, Y:-100.91, Z:-1.91 [[ 6.33163632e-01 7.73985023e-01 7.14136706e-03 2.09237317e+02] [-7.73933393e-01 6.33203890e-01 -8.94076596e-03 -1.00906403e+02] [-1.14419604e-02 1.34025412e-04 9.99934530e-01 -1.91496723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:-100.95, Z:-1.91 [[ 6.33195183e-01 7.73959232e-01 7.13916322e-03 2.09276224e+02] [-7.73907580e-01 6.33235414e-01 -8.94252538e-03 -1.00954795e+02] [-1.14419210e-02 1.37311465e-04 9.99934530e-01 -1.91274004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:-101.00, Z:-1.91 [[ 6.31354364e-01 7.75461624e-01 7.13695895e-03 2.09315832e+02] [-7.75410049e-01 6.31394692e-01 -8.94428425e-03 -1.01002531e+02] [-1.14421872e-02 1.12943210e-04 9.99934530e-01 -1.91261299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.36, Y:-101.05, Z:-1.92 [[ 6.25348351e-01 7.80313100e-01 7.13476652e-03 2.09355424e+02] [-7.80261818e-01 6.25389051e-01 -8.94603278e-03 -1.01049012e+02] [-1.14427114e-02 2.74009558e-05 9.99934530e-01 -1.91511854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:-101.10, Z:-1.91 [[ 6.21473856e-01 7.83402432e-01 7.13276149e-03 2.09394528e+02] [-7.83351333e-01 6.21514786e-01 -8.94763112e-03 -1.01097295e+02] [-1.14427127e-02 -2.67394087e-05 9.99934530e-01 -1.91449204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.43, Y:-101.15, Z:-1.92 [[ 6.16866202e-01 7.87035732e-01 7.13057944e-03 2.09434104e+02] [-7.86984854e-01 6.16907407e-01 -8.94936971e-03 -1.01145729e+02] [-1.14423810e-02 -9.10943099e-05 9.99934530e-01 -1.91649717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.47, Y:-101.20, Z:-1.92 [[ 6.15959230e-01 7.87745782e-01 7.12811795e-03 2.09472342e+02] [-7.87694929e-01 6.16000465e-01 -8.95132985e-03 -1.01195208e+02] [-1.14422963e-02 -1.01128124e-04 9.99934530e-01 -1.91854400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.51, Y:-101.25, Z:-1.92 [[ 6.17501287e-01 7.86537591e-01 7.12589607e-03 2.09508883e+02] [-7.86486637e-01 6.17542397e-01 -8.95309828e-03 -1.01245387e+02] [-1.14424913e-02 -7.58723279e-05 9.99934530e-01 -1.91968559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.54, Y:-101.30, Z:-1.92 [[ 6.21336772e-01 7.83511244e-01 7.12365554e-03 2.09543270e+02] [-7.83460069e-01 6.21377607e-01 -8.95488063e-03 -1.01297678e+02] [-1.14427297e-02 -1.71030375e-05 9.99934530e-01 -1.91868345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.58, Y:-101.35, Z:-1.92 [[ 6.24083354e-01 7.81325318e-01 7.12142268e-03 2.09578788e+02] [-7.81273980e-01 6.24123984e-01 -8.95665597e-03 -1.01348260e+02] [-1.14427128e-02 2.59176614e-05 9.99934530e-01 -1.91786491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:-101.40, Z:-1.92 [[ 6.25289734e-01 7.80360215e-01 7.11920697e-03 2.09616474e+02] [-7.80308794e-01 6.25330258e-01 -8.95841678e-03 -1.01397467e+02] [-1.14426476e-02 4.64262381e-05 9.99934530e-01 -1.91666514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.437628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:209.66, Y:-101.45, Z:-1.92 [[ 6.26160758e-01 7.79661499e-01 7.11700174e-03 2.09655571e+02] [-7.79610013e-01 6.26201200e-01 -8.96016838e-03 -1.01446383e+02] [-1.14425733e-02 6.20200018e-05 9.99934530e-01 -1.91912240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.70, Y:-101.49, Z:-1.92 [[ 6.26405240e-01 7.79465112e-01 7.11441434e-03 2.09695955e+02] [-7.79413590e-01 6.26445636e-01 -8.96222232e-03 -1.01494528e+02] [-1.14425334e-02 6.89117998e-05 9.99934530e-01 -1.91831300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:-101.54, Z:-1.92 [[ 6.28786653e-01 7.77545347e-01 7.11187036e-03 2.09736452e+02] [-7.77493679e-01 6.28826862e-01 -8.96424061e-03 -1.01541691e+02] [-1.14422387e-02 1.07160608e-04 9.99934530e-01 -1.92058876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.78, Y:-101.59, Z:-1.92 [[ 6.30533519e-01 7.76129457e-01 7.10966370e-03 2.09776841e+02] [-7.76077679e-01 6.30573586e-01 -8.96599040e-03 -1.01589319e+02] [-1.14419354e-02 1.35706178e-04 9.99934530e-01 -1.92277178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.677628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:209.82, Y:-101.64, Z:-1.92 [[ 6.33458478e-01 7.73744041e-01 7.10749115e-03 2.09816607e+02] [-7.73692092e-01 6.33498324e-01 -8.96771229e-03 -1.01637611e+02] [-1.14412977e-02 1.81663681e-04 9.99934530e-01 -1.92386220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:-101.68, Z:-1.92 [[ 6.37635764e-01 7.70305234e-01 7.10493869e-03 2.09855111e+02] [-7.70253048e-01 6.37675298e-01 -8.96973410e-03 -1.01684470e+02] [-1.14400770e-02 2.46822572e-04 9.99934530e-01 -1.92171163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.797628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:209.89, Y:-101.73, Z:-1.92 [[ 6.40055716e-01 7.68295657e-01 7.10384108e-03 2.09894857e+02] [-7.68243337e-01 6.40095073e-01 -8.97060330e-03 -1.01732755e+02] [-1.14392092e-02 2.84207335e-04 9.99934530e-01 -1.92039964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.94, Y:-101.78, Z:-1.92 [[ 6.39862254e-01 7.68456806e-01 7.10164417e-03 2.09935096e+02] [-7.68404477e-01 6.39901599e-01 -8.97234216e-03 -1.01780529e+02] [-1.14392109e-02 2.84127900e-04 9.99934530e-01 -1.91774262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:-101.83, Z:-1.92 [[ 6.38627277e-01 7.69483464e-01 7.09922857e-03 2.09976087e+02] [-7.69431178e-01 6.38666678e-01 -8.97425306e-03 -1.01828094e+02] [-1.14395801e-02 2.68834992e-04 9.99934530e-01 -1.91650010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.02, Y:-101.88, Z:-1.92 [[ 6.36157820e-01 7.71526322e-01 7.09667362e-03 2.10016459e+02] [-7.71474139e-01 6.36197359e-01 -8.97627301e-03 -1.01876807e+02] [-1.14403159e-02 2.35426100e-04 9.99934530e-01 -1.91693132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.06, Y:-101.92, Z:-1.92 [[ 6.30777670e-01 7.75931186e-01 7.09412657e-03 2.10057787e+02] [-7.75879256e-01 6.30817541e-01 -8.97828554e-03 -1.01924657e+02] [-1.14416312e-02 1.59116382e-04 9.99934530e-01 -1.91794732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:-101.97, Z:-1.92 [[ 6.23157109e-01 7.82064528e-01 7.09161698e-03 2.10099145e+02] [-7.82012969e-01 6.23197458e-01 -8.98026734e-03 -1.01971805e+02] [-1.14426262e-02 5.03809883e-05 9.99934530e-01 -1.91937349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:-102.02, Z:-1.92 [[ 6.21074881e-01 7.83719169e-01 7.08910012e-03 2.10142805e+02] [-7.83667695e-01 6.21115338e-01 -8.98225373e-03 -1.02017895e+02] [-1.14427133e-02 2.31534253e-05 9.99934530e-01 -1.92162379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:-102.07, Z:-1.92 [[ 6.15965926e-01 7.87740922e-01 7.08644783e-03 2.10177749e+02] [-7.87689688e-01 6.16006686e-01 -8.98434574e-03 -1.02068934e+02] [-1.14426360e-02 -4.78710284e-05 9.99934530e-01 -1.92072005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.22, Y:-102.12, Z:-1.92 [[ 6.13168130e-01 7.89920668e-01 7.08400849e-03 2.10215223e+02] [-7.89869556e-01 6.13209043e-01 -8.98626870e-03 -1.02119281e+02] [-1.14424174e-02 -8.53490722e-05 9.99934530e-01 -1.92164569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.25, Y:-102.17, Z:-1.92 [[ 6.13241270e-01 7.89863911e-01 7.08145232e-03 2.10251993e+02] [-7.89812772e-01 6.13282150e-01 -8.98828259e-03 -1.02170028e+02] [-1.14424483e-02 -8.10356549e-05 9.99934530e-01 -1.92224623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:-102.22, Z:-1.92 [[ 6.14645961e-01 7.88771344e-01 7.07884962e-03 2.10287118e+02] [-7.88720109e-01 6.14686720e-01 -8.99033192e-03 -1.02221201e+02] [-1.14425910e-02 -5.73598483e-05 9.99934530e-01 -1.92364812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:-102.27, Z:-1.93 [[ 6.15776706e-01 7.87888934e-01 7.07645120e-03 2.10322472e+02] [-7.87837619e-01 6.15817364e-01 -8.99221936e-03 -1.02273399e+02] [-1.14426717e-02 -3.78952426e-05 9.99934530e-01 -1.92520686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:-102.32, Z:-1.93 [[ 6.15722590e-01 7.87931249e-01 7.07387875e-03 2.10358332e+02] [-7.87879913e-01 6.15763222e-01 -8.99424257e-03 -1.02323467e+02] [-1.14426792e-02 -3.54086466e-05 9.99934530e-01 -1.92721840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:-102.37, Z:-1.93 [[ 6.15318640e-01 7.88246757e-01 7.07262225e-03 2.10394211e+02] [-7.88195431e-01 6.15359284e-01 -8.99523051e-03 -1.02374467e+02] [-1.14426650e-02 -3.96755381e-05 9.99934530e-01 -1.93110858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.43, Y:-102.43, Z:-1.93 [[ 6.15390373e-01 7.88190775e-01 7.07039047e-03 2.10429704e+02] [-7.88139425e-01 6.15430987e-01 -8.99698438e-03 -1.02425693e+02] [-1.14426775e-02 -3.57959144e-05 9.99934530e-01 -1.93354163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:-102.48, Z:-1.93 [[ 6.14176350e-01 7.89137157e-01 7.06817527e-03 2.10468319e+02] [-7.89085850e-01 6.14217018e-01 -8.99872434e-03 -1.02475077e+02] [-1.14426213e-02 -5.05934174e-05 9.99934530e-01 -1.93380644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:-102.52, Z:-1.93 [[ 6.14741511e-01 7.88696996e-01 7.06563408e-03 2.10506303e+02] [-7.88645637e-01 6.14782113e-01 -9.00071920e-03 -1.02523791e+02] [-1.14426656e-02 -3.91657645e-05 9.99934530e-01 -1.93134965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:-102.57, Z:-1.93 [[ 6.15965514e-01 7.87741451e-01 7.06340194e-03 2.10544349e+02] [-7.87690009e-01 6.16006011e-01 -9.00247054e-03 -1.02572252e+02] [-1.14427173e-02 -1.85597411e-05 9.99934530e-01 -1.93072525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:-102.62, Z:-1.93 [[ 6.18651316e-01 7.85633940e-01 7.06131885e-03 2.10582511e+02] [-7.85582341e-01 6.18691613e-01 -9.00410417e-03 -1.02620996e+02] [-1.14427086e-02 2.31535024e-05 9.99934530e-01 -1.93314076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:-102.67, Z:-1.93 [[ 6.21154634e-01 7.83656226e-01 7.05973595e-03 2.10620967e+02] [-7.83604485e-01 6.21194748e-01 -9.00534509e-03 -1.02671052e+02] [-1.14425656e-02 6.16710835e-05 9.99934530e-01 -1.93360627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:-102.72, Z:-1.93 [[ 6.24217262e-01 7.81218924e-01 7.05716930e-03 2.10660142e+02] [-7.81167003e-01 6.24257144e-01 -9.00735603e-03 -1.02720102e+02] [-1.14422053e-02 1.09719330e-04 9.99934530e-01 -1.93489392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.057628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:-102.77, Z:-1.94 [[ 6.25392372e-01 7.80278549e-01 7.05463405e-03 2.10699070e+02] [-7.80226546e-01 6.25432146e-01 -9.00934123e-03 -1.02770038e+02] [-1.14419906e-02 1.30160524e-04 9.99934530e-01 -1.93640401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.117628 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:210.74, Y:-102.82, Z:-1.93 [[ 6.25608473e-01 7.80105317e-01 7.05210752e-03 2.10738186e+02] [-7.80053281e-01 6.25648204e-01 -9.01131845e-03 -1.02818887e+02] [-1.14419158e-02 1.36537568e-04 9.99934530e-01 -1.93316413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.177628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:-102.87, Z:-1.93 [[ 6.24465732e-01 7.81020390e-01 7.04985036e-03 2.10777651e+02] [-7.80968392e-01 6.24505513e-01 -9.01308395e-03 -1.02867108e+02] [-1.14420728e-02 1.22651765e-04 9.99934530e-01 -1.93487825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:-102.91, Z:-1.94 [[ 6.20642033e-01 7.84062370e-01 7.04746532e-03 2.10819288e+02] [-7.84010546e-01 6.20682040e-01 -9.01494846e-03 -1.02914450e+02] [-1.14425170e-02 6.97688101e-05 9.99934530e-01 -1.93567734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:-102.96, Z:-1.94 [[ 6.16364733e-01 7.87429288e-01 7.04492980e-03 2.10858169e+02] [-7.87377660e-01 6.16404993e-01 -9.01692946e-03 -1.02963978e+02] [-1.14427243e-02 1.06969821e-05 9.99934530e-01 -1.93587170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:-103.01, Z:-1.94 [[ 6.14236384e-01 7.89090660e-01 7.04243214e-03 2.10896705e+02] [-7.89039118e-01 6.14276754e-01 -9.01887978e-03 -1.03013322e+02] [-1.14427161e-02 -1.70303428e-05 9.99934530e-01 -1.93604152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.93, Y:-103.06, Z:-1.94 [[ 6.12950124e-01 7.90090238e-01 7.03995213e-03 2.10934478e+02] [-7.90038740e-01 6.12990550e-01 -9.02081520e-03 -1.03063307e+02] [-1.14426822e-02 -3.25251204e-05 9.99934530e-01 -1.93624155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.97, Y:-103.11, Z:-1.94 [[ 6.13226735e-01 7.89875589e-01 7.03738201e-03 2.10971427e+02] [-7.89824054e-01 6.13267114e-01 -9.02281978e-03 -1.03112911e+02] [-1.14427000e-02 -2.52592732e-05 9.99934530e-01 -1.93839038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:-103.17, Z:-1.94 [[ 6.14832433e-01 7.88626386e-01 7.03580007e-03 2.11006090e+02] [-7.88574754e-01 6.14872689e-01 -9.02405317e-03 -1.03165277e+02] [-1.14427277e-02 2.62618217e-08 9.99934530e-01 -1.93856603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.04, Y:-103.22, Z:-1.94 [[ 6.14621841e-01 7.88790547e-01 7.03321207e-03 2.11042377e+02] [-7.88738903e-01 6.14662081e-01 -9.02606977e-03 -1.03215780e+02] [-1.14427273e-02 2.51655770e-07 9.99934530e-01 -1.93960396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:-103.26, Z:-1.94 [[ 6.13019756e-01 7.90036294e-01 7.03082415e-03 2.11083326e+02] [-7.89984711e-01 6.13060073e-01 -9.02792945e-03 -1.03262512e+02] [-1.14427095e-02 -1.99444710e-05 9.99934530e-01 -1.93903280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.12, Y:-103.31, Z:-1.94 [[ 6.11462666e-01 7.91242067e-01 7.02844352e-03 2.11120741e+02] [-7.91190542e-01 6.11503058e-01 -9.02978244e-03 -1.03311696e+02] [-1.14426584e-02 -3.94631897e-05 9.99934530e-01 -1.93966174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:-103.36, Z:-1.94 [[ 6.10390562e-01 7.92069440e-01 7.02602411e-03 2.11157092e+02] [-7.92017947e-01 6.10430995e-01 -9.03166458e-03 -1.03360407e+02] [-1.14426084e-02 -5.18943835e-05 9.99934530e-01 -1.94349802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:-103.41, Z:-1.94 [[ 6.11931875e-01 7.90879287e-01 7.02380818e-03 2.11196604e+02] [-7.90827697e-01 6.11972183e-01 -9.03338755e-03 -1.03409876e+02] [-1.14426943e-02 -2.68042715e-05 9.99934530e-01 -1.94342458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:-103.46, Z:-1.94 [[ 6.16995238e-01 7.86935562e-01 7.02124274e-03 2.11234036e+02] [-7.86883691e-01 6.17035184e-01 -9.03538111e-03 -1.03458868e+02] [-1.14426165e-02 4.98857145e-05 9.99934530e-01 -1.94166375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.957628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:-103.51, Z:-1.94 [[ 6.22387264e-01 7.82677984e-01 7.01900806e-03 2.11272714e+02] [-7.82625820e-01 6.22426828e-01 -9.03711675e-03 -1.03508632e+02] [-1.14419712e-02 1.31329428e-04 9.99934530e-01 -1.94490606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:-103.56, Z:-1.94 [[ 6.28259120e-01 7.77972524e-01 7.01647188e-03 2.11310341e+02] [-7.77920042e-01 6.28298260e-01 -9.03908543e-03 -1.03559344e+02] [-1.14405972e-02 2.20633758e-04 9.99934530e-01 -1.94334081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.077628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:-103.61, Z:-1.95 [[ 6.31221840e-01 7.75570625e-01 7.01391049e-03 2.11348059e+02] [-7.75517972e-01 6.31260750e-01 -9.04107251e-03 -1.03607157e+02] [-1.14395967e-02 2.67508786e-04 9.99934530e-01 -1.94752246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:-103.66, Z:-1.95 [[ 6.31902161e-01 7.75016439e-01 7.01266824e-03 2.11387177e+02] [-7.74963741e-01 6.31941011e-01 -9.04203596e-03 -1.03655030e+02] [-1.14393192e-02 2.79118457e-04 9.99934530e-01 -1.94941718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19762799999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:-103.70, Z:-1.95 [[ 6.31045548e-01 7.75714103e-01 7.01048207e-03 2.11425147e+02] [-7.75661429e-01 6.31084430e-01 -9.04373062e-03 -1.03702338e+02] [-1.14395555e-02 2.69245403e-04 9.99934530e-01 -1.94978474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:-103.75, Z:-1.95 [[ 6.27728292e-01 7.78400964e-01 7.00926060e-03 2.11465840e+02] [-7.78348447e-01 6.27767385e-01 -9.04467722e-03 -1.03749703e+02] [-1.14405707e-02 2.21952688e-04 9.99934530e-01 -1.94519225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.51, Y:-103.80, Z:-1.95 [[ 6.22177012e-01 7.82845239e-01 7.00695464e-03 2.11506395e+02] [-7.82792981e-01 6.22216450e-01 -9.04646330e-03 -1.03796160e+02] [-1.14418232e-02 1.43506594e-04 9.99934530e-01 -1.94512702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.55, Y:-103.85, Z:-1.95 [[ 6.17851059e-01 7.86263952e-01 7.00484705e-03 2.11546507e+02] [-7.86211893e-01 6.17890760e-01 -9.04809496e-03 -1.03845271e+02] [-1.14424212e-02 8.30809923e-05 9.99934530e-01 -1.94592993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:-103.89, Z:-1.95 [[ 6.14206089e-01 7.89114598e-01 7.00227108e-03 2.11583107e+02] [-7.89062700e-01 6.14246002e-01 -9.05008804e-03 -1.03894619e+02] [-1.14426736e-02 3.33882555e-05 9.99934530e-01 -1.94658252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:-103.95, Z:-1.95 [[ 6.10517447e-01 7.91971874e-01 6.99989228e-03 2.11618846e+02] [-7.91920142e-01 6.10557574e-01 -9.05192758e-03 -1.03946314e+02] [-1.14427093e-02 -1.69959721e-05 9.99934530e-01 -1.94659778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:-104.00, Z:-1.95 [[ 6.07465164e-01 7.94315499e-01 6.99728755e-03 2.11655269e+02] [-7.94263899e-01 6.07505460e-01 -9.05394064e-03 -1.03996118e+02] [-1.14425758e-02 -5.77393570e-05 9.99934530e-01 -1.95033814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.69, Y:-104.05, Z:-1.95 [[ 6.05910912e-01 7.95501751e-01 6.99500829e-03 2.11690260e+02] [-7.95450210e-01 6.05951283e-01 -9.05570123e-03 -1.04047750e+02] [-1.14424604e-02 -7.72326279e-05 9.99934530e-01 -1.95291691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:-104.10, Z:-1.95 [[ 6.03078539e-01 7.97651163e-01 6.99272023e-03 2.11725543e+02] [-7.97599745e-01 6.03119067e-01 -9.05746770e-03 -1.04099424e+02] [-1.14421425e-02 -1.15027480e-04 9.99934530e-01 -1.95364781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:-104.15, Z:-1.95 [[ 5.99376113e-01 8.00437014e-01 6.99013615e-03 2.11763873e+02] [-8.00385761e-01 5.99416850e-01 -9.05946153e-03 -1.04147705e+02] [-1.14415337e-02 -1.64780600e-04 9.99934530e-01 -1.95265964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:-104.20, Z:-1.95 [[ 5.98168662e-01 8.01339766e-01 6.98790557e-03 2.11803629e+02] [-8.01288555e-01 5.98209451e-01 -9.06118174e-03 -1.04196641e+02] [-1.14413164e-02 -1.79213798e-04 9.99934530e-01 -1.95183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:-104.25, Z:-1.95 [[ 5.99191894e-01 8.00574968e-01 6.98537277e-03 2.11842431e+02] [-8.00523681e-01 5.99232588e-01 -9.06313389e-03 -1.04245817e+02] [-1.14415811e-02 -1.61399965e-04 9.99934530e-01 -1.95222001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.53, Y:-103.77, Z:-1.05 [[ 6.76703737e-01 7.36222311e-01 6.98283795e-03 2.12533643e+02] [-7.36167171e-01 6.76739034e-01 -9.06508646e-03 -1.03771284e+02] [-1.13994779e-02 9.93841829e-04 9.99934530e-01 -1.04541015e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 237.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.58, Y:-103.82, Z:-1.05 [[ 6.79846830e-01 7.33312839e-01 7.78254272e-03 2.12575933e+02] [-7.33265678e-01 6.79891372e-01 -8.31675905e-03 -1.03816991e+02] [-1.13900698e-02 -5.25491931e-05 9.99935130e-01 -1.04853630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03762799999998 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:-103.86, Z:-1.05 [[ 6.82005385e-01 7.31305763e-01 7.78048941e-03 2.12619137e+02] [-7.31258448e-01 6.82049765e-01 -8.31867952e-03 -1.03861537e+02] [-1.13901792e-02 -1.61643807e-05 9.99935130e-01 -1.05168495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.66, Y:-103.91, Z:-1.05 [[ 6.85143912e-01 7.28366196e-01 7.77843053e-03 2.12661627e+02] [-7.28318669e-01 6.85188064e-01 -8.32060424e-03 -1.03907046e+02] [-1.13901346e-02 3.56351709e-05 9.99935130e-01 -1.04891916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:-103.95, Z:-1.05 [[ 6.94593588e-01 7.19360324e-01 7.77635671e-03 2.12706566e+02] [-7.19312203e-01 6.94637092e-01 -8.32254196e-03 -1.03949340e+02] [-1.13886523e-02 1.87156013e-04 9.99935130e-01 -1.04705173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.217628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:-104.00, Z:-1.05 [[ 6.97512636e-01 7.16530308e-01 7.77435986e-03 2.12746945e+02] [-7.16481990e-01 6.97555920e-01 -8.32440687e-03 -1.03995673e+02] [-1.13877406e-02 2.36190146e-04 9.99935130e-01 -1.04868721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.79, Y:-104.04, Z:-1.05 [[ 7.00021367e-01 7.14079604e-01 7.77210329e-03 2.12789512e+02] [-7.14031111e-01 7.00064455e-01 -8.32651319e-03 -1.04039000e+02] [-1.13867665e-02 2.79213601e-04 9.99935130e-01 -1.04696029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.337628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:212.83, Y:-104.09, Z:-1.05 [[ 7.03055548e-01 7.11092475e-01 7.77099605e-03 2.12831924e+02] [-7.11043788e-01 7.03098417e-01 -8.32754643e-03 -1.04085605e+02] [-1.13854306e-02 3.29209258e-04 9.99935130e-01 -1.04741330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.87, Y:-104.13, Z:-1.05 [[ 7.02366525e-01 7.11773077e-01 7.76862070e-03 2.12874941e+02] [-7.11724407e-01 7.02409413e-01 -8.32976176e-03 -1.04129993e+02] [-1.13856525e-02 3.21428863e-04 9.99935130e-01 -1.04540515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.457628 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:-104.17, Z:-1.05 [[ 6.97958767e-01 7.16095833e-01 7.76643217e-03 2.12921191e+02] [-7.16047406e-01 6.98001930e-01 -8.33180178e-03 -1.04171398e+02] [-1.13873532e-02 2.54120494e-04 9.99935130e-01 -1.05386685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.97, Y:-104.22, Z:-1.05 [[ 6.93214266e-01 7.20689736e-01 7.76439072e-03 2.12965316e+02] [-7.20641574e-01 6.93257723e-01 -8.33370378e-03 -1.04215326e+02] [-1.13887386e-02 1.81699597e-04 9.99935130e-01 -1.05452004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:-104.26, Z:-1.05 [[ 6.91664411e-01 7.22177325e-01 7.76232579e-03 2.13006993e+02] [-7.22129235e-01 6.91707948e-01 -8.33562668e-03 -1.04261308e+02] [-1.13890630e-02 1.60053928e-04 9.99935130e-01 -1.05437575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:-104.31, Z:-1.05 [[ 6.89962978e-01 7.23803059e-01 7.76022151e-03 2.13050000e+02] [-7.23755049e-01 6.90006604e-01 -8.33758525e-03 -1.04305830e+02] [-1.13893738e-02 1.36125652e-04 9.99935130e-01 -1.05465190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:-104.35, Z:-1.06 [[ 6.87347819e-01 7.26286986e-01 7.75814203e-03 2.13090578e+02] [-7.26239112e-01 6.87391594e-01 -8.33951975e-03 -1.04352167e+02] [-1.13897663e-02 9.78845309e-05 9.99935130e-01 -1.05516457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:-104.40, Z:-1.06 [[ 6.85822542e-01 7.27727480e-01 7.75594107e-03 2.13131208e+02] [-7.27679675e-01 6.85866392e-01 -8.34156619e-03 -1.04399655e+02] [-1.13899263e-02 7.69934503e-05 9.99935130e-01 -1.05529196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:-104.45, Z:-1.06 [[ 6.84100300e-01 7.29346736e-01 7.75361304e-03 2.13171702e+02] [-7.29299010e-01 6.84144236e-01 -8.34372957e-03 -1.04447011e+02] [-1.13900616e-02 5.32455853e-05 9.99935130e-01 -1.05591485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:-104.49, Z:-1.06 [[ 6.82279258e-01 7.31050565e-01 7.75146115e-03 2.13213107e+02] [-7.31002927e-01 6.82323289e-01 -8.34572823e-03 -1.04493825e+02] [-1.13901518e-02 2.77764789e-05 9.99935130e-01 -1.05986561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:-104.54, Z:-1.06 [[ 6.82173391e-01 7.31149376e-01 7.74946174e-03 2.13253150e+02] [-7.31101723e-01 6.82217406e-01 -8.34758439e-03 -1.04540935e+02] [-1.13901488e-02 2.88551267e-05 9.99935130e-01 -1.06264483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.29, Y:-104.59, Z:-1.06 [[ 6.82340351e-01 7.30993586e-01 7.74748599e-03 2.13294031e+02] [-7.30945901e-01 6.82384332e-01 -8.34941770e-03 -1.04587263e+02] [-1.13901338e-02 3.41514728e-05 9.99935130e-01 -1.06364839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.33, Y:-104.63, Z:-1.07 [[ 6.83664916e-01 7.29754953e-01 7.74543107e-03 2.13333112e+02] [-7.29707167e-01 6.83708787e-01 -8.35132354e-03 -1.04633977e+02] [-1.13900390e-02 5.76103426e-05 9.99935130e-01 -1.06763647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:-104.68, Z:-1.07 [[ 6.81157663e-01 7.32095802e-01 7.74427077e-03 2.13376221e+02] [-7.32048155e-01 6.81201685e-01 -8.35239935e-03 -1.04679255e+02] [-1.13901668e-02 2.01216888e-05 9.99935130e-01 -1.06674313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.42, Y:-104.72, Z:-1.07 [[ 6.78976845e-01 7.34118864e-01 7.74192979e-03 2.13419312e+02] [-7.34071324e-01 6.79020981e-01 -8.35456867e-03 -1.04722796e+02] [-1.13901792e-02 -1.05699777e-05 9.99935130e-01 -1.06532249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.46, Y:-104.77, Z:-1.07 [[ 6.78387807e-01 7.34663239e-01 7.74005766e-03 2.13462342e+02] [-7.34615714e-01 6.78431960e-01 -8.35630274e-03 -1.04768274e+02] [-1.13901709e-02 -1.71540888e-05 9.99935130e-01 -1.06579350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.297628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:-104.81, Z:-1.07 [[ 6.81070706e-01 7.32176768e-01 7.73774345e-03 2.13503745e+02] [-7.32129058e-01 6.81114659e-01 -8.35844509e-03 -1.04814803e+02] [-1.13901498e-02 2.76652801e-05 9.99935130e-01 -1.06756417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:-104.86, Z:-1.06 [[ 6.82558305e-01 7.30790196e-01 7.73631619e-03 2.13544920e+02] [-7.30742381e-01 6.82602144e-01 -8.35976591e-03 -1.04861774e+02] [-1.13900610e-02 5.27735405e-05 9.99935130e-01 -1.06347620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:-104.91, Z:-1.06 [[ 6.86812824e-01 7.26793179e-01 7.73434940e-03 2.13587873e+02] [-7.26745089e-01 6.86856361e-01 -8.36158516e-03 -1.04907210e+02] [-1.13895301e-02 1.21943472e-04 9.99935130e-01 -1.06211412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:-104.95, Z:-1.06 [[ 6.91375865e-01 7.22453895e-01 7.73196230e-03 2.13630149e+02] [-7.22405507e-01 6.91419070e-01 -8.36379194e-03 -1.04952977e+02] [-1.13884802e-02 1.96911741e-04 9.99935130e-01 -1.06233441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:-105.00, Z:-1.06 [[ 6.98768837e-01 7.15305783e-01 7.72976034e-03 2.13673354e+02] [-7.15256930e-01 6.98811517e-01 -8.36582648e-03 -1.04998627e+02] [-1.13857696e-02 3.17014197e-04 9.99935130e-01 -1.06290610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.72, Y:-105.04, Z:-1.06 [[ 7.03505400e-01 7.10647901e-01 7.72742808e-03 2.13717140e+02] [-7.10598742e-01 7.03547727e-01 -8.36798021e-03 -1.05044350e+02] [-1.13833020e-02 3.95818593e-04 9.99935130e-01 -1.06316035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:-105.09, Z:-1.06 [[ 7.04867936e-01 7.09296494e-01 7.72509692e-03 2.13762982e+02] [-7.09247230e-01 7.04910141e-01 -8.37013172e-03 -1.05087785e+02] [-1.13824042e-02 4.20833874e-04 9.99935130e-01 -1.06464094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:-105.13, Z:-1.07 [[ 7.04056525e-01 7.10101942e-01 7.72273140e-03 2.13807298e+02] [-7.10052704e-01 7.04098759e-01 -8.37231371e-03 -1.05132880e+02] [-1.13827618e-02 4.11035790e-04 9.99935130e-01 -1.06586581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:-105.18, Z:-1.07 [[ 6.98893850e-01 7.15183741e-01 7.72037654e-03 2.13852018e+02] [-7.15134785e-01 6.98936411e-01 -8.37448464e-03 -1.05177001e+02] [-1.13853475e-02 3.31765990e-04 9.99935130e-01 -1.06641853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:-105.22, Z:-1.07 [[ 6.91894418e-01 7.21957441e-01 7.71800659e-03 2.13897403e+02] [-7.21908878e-01 6.91937427e-01 -8.37666824e-03 -1.05219871e+02] [-1.13879756e-02 2.24072520e-04 9.99935130e-01 -1.06859334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.94, Y:-105.26, Z:-1.07 [[ 6.88563982e-01 7.25134544e-01 7.71592868e-03 2.13941075e+02] [-7.25086158e-01 6.88607191e-01 -8.37858180e-03 -1.05264086e+02] [-1.13888431e-02 1.74476572e-04 9.99935130e-01 -1.06952972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:-105.31, Z:-1.07 [[ 6.85380175e-01 7.28144569e-01 7.71373320e-03 2.13985896e+02] [-7.28096350e-01 6.85423570e-01 -8.38060258e-03 -1.05308748e+02] [-1.13894648e-02 1.27557876e-04 9.99935130e-01 -1.06854661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:-105.35, Z:-1.07 [[ 6.84359221e-01 7.29104238e-01 7.71139231e-03 2.14029755e+02] [-7.29056056e-01 6.84402657e-01 -8.38275600e-03 -1.05354381e+02] [-1.13896003e-02 1.14779106e-04 9.99935130e-01 -1.06740998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:-105.40, Z:-1.07 [[ 6.83380504e-01 7.30021683e-01 7.70904768e-03 2.14073153e+02] [-7.29973535e-01 6.83423977e-01 -8.38491163e-03 -1.05397924e+02] [-1.13897153e-02 1.02684350e-04 9.99935130e-01 -1.06766119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:-105.44, Z:-1.07 [[ 6.81717105e-01 7.31575281e-01 7.70702497e-03 2.14117751e+02] [-7.31527210e-01 6.81760664e-01 -8.38677041e-03 -1.05442871e+02] [-1.13899004e-02 7.95063650e-05 9.99935130e-01 -1.06966925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:-105.49, Z:-1.07 [[ 6.79903011e-01 7.33261571e-01 7.70475740e-03 2.14161536e+02] [-7.33213585e-01 6.79946664e-01 -8.38885306e-03 -1.05487765e+02] [-1.13900477e-02 5.43736614e-05 9.99935130e-01 -1.07195159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:-105.54, Z:-1.08 [[ 6.79258990e-01 7.33858228e-01 7.70234668e-03 2.14202398e+02] [-7.33810255e-01 6.79302657e-01 -8.39106591e-03 -1.05535187e+02] [-1.13900773e-02 4.76459711e-05 9.99935130e-01 -1.07604912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:-105.58, Z:-1.08 [[ 6.82934653e-01 7.30438876e-01 7.70121234e-03 2.14242025e+02] [-7.30390673e-01 6.82978065e-01 -8.39210687e-03 -1.05582814e+02] [-1.13896802e-02 1.06366933e-04 9.99935130e-01 -1.08012035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.377628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:-105.63, Z:-1.08 [[ 6.86905958e-01 7.26705530e-01 7.69913809e-03 2.14281694e+02] [-7.26657070e-01 6.86949083e-01 -8.39400940e-03 -1.05630791e+02] [-1.13888889e-02 1.71261944e-04 9.99935130e-01 -1.08282128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.437628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:214.32, Y:-105.68, Z:-1.08 [[ 6.92731462e-01 7.21154544e-01 7.69704455e-03 2.14319802e+02] [-7.21105718e-01 6.92774171e-01 -8.39592868e-03 -1.05680943e+02] [-1.13870758e-02 2.65741111e-04 9.99935130e-01 -1.08024790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:-105.73, Z:-1.08 [[ 6.95833916e-01 7.18161510e-01 7.69468046e-03 2.14360150e+02] [-7.18112475e-01 6.95876386e-01 -8.39809476e-03 -1.05728504e+02] [-1.13857348e-02 3.18033124e-04 9.99935130e-01 -1.07751215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:-105.77, Z:-1.08 [[ 6.96771327e-01 7.17252077e-01 7.69259112e-03 2.14401420e+02] [-7.17202966e-01 6.96813709e-01 -8.40000814e-03 -1.05774290e+02] [-1.13852262e-02 3.35735645e-04 9.99935130e-01 -1.07623180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.44, Y:-105.82, Z:-1.08 [[ 6.95489734e-01 7.18494865e-01 7.69145820e-03 2.14442767e+02] [-7.18445819e-01 6.95532191e-01 -8.40104537e-03 -1.05821131e+02] [-1.13857647e-02 3.16944830e-04 9.99935130e-01 -1.07586154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.49, Y:-105.87, Z:-1.08 [[ 6.89220493e-01 7.24510862e-01 7.68911981e-03 2.14486042e+02] [-7.24462162e-01 6.89263347e-01 -8.40318506e-03 -1.05866147e+02] [-1.13880273e-02 2.21170986e-04 9.99935130e-01 -1.07737660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:-105.91, Z:-1.09 [[ 6.86293788e-01 7.27283818e-01 7.68670315e-03 2.14533100e+02] [-7.27235266e-01 6.86336810e-01 -8.40539508e-03 -1.05907336e+02] [-1.13887751e-02 1.78528811e-04 9.99935130e-01 -1.08550648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.797628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:214.57, Y:-105.96, Z:-1.08 [[ 6.73042126e-01 7.39564212e-01 7.68589120e-03 2.14570329e+02] [-7.39516438e-01 6.73086009e-01 -8.40613746e-03 -1.05956279e+02] [-1.13901443e-02 -2.61582578e-05 9.99935130e-01 -1.08448899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:-106.00, Z:-1.08 [[ 6.69975348e-01 7.42343582e-01 7.68378261e-03 2.14611708e+02] [-7.42295967e-01 6.70019404e-01 -8.40806442e-03 -1.06004125e+02] [-1.13899561e-02 -7.04449589e-05 9.99935130e-01 -1.08403552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:-106.05, Z:-1.08 [[ 6.70363757e-01 7.41992878e-01 7.68137776e-03 2.14652499e+02] [-7.41945215e-01 6.70407761e-01 -8.41026085e-03 -1.06051474e+02] [-1.13900089e-02 -6.12274133e-05 9.99935130e-01 -1.08342574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.69, Y:-106.10, Z:-1.08 [[ 6.72751459e-01 7.39828698e-01 7.67930416e-03 2.14690316e+02] [-7.39780872e-01 6.72795286e-01 -8.41215380e-03 -1.06100813e+02] [-1.13901524e-02 -2.17135836e-05 9.99935130e-01 -1.07803232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:-106.15, Z:-1.08 [[ 6.74496003e-01 7.38238581e-01 7.67721179e-03 2.14732053e+02] [-7.38190630e-01 6.74539693e-01 -8.41406293e-03 -1.06148425e+02] [-1.13901700e-02 8.00600047e-06 9.99935130e-01 -1.07768432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:-106.20, Z:-1.08 [[ 6.77551574e-01 7.35435220e-01 7.67480375e-03 2.14772928e+02] [-7.35387063e-01 6.77595037e-01 -8.41625883e-03 -1.06195314e+02] [-1.13900221e-02 5.84980294e-05 9.99935130e-01 -1.07830977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.81, Y:-106.24, Z:-1.08 [[ 6.79456034e-01 7.33676099e-01 7.67332017e-03 2.14813922e+02] [-7.33627814e-01 6.79499355e-01 -8.41761123e-03 -1.06242520e+02] [-1.13898163e-02 9.00356374e-05 9.99935130e-01 -1.07782505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.86, Y:-106.29, Z:-1.08 [[ 6.79435494e-01 7.33695144e-01 7.67097463e-03 2.14856702e+02] [-7.33646837e-01 6.79478790e-01 -8.41974818e-03 -1.06288903e+02] [-1.13897929e-02 9.28894991e-05 9.99935130e-01 -1.07947025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:-106.33, Z:-1.08 [[ 6.77764842e-01 7.35238745e-01 7.66863414e-03 2.14899113e+02] [-7.35190512e-01 6.77808220e-01 -8.42187934e-03 -1.06334685e+02] [-1.13899553e-02 7.01466548e-05 9.99935130e-01 -1.08278342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.337628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:-106.38, Z:-1.09 [[ 6.74593229e-01 7.38149848e-01 7.66657887e-03 2.14941170e+02] [-7.38101781e-01 6.74636792e-01 -8.42374987e-03 -1.06380365e+02] [-1.13901459e-02 2.38891023e-05 9.99935130e-01 -1.08838254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.98, Y:-106.43, Z:-1.09 [[ 6.72291125e-01 7.40247188e-01 7.66445235e-03 2.14981983e+02] [-7.40199235e-01 6.72334813e-01 -8.42568426e-03 -1.06425225e+02] [-1.13901672e-02 -8.70901870e-06 9.99935130e-01 -1.09121672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:-106.47, Z:-1.09 [[ 6.72257109e-01 7.40278092e-01 7.66325146e-03 2.15022048e+02] [-7.40230129e-01 6.72300786e-01 -8.42677635e-03 -1.06473281e+02] [-1.13901679e-02 -7.60930561e-06 9.99935130e-01 -1.09180132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:-106.52, Z:-1.09 [[ 6.72619510e-01 7.39948850e-01 7.66116631e-03 2.15062249e+02] [-7.39900844e-01 6.72663139e-01 -8.42867163e-03 -1.06520138e+02] [-1.13901701e-02 7.85562848e-07 9.99935130e-01 -1.08794880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.10, Y:-106.57, Z:-1.08 [[ 6.73402693e-01 7.39236193e-01 7.65920979e-03 2.15102827e+02] [-7.39188120e-01 6.73446249e-01 -8.43044916e-03 -1.06567227e+02] [-1.13901592e-02 1.54902815e-05 9.99935130e-01 -1.08471977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:-106.61, Z:-1.08 [[ 6.73533579e-01 7.39116964e-01 7.65711525e-03 2.15145406e+02] [-7.39068862e-01 6.73577103e-01 -8.43235114e-03 -1.06612626e+02] [-1.13901513e-02 2.03361948e-05 9.99935130e-01 -1.08403888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.19, Y:-106.66, Z:-1.08 [[ 6.72454142e-01 7.40099201e-01 7.65505147e-03 2.15188957e+02] [-7.40051141e-01 6.72497712e-01 -8.43422426e-03 -1.06657984e+02] [-1.13901672e-02 6.49946247e-06 9.99935130e-01 -1.08425940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:-106.70, Z:-1.09 [[ 6.72360587e-01 7.40184220e-01 7.65264243e-03 2.15231328e+02] [-7.40136140e-01 6.72404135e-01 -8.43640949e-03 -1.06702111e+02] [-1.13901656e-02 8.31200057e-06 9.99935130e-01 -1.08800556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.27, Y:-106.75, Z:-1.09 [[ 6.73043972e-01 7.39562897e-01 7.65071904e-03 2.15273051e+02] [-7.39514757e-01 6.73087455e-01 -8.43815339e-03 -1.06748821e+02] [-1.13901482e-02 2.14286458e-05 9.99935130e-01 -1.09093935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.31, Y:-106.80, Z:-1.10 [[ 6.75011032e-01 7.37767975e-01 7.64998516e-03 2.15313265e+02] [-7.37719712e-01 6.75054377e-01 -8.43881867e-03 -1.06796473e+02] [-1.13900461e-02 5.27508412e-05 9.99935130e-01 -1.09533446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:-106.84, Z:-1.10 [[ 6.75484007e-01 7.37334975e-01 7.64795372e-03 2.15356113e+02] [-7.37286663e-01 6.75527299e-01 -8.44065933e-03 -1.06841260e+02] [-1.13899949e-02 6.27961010e-05 9.99935130e-01 -1.09922027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:-106.89, Z:-1.10 [[ 6.75839912e-01 7.37008788e-01 7.64590207e-03 2.15398537e+02] [-7.36960435e-01 6.75883156e-01 -8.44251739e-03 -1.06887922e+02] [-1.13899459e-02 7.10628928e-05 9.99935130e-01 -1.09785345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.44, Y:-106.93, Z:-1.10 [[ 6.77338507e-01 7.35631785e-01 7.64351658e-03 2.15440174e+02] [-7.35583320e-01 6.77381626e-01 -8.44467656e-03 -1.06933019e+02] [-1.13897502e-02 9.74613170e-05 9.99935130e-01 -1.09565077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:-106.98, Z:-1.09 [[ 6.77425439e-01 7.35551752e-01 7.64161133e-03 2.15482531e+02] [-7.35503262e-01 6.77468530e-01 -8.44640028e-03 -1.06978453e+02] [-1.13897157e-02 1.01376354e-04 9.99935130e-01 -1.09330986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.177628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-107.02, Z:-1.10 [[ 6.76596349e-01 7.36314482e-01 7.63957984e-03 2.15525616e+02] [-7.36266020e-01 6.76639472e-01 -8.44823732e-03 -1.07024198e+02] [-1.13898008e-02 9.12834840e-05 9.99935130e-01 -1.09701636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:-107.07, Z:-1.10 [[ 6.74534962e-01 7.38203399e-01 7.63720884e-03 2.15568267e+02] [-7.38155034e-01 6.74578192e-01 -8.45038016e-03 -1.07069839e+02] [-1.13899939e-02 6.26327136e-05 9.99935130e-01 -1.09593478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.61, Y:-107.12, Z:-1.10 [[ 6.72536282e-01 7.40024769e-01 7.63480115e-03 2.15611604e+02] [-7.39976496e-01 6.72579616e-01 -8.45255491e-03 -1.07115165e+02] [-1.13901116e-02 3.50764520e-05 9.99935130e-01 -1.09825211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:-107.16, Z:-1.10 [[ 6.71272121e-01 7.41171698e-01 7.63239851e-03 2.15652365e+02] [-7.41123474e-01 6.71315510e-01 -8.45472387e-03 -1.07160691e+02] [-1.13901495e-02 1.88707243e-05 9.99935130e-01 -1.10308219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.69, Y:-107.21, Z:-1.11 [[ 6.72103089e-01 7.40418269e-01 7.63048043e-03 2.15691346e+02] [-7.40369977e-01 6.72146402e-01 -8.45645460e-03 -1.07207865e+02] [-1.13901134e-02 3.42306350e-05 9.99935130e-01 -1.10830008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.73, Y:-107.26, Z:-1.11 [[ 6.71571733e-01 7.40900271e-01 7.62859216e-03 2.15730524e+02] [-7.40851991e-01 6.71615059e-01 -8.45815767e-03 -1.07255408e+02] [-1.13901287e-02 2.86019141e-05 9.99935130e-01 -1.10529015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.77, Y:-107.30, Z:-1.10 [[ 6.69699346e-01 7.42593173e-01 7.62665383e-03 2.15770325e+02] [-7.42544982e-01 6.69742772e-01 -8.45990509e-03 -1.07302572e+02] [-1.13901640e-02 2.45938006e-06 9.99935130e-01 -1.10199176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:-107.35, Z:-1.10 [[ 6.65253147e-01 7.46578940e-01 7.62473240e-03 2.15813803e+02] [-7.46530990e-01 6.65296837e-01 -8.46163647e-03 -1.07347127e+02] [-1.13899899e-02 -6.29687388e-05 9.99935130e-01 -1.10102554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.86, Y:-107.39, Z:-1.10 [[ 6.62683968e-01 7.48860370e-01 7.62267838e-03 2.15856292e+02] [-7.48812548e-01 6.62727800e-01 -8.46348644e-03 -1.07393105e+02] [-1.13897305e-02 -9.93404406e-05 9.99935130e-01 -1.10101322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.90, Y:-107.44, Z:-1.10 [[ 6.63497355e-01 7.48139821e-01 7.62027410e-03 2.15897575e+02] [-7.48091927e-01 6.63541108e-01 -8.46565063e-03 -1.07440656e+02] [-1.13898555e-02 -8.37287371e-05 9.99935130e-01 -1.10151399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-107.49, Z:-1.10 [[ 6.65753356e-01 7.46132990e-01 7.61783128e-03 2.15938857e+02] [-7.46084939e-01 6.65796936e-01 -8.46784824e-03 -1.07487391e+02] [-1.13900696e-02 -4.60508015e-05 9.99935130e-01 -1.10439442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.98, Y:-107.54, Z:-1.10 [[ 6.66191294e-01 7.45742020e-01 7.61572554e-03 2.15980561e+02] [-7.45693922e-01 6.66234822e-01 -8.46974166e-03 -1.07535120e+02] [-1.13901038e-02 -3.65320862e-05 9.99935130e-01 -1.10469001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.897628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:-107.58, Z:-1.11 [[ 6.67968616e-01 7.44150500e-01 7.61328702e-03 2.16020967e+02] [-7.44102273e-01 6.68012001e-01 -8.47193303e-03 -1.07580760e+02] [-1.13901603e-02 -6.07879801e-06 9.99935130e-01 -1.10934226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.957628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:-107.63, Z:-1.11 [[ 6.67570055e-01 7.44508085e-01 7.61134210e-03 2.16065160e+02] [-7.44459862e-01 6.67613444e-01 -8.47368002e-03 -1.07625016e+02] [-1.13901576e-02 -9.56364456e-06 9.99935130e-01 -1.11108309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.017628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:-107.67, Z:-1.11 [[ 6.65773819e-01 7.46114818e-01 7.60925754e-03 2.16109001e+02] [-7.46066678e-01 6.65817301e-01 -8.47555152e-03 -1.07669980e+02] [-1.13901099e-02 -3.42131870e-05 9.99935130e-01 -1.11181034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.15, Y:-107.72, Z:-1.11 [[ 6.64278122e-01 7.47446796e-01 7.60684000e-03 2.16149795e+02] [-7.47398718e-01 6.64321673e-01 -8.47772071e-03 -1.07716635e+02] [-1.13900338e-02 -5.37780685e-05 9.99935130e-01 -1.10976816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:-107.76, Z:-1.11 [[ 6.64784021e-01 7.46996903e-01 7.60475678e-03 2.16190030e+02] [-7.46948774e-01 6.64827515e-01 -8.47958901e-03 -1.07763720e+02] [-1.13900783e-02 -4.32684787e-05 9.99935130e-01 -1.10705498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.23, Y:-107.81, Z:-1.11 [[ 6.66249182e-01 7.45690437e-01 7.60265050e-03 2.16231417e+02] [-7.45642202e-01 6.66292557e-01 -8.48147703e-03 -1.07808055e+02] [-1.13901458e-02 -1.80799278e-05 9.99935130e-01 -1.10791527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:-107.86, Z:-1.11 [[ 6.69237579e-01 7.43009618e-01 7.60072715e-03 2.16271758e+02] [-7.42961189e-01 6.69280738e-01 -8.48320031e-03 -1.07856791e+02] [-1.13901197e-02 3.02311564e-05 9.99935130e-01 -1.10760770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.31, Y:-107.91, Z:-1.11 [[ 6.72495974e-01 7.40061775e-01 7.59833614e-03 2.16312095e+02] [-7.40013133e-01 6.72538893e-01 -8.48534138e-03 -1.07905478e+02] [-1.13898534e-02 8.34893823e-05 9.99935130e-01 -1.10770853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.35, Y:-107.95, Z:-1.11 [[ 6.73927615e-01 7.38758331e-01 7.59597430e-03 2.16354153e+02] [-7.38709582e-01 6.73970413e-01 -8.48745514e-03 -1.07952136e+02] [-1.13896401e-02 1.08711400e-04 9.99935130e-01 -1.10941916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.40, Y:-108.00, Z:-1.11 [[ 6.73898969e-01 7.38784486e-01 7.59358005e-03 2.16397351e+02] [-7.38735714e-01 6.73941742e-01 -8.48959669e-03 -1.07996148e+02] [-1.13896129e-02 1.11481678e-04 9.99935130e-01 -1.11367257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.44, Y:-108.04, Z:-1.12 [[ 6.72344623e-01 7.40199350e-01 7.59145642e-03 2.16440087e+02] [-7.40150647e-01 6.72387473e-01 -8.49149523e-03 -1.08041912e+02] [-1.13897995e-02 9.03897715e-05 9.99935130e-01 -1.11630633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.557628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:-108.09, Z:-1.12 [[ 6.70517039e-01 7.41855297e-01 7.59070695e-03 2.16481828e+02] [-7.41806692e-01 6.70560001e-01 -8.49216514e-03 -1.08087195e+02] [-1.13899822e-02 6.33042130e-05 9.99935130e-01 -1.11927536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:-108.13, Z:-1.12 [[ 6.67415451e-01 7.44646917e-01 7.58849303e-03 2.16525745e+02] [-7.44598470e-01 6.67458589e-01 -8.49414302e-03 -1.08132762e+02] [-1.13901423e-02 1.87419915e-05 9.99935130e-01 -1.11980914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.57, Y:-108.18, Z:-1.12 [[ 6.65568122e-01 7.46298550e-01 7.58611293e-03 2.16567410e+02] [-7.46250185e-01 6.65611354e-01 -8.49626815e-03 -1.08179920e+02] [-1.13901555e-02 -6.29293557e-06 9.99935130e-01 -1.12013297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:-108.23, Z:-1.12 [[ 6.65964243e-01 7.45945115e-01 7.58374605e-03 2.16607386e+02] [-7.45896703e-01 6.66007422e-01 -8.49838029e-03 -1.08226589e+02] [-1.13901564e-02 2.92621400e-06 9.99935130e-01 -1.12019601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.65, Y:-108.28, Z:-1.12 [[ 6.67714353e-01 7.44378975e-01 7.58185625e-03 2.16646719e+02] [-7.44330443e-01 6.67757396e-01 -8.50006595e-03 -1.08275150e+02] [-1.13901110e-02 3.22096091e-05 9.99935130e-01 -1.11754210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.69, Y:-108.32, Z:-1.12 [[ 6.68387073e-01 7.43775011e-01 7.57984486e-03 2.16687724e+02] [-7.43726420e-01 6.68430049e-01 -8.50185921e-03 -1.08323059e+02] [-1.13900665e-02 4.52019033e-05 9.99935130e-01 -1.11757213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.73, Y:-108.37, Z:-1.12 [[ 6.69118454e-01 7.43117134e-01 7.57756333e-03 2.16729205e+02] [-7.43068478e-01 6.69161357e-01 -8.50389222e-03 -1.08369779e+02] [-1.13900006e-02 5.94627639e-05 9.99935130e-01 -1.12054752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.77, Y:-108.42, Z:-1.12 [[ 6.67372628e-01 7.44685432e-01 7.57518251e-03 2.16769963e+02] [-7.44636852e-01 6.67415618e-01 -8.50601250e-03 -1.08416653e+02] [-1.13900987e-02 3.59198531e-05 9.99935130e-01 -1.12275779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03762799999998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:216.81, Y:-108.46, Z:-1.13 [[ 6.65626716e-01 7.46246423e-01 7.57307159e-03 2.16812742e+02] [-7.46197922e-01 6.65669795e-01 -8.50789148e-03 -1.08461196e+02] [-1.13901486e-02 1.20695765e-05 9.99935130e-01 -1.12723209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.86, Y:-108.50, Z:-1.13 [[ 6.63190622e-01 7.48412239e-01 7.57094533e-03 2.16856593e+02] [-7.48363858e-01 6.63233835e-01 -8.50978316e-03 -1.08504500e+02] [-1.13901330e-02 -2.22134730e-05 9.99935130e-01 -1.12598466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:-108.55, Z:-1.13 [[ 6.62022992e-01 7.49445307e-01 7.56900302e-03 2.16898464e+02] [-7.49396973e-01 6.62066259e-01 -8.51151039e-03 -1.08551157e+02] [-1.13900930e-02 -3.73723712e-05 9.99935130e-01 -1.12529644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.94, Y:-108.60, Z:-1.13 [[ 6.62956177e-01 7.48619966e-01 7.56665517e-03 2.16938950e+02] [-7.48571555e-01 6.62999356e-01 -8.51359710e-03 -1.08598707e+02] [-1.13901363e-02 -2.00410394e-05 9.99935130e-01 -1.12552206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.98, Y:-108.65, Z:-1.13 [[ 6.66499739e-01 7.45466887e-01 7.56429857e-03 2.16978867e+02] [-7.45418248e-01 6.66542661e-01 -8.51569041e-03 -1.08647291e+02] [-1.13900929e-02 3.71392542e-05 9.99935130e-01 -1.12534217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.337628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:217.02, Y:-108.69, Z:-1.13 [[ 6.69466811e-01 7.42803478e-01 7.56186749e-03 2.17019839e+02] [-7.42754644e-01 6.69509511e-01 -8.51784864e-03 -1.08694475e+02] [-1.13898298e-02 8.58047744e-05 9.99935130e-01 -1.12698266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.397628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:-108.74, Z:-1.13 [[ 6.73500966e-01 7.39147687e-01 7.55946672e-03 2.17060919e+02] [-7.39098597e-01 6.73543372e-01 -8.51997876e-03 -1.08742302e+02] [-1.13891513e-02 1.51022671e-04 9.99935130e-01 -1.12947548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:-108.79, Z:-1.13 [[ 6.75324491e-01 7.37482015e-01 7.55707180e-03 2.17101563e+02] [-7.37432797e-01 6.75366748e-01 -8.52210248e-03 -1.08789936e+02] [-1.13886923e-02 1.82351927e-04 9.99935130e-01 -1.13135562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.14, Y:-108.84, Z:-1.13 [[ 6.74332132e-01 7.38389517e-01 7.55631932e-03 2.17144492e+02] [-7.38340347e-01 6.74374446e-01 -8.52276964e-03 -1.08836498e+02] [-1.13889124e-02 1.68041988e-04 9.99935130e-01 -1.13157346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:-108.88, Z:-1.13 [[ 6.72637792e-01 7.39933335e-01 7.55389014e-03 2.17187578e+02] [-7.39884239e-01 6.72680191e-01 -8.52492212e-03 -1.08880540e+02] [-1.13892263e-02 1.45180533e-04 9.99935130e-01 -1.13187713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.637628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:-108.93, Z:-1.13 [[ 6.71393641e-01 7.41062448e-01 7.55164878e-03 2.17230244e+02] [-7.41013401e-01 6.71436097e-01 -8.52690712e-03 -1.08927301e+02] [-1.13894202e-02 1.29038276e-04 9.99935130e-01 -1.13181246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:-108.97, Z:-1.13 [[ 6.69345655e-01 7.42912783e-01 7.54921118e-03 2.17271933e+02] [-7.42863829e-01 6.69388218e-01 -8.52906468e-03 -1.08974440e+02] [-1.13897042e-02 1.00856459e-04 9.99935130e-01 -1.12968599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:-109.02, Z:-1.13 [[ 6.67069888e-01 7.44956919e-01 7.54678170e-03 2.17314633e+02] [-7.44908071e-01 6.67112573e-01 -8.53121382e-03 -1.09020847e+02] [-1.13899397e-02 6.92572531e-05 9.99935130e-01 -1.13069515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.36, Y:-109.07, Z:-1.13 [[ 6.62796619e-01 7.48761460e-01 7.54436655e-03 2.17355637e+02] [-7.48712833e-01 6.62839555e-01 -8.53334907e-03 -1.09067235e+02] [-1.13901475e-02 7.31085739e-06 9.99935130e-01 -1.13125074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.40, Y:-109.11, Z:-1.13 [[ 6.58814075e-01 7.52267990e-01 7.54225218e-03 2.17397789e+02] [-7.52219570e-01 6.58857245e-01 -8.53521745e-03 -1.09113021e+02] [-1.13900384e-02 -5.03082989e-05 9.99935130e-01 -1.13368796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:-109.16, Z:-1.13 [[ 6.57034498e-01 7.53822800e-01 7.54015202e-03 2.17437294e+02] [-7.53774461e-01 6.57077758e-01 -8.53707236e-03 -1.09160585e+02] [-1.13899060e-02 -7.44229711e-05 9.99935130e-01 -1.13446918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:-109.21, Z:-1.13 [[ 6.55760602e-01 7.54931264e-01 7.53793281e-03 2.17476926e+02] [-7.54882975e-01 6.55803918e-01 -8.53903140e-03 -1.09209801e+02] [-1.13897876e-02 -9.06967759e-05 9.99935130e-01 -1.13429281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.52, Y:-109.26, Z:-1.13 [[ 6.55520370e-01 7.55139894e-01 7.53554652e-03 2.17516944e+02] [-7.55091595e-01 6.55563675e-01 -8.54113674e-03 -1.09258648e+02] [-1.13897837e-02 -9.11387245e-05 9.99935130e-01 -1.13430420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:-109.31, Z:-1.13 [[ 6.54950319e-01 7.55634390e-01 7.53316800e-03 2.17556752e+02] [-7.55586100e-01 6.54993633e-01 -8.54323405e-03 -1.09307122e+02] [-1.13897385e-02 -9.65631605e-05 9.99935130e-01 -1.13418721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:-109.36, Z:-1.13 [[ 6.53894403e-01 7.56548345e-01 7.53074048e-03 2.17594959e+02] [-7.56500090e-01 6.53937757e-01 -8.54537334e-03 -1.09356895e+02] [-1.13896236e-02 -1.09234053e-04 9.99935130e-01 -1.13294558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.64, Y:-109.41, Z:-1.13 [[ 6.52838957e-01 7.57459320e-01 7.52833697e-03 2.17635735e+02] [-7.57411101e-01 6.52882351e-01 -8.54749027e-03 -1.09405009e+02] [-1.13894945e-02 -1.21911368e-04 9.99935130e-01 -1.13303827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:-109.45, Z:-1.13 [[ 6.50853151e-01 7.59166343e-01 7.52592963e-03 2.17677485e+02] [-7.59118214e-01 6.50896645e-01 -8.54960936e-03 -1.09450544e+02] [-1.13891780e-02 -1.48530064e-04 9.99935130e-01 -1.13448275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:-109.50, Z:-1.13 [[ 6.51038514e-01 7.59007409e-01 7.52379876e-03 2.17718964e+02] [-7.58959247e-01 6.51081971e-01 -8.55148416e-03 -1.09496156e+02] [-1.13892496e-02 -1.42911112e-04 9.99935130e-01 -1.13470545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.76, Y:-109.54, Z:-1.14 [[ 6.52386955e-01 7.57848722e-01 7.52164841e-03 2.17760549e+02] [-7.57800461e-01 6.52430303e-01 -8.55337513e-03 -1.09543273e+02] [-1.13895158e-02 -1.19798276e-04 9.99935130e-01 -1.13506208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.80, Y:-109.59, Z:-1.14 [[ 6.56468930e-01 7.54315588e-01 7.51919990e-03 2.17801857e+02] [-7.54267070e-01 6.56511988e-01 -8.55552705e-03 -1.09591117e+02] [-1.13900123e-02 -5.50471935e-05 9.99935130e-01 -1.13534211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:-109.64, Z:-1.14 [[ 6.64782111e-01 7.46999493e-01 7.51674743e-03 2.17842646e+02] [-7.46950477e-01 6.64824602e-01 -8.55768121e-03 -1.09637516e+02] [-1.13899021e-02 7.43553070e-05 9.99935130e-01 -1.13675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.88, Y:-109.69, Z:-1.14 [[ 6.72255700e-01 7.40280897e-01 7.51448588e-03 2.17882365e+02] [-7.40231434e-01 6.72297670e-01 -8.55966661e-03 -1.09685760e+02] [-1.13885290e-02 1.91826006e-04 9.99935130e-01 -1.13593164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.92, Y:-109.73, Z:-1.13 [[ 6.82554379e-01 7.30796202e-01 7.51210078e-03 2.17922651e+02] [-7.30746133e-01 6.82595624e-01 -8.56175930e-03 -1.09733352e+02] [-1.13846283e-02 3.54427706e-04 9.99935130e-01 -1.13278090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.96, Y:-109.78, Z:-1.13 [[ 6.86208154e-01 7.27366462e-01 7.50997698e-03 2.17963539e+02] [-7.27316167e-01 6.86249122e-01 -8.56362179e-03 -1.09778851e+02] [-1.13826064e-02 4.14299427e-04 9.99935130e-01 -1.13264725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.01, Y:-109.82, Z:-1.14 [[ 6.83654182e-01 7.29767489e-01 7.50803977e-03 2.18009994e+02] [-7.29717319e-01 6.83695305e-01 -8.56531988e-03 -1.09820997e+02] [-1.13839035e-02 3.76970105e-04 9.99935130e-01 -1.13564509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.05, Y:-109.87, Z:-1.14 [[ 6.79371463e-01 7.33756142e-01 7.50597064e-03 2.18053285e+02] [-7.33706194e-01 6.79412854e-01 -8.56713272e-03 -1.09865548e+02] [-1.13858392e-02 3.13088335e-04 9.99935130e-01 -1.13824505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.897628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:218.10, Y:-109.91, Z:-1.14 [[ 6.74457610e-01 7.38275430e-01 7.50480825e-03 2.18095929e+02] [-7.38225747e-01 6.74499320e-01 -8.56815085e-03 -1.09910927e+02] [-1.13876433e-02 2.38611867e-04 9.99935130e-01 -1.13778579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:-109.95, Z:-1.13 [[ 6.67126208e-01 7.44906929e-01 7.50261968e-03 2.18140798e+02] [-7.44857640e-01 6.67168382e-01 -8.57006683e-03 -1.09953941e+02] [-1.13894128e-02 1.28932596e-04 9.99935130e-01 -1.13476807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:-110.00, Z:-1.14 [[ 6.62927370e-01 7.48646141e-01 7.50048709e-03 2.18185181e+02] [-7.48597069e-01 6.62969796e-01 -8.57193285e-03 -1.09999225e+02] [-1.13899409e-02 6.77262447e-05 9.99935130e-01 -1.13579233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.23, Y:-110.04, Z:-1.14 [[ 6.59548410e-01 7.51624690e-01 7.49806784e-03 2.18226976e+02] [-7.51575785e-01 6.59591029e-01 -8.57404851e-03 -1.10044876e+02] [-1.13901248e-02 1.96338423e-05 9.99935130e-01 -1.13829294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:-110.09, Z:-1.14 [[ 6.59802596e-01 7.51401587e-01 7.49597639e-03 2.18268147e+02] [-7.51352647e-01 6.59845174e-01 -8.57587660e-03 -1.10092325e+02] [-1.13901111e-02 2.62639358e-05 9.99935130e-01 -1.13771926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.31, Y:-110.14, Z:-1.14 [[ 6.60017804e-01 7.51212583e-01 7.49360397e-03 2.18309110e+02] [-7.51163607e-01 6.60060342e-01 -8.57794911e-03 -1.10139018e+02] [-1.13900941e-02 3.26765479e-05 9.99935130e-01 -1.13695017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.35, Y:-110.19, Z:-1.14 [[ 6.58493658e-01 7.52548988e-01 7.49152632e-03 2.18349898e+02] [-7.52500078e-01 6.58536271e-01 -8.57976324e-03 -1.10185711e+02] [-1.13901340e-02 1.23455480e-05 9.99935130e-01 -1.13563064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:-110.23, Z:-1.14 [[ 6.55658479e-01 7.55020442e-01 7.48941803e-03 2.18390469e+02] [-7.54971671e-01 6.55701252e-01 -8.58160320e-03 -1.10232282e+02] [-1.13901066e-02 -2.76975422e-05 9.99935130e-01 -1.13865152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.43, Y:-110.28, Z:-1.14 [[ 6.53778130e-01 7.56649256e-01 7.48730410e-03 2.18430809e+02] [-7.56600571e-01 6.53821000e-01 -8.58344718e-03 -1.10279484e+02] [-1.13900156e-02 -5.32285060e-05 9.99935130e-01 -1.14122147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.47, Y:-110.33, Z:-1.14 [[ 6.52648954e-01 7.57623467e-01 7.48505939e-03 2.18470206e+02] [-7.57574823e-01 6.52691871e-01 -8.58540420e-03 -1.10327948e+02] [-1.13899411e-02 -6.72374739e-05 9.99935130e-01 -1.14220669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.51, Y:-110.38, Z:-1.14 [[ 6.53232473e-01 7.57120427e-01 7.48295771e-03 2.18509351e+02] [-7.57071730e-01 6.53275329e-01 -8.58723561e-03 -1.10375915e+02] [-1.13900032e-02 -5.56745791e-05 9.99935130e-01 -1.14411575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.55, Y:-110.43, Z:-1.15 [[ 6.55533386e-01 7.55129140e-01 7.48081552e-03 2.18547016e+02] [-7.55080291e-01 6.55576069e-01 -8.58910139e-03 -1.10425322e+02] [-1.13901244e-02 -1.81736387e-05 9.99935130e-01 -1.14644381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:-110.47, Z:-1.15 [[ 6.56443241e-01 7.54338348e-01 7.47855283e-03 2.18586539e+02] [-7.54289425e-01 6.56485840e-01 -8.59107107e-03 -1.10473986e+02] [-1.13901384e-02 -1.44277226e-06 9.99935130e-01 -1.14681932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.62, Y:-110.52, Z:-1.15 [[ 6.59510099e-01 7.51658524e-01 7.47614676e-03 2.18622554e+02] [-7.51609404e-01 6.59552470e-01 -8.59316437e-03 -1.10523747e+02] [-1.13900363e-02 4.81364797e-05 9.99935130e-01 -1.14895548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.66, Y:-110.57, Z:-1.15 [[ 6.60228410e-01 7.51027684e-01 7.47422410e-03 2.18659928e+02] [-7.50978505e-01 6.60270712e-01 -8.59483635e-03 -1.10574005e+02] [-1.13899713e-02 6.15734935e-05 9.99935130e-01 -1.15036534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:-110.62, Z:-1.15 [[ 6.58687652e-01 7.52379388e-01 7.47218460e-03 2.18698717e+02] [-7.52330275e-01 6.58730032e-01 -8.59660909e-03 -1.10623559e+02] [-1.13900639e-02 4.09295649e-05 9.99935130e-01 -1.15010782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.74, Y:-110.67, Z:-1.15 [[ 6.55766564e-01 7.54926761e-01 7.46986875e-03 2.18737264e+02] [-7.54877791e-01 6.55809107e-01 -8.59862094e-03 -1.10671790e+02] [-1.13901370e-02 -1.49909293e-07 9.99935130e-01 -1.14715160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.78, Y:-110.72, Z:-1.15 [[ 6.54178943e-01 7.56302944e-01 7.46774205e-03 2.18778358e+02] [-7.56254042e-01 6.54221565e-01 -8.60046754e-03 -1.10719110e+02] [-1.13901168e-02 -2.12653457e-05 9.99935130e-01 -1.14791107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:-110.77, Z:-1.15 [[ 6.53126611e-01 7.57211925e-01 7.46531170e-03 2.18816173e+02] [-7.57163057e-01 6.53169274e-01 -8.60257659e-03 -1.10768683e+02] [-1.13900858e-02 -3.38865350e-05 9.99935130e-01 -1.14574617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:-110.82, Z:-1.15 [[ 6.51833120e-01 7.58325711e-01 7.46319688e-03 2.18856928e+02] [-7.58276896e-01 6.51875842e-01 -8.60441092e-03 -1.10816695e+02] [-1.13900238e-02 -5.05297414e-05 9.99935130e-01 -1.14520190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:-110.86, Z:-1.15 [[ 6.50507806e-01 7.59462923e-01 7.46074260e-03 2.18899212e+02] [-7.59414158e-01 6.50550585e-01 -8.60653846e-03 -1.10862996e+02] [-1.13899373e-02 -6.71731151e-05 9.99935130e-01 -1.14643113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:-110.91, Z:-1.15 [[ 6.48797201e-01 7.60924810e-01 7.45828102e-03 2.18942544e+02] [-7.60876117e-01 6.48840062e-01 -8.60867109e-03 -1.10908904e+02] [-1.13897829e-02 -8.95461919e-05 9.99935130e-01 -1.14878432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.98, Y:-110.96, Z:-1.15 [[ 6.49261511e-01 7.60528698e-01 7.45580870e-03 2.18983193e+02] [-7.60479954e-01 6.49304315e-01 -8.61081179e-03 -1.10955268e+02] [-1.13898582e-02 -7.93243796e-05 9.99935130e-01 -1.15143809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:-111.00, Z:-1.15 [[ 6.51030161e-01 7.59015265e-01 7.45366307e-03 2.19024254e+02] [-7.58966401e-01 6.51072826e-01 -8.61266869e-03 -1.11002399e+02] [-1.13900245e-02 -4.99727511e-05 9.99935130e-01 -1.15339809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:-111.05, Z:-1.15 [[ 6.56114050e-01 7.54624962e-01 7.45122306e-03 2.19065182e+02] [-7.54575788e-01 6.56156358e-01 -8.61477914e-03 -1.11050461e+02] [-1.13900948e-02 2.97651183e-05 9.99935130e-01 -1.15404494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.11, Y:-111.10, Z:-1.15 [[ 6.60170004e-01 7.51079278e-01 7.44875175e-03 2.19106580e+02] [-7.51029853e-01 6.60212018e-01 -8.61691542e-03 -1.11098138e+02] [-1.13897420e-02 9.43941502e-05 9.99935130e-01 -1.15442568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.15, Y:-111.15, Z:-1.15 [[ 6.66201974e-01 7.45734190e-01 7.44628231e-03 2.19147169e+02] [-7.45684404e-01 6.66243560e-01 -8.61904885e-03 -1.11145033e+02] [-1.13885571e-02 1.89450776e-04 9.99935130e-01 -1.15381302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.19, Y:-111.19, Z:-1.15 [[ 6.69089435e-01 7.43144612e-01 7.44400877e-03 2.19188289e+02] [-7.43094643e-01 6.69130801e-01 -8.62101199e-03 -1.11192488e+02] [-1.13876742e-02 2.36625008e-04 9.99935130e-01 -1.15366763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:-111.24, Z:-1.15 [[ 6.71691140e-01 7.40793922e-01 7.44160220e-03 2.19229380e+02] [-7.40743785e-01 6.71732303e-01 -8.62308883e-03 -1.11240058e+02] [-1.13866964e-02 2.79731784e-04 9.99935130e-01 -1.15494425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.27, Y:-111.29, Z:-1.16 [[ 6.71988072e-01 7.40524605e-01 7.43915654e-03 2.19271247e+02] [-7.40474429e-01 6.72029186e-01 -8.62519819e-03 -1.11286417e+02] [-1.13865018e-02 2.87525110e-04 9.99935130e-01 -1.15869275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.31, Y:-111.33, Z:-1.16 [[ 6.70566956e-01 7.41811733e-01 7.43702424e-03 2.19312871e+02] [-7.41761615e-01 6.70608142e-01 -8.62703636e-03 -1.11332875e+02] [-1.13869658e-02 2.68506403e-04 9.99935130e-01 -1.16050692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.36, Y:-111.38, Z:-1.16 [[ 6.67166551e-01 7.44871476e-01 7.43492080e-03 2.19356424e+02] [-7.44821527e-01 6.67207941e-01 -8.62884876e-03 -1.11378952e+02] [-1.13880215e-02 2.19190201e-04 9.99935130e-01 -1.16055821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.40, Y:-111.42, Z:-1.16 [[ 6.65588359e-01 7.46282048e-01 7.43250502e-03 2.19399514e+02] [-7.46232163e-01 6.65629827e-01 -8.63092910e-03 -1.11424575e+02] [-1.13884045e-02 1.98271638e-04 9.99935130e-01 -1.16044976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.877628 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:219.44, Y:-111.47, Z:-1.16 [[ 6.66245828e-01 7.45695173e-01 7.43006435e-03 2.19441386e+02] [-7.45645228e-01 6.66287223e-01 -8.63302968e-03 -1.11471773e+02] [-1.13881655e-02 2.11527973e-04 9.99935130e-01 -1.16288086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.48, Y:-111.52, Z:-1.16 [[ 6.67812686e-01 7.44292313e-01 7.42762248e-03 2.19481245e+02] [-7.44242258e-01 6.67853949e-01 -8.63513008e-03 -1.11518787e+02] [-1.13876279e-02 2.38698891e-04 9.99935130e-01 -1.15957679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:-111.57, Z:-1.16 [[ 6.68640848e-01 7.43548436e-01 7.42564893e-03 2.19521528e+02] [-7.43498316e-01 6.68682031e-01 -8.63682688e-03 -1.11565815e+02] [-1.13872971e-02 2.53977774e-04 9.99935130e-01 -1.15923875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.057628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:-111.61, Z:-1.16 [[ 6.67629251e-01 7.44456901e-01 7.42340520e-03 2.19562797e+02] [-7.44406816e-01 6.67670476e-01 -8.63875494e-03 -1.11613768e+02] [-1.13875692e-02 2.41452057e-04 9.99935130e-01 -1.16100776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.61, Y:-111.66, Z:-1.17 [[ 6.70406768e-01 7.41956665e-01 7.42104881e-03 2.19609418e+02] [-7.41906404e-01 6.70447779e-01 -8.64077871e-03 -1.11656080e+02] [-1.13865090e-02 2.87112894e-04 9.99935130e-01 -1.16510498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.65, Y:-111.70, Z:-1.17 [[ 6.69635896e-01 7.42652499e-01 7.41846451e-03 2.19651212e+02] [-7.42602255e-01 6.69676929e-01 -8.64299687e-03 -1.11702947e+02] [-1.13867177e-02 2.78692476e-04 9.99935130e-01 -1.17120161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.68, Y:-111.76, Z:-1.17 [[ 6.65846133e-01 7.46052231e-01 7.41591528e-03 2.19683814e+02] [-7.46002174e-01 6.65887391e-01 -8.64518362e-03 -1.11755521e+02] [-1.13879230e-02 2.24073162e-04 9.99935130e-01 -1.16945950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.297628 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:-111.80, Z:-1.17 [[ 6.71436841e-01 7.41024698e-01 7.41388208e-03 2.19722533e+02] [-7.40974312e-01 6.71477699e-01 -8.64692689e-03 -1.11804070e+02] [-1.13858429e-02 3.12369102e-04 9.99935130e-01 -1.17266368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:-111.85, Z:-1.17 [[ 6.82286250e-01 7.31047563e-01 7.41173086e-03 2.19766413e+02] [-7.30996560e-01 6.82326335e-01 -8.64877041e-03 -1.11847812e+02] [-1.13798817e-02 4.82987366e-04 9.99935130e-01 -1.17283434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.80, Y:-111.90, Z:-1.17 [[ 6.80271122e-01 7.32923120e-01 7.40950932e-03 2.19798596e+02] [-7.32872207e-01 6.80311322e-01 -8.65067322e-03 -1.11900304e+02] [-1.13810515e-02 4.54579732e-04 9.99935130e-01 -1.16705684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.85, Y:-111.94, Z:-1.17 [[ 6.85426561e-01 7.28104085e-01 7.40749304e-03 2.19845305e+02] [-7.28052871e-01 6.85466376e-01 -8.65239939e-03 -1.11941308e+02] [-1.13774348e-02 5.37537782e-04 9.99935130e-01 -1.17217258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.88, Y:-111.99, Z:-1.17 [[ 6.79541948e-01 7.33599278e-01 7.40542873e-03 2.19879511e+02] [-7.33548367e-01 6.79582150e-01 -8.65416584e-03 -1.11991950e+02] [-1.13812870e-02 4.48628560e-04 9.99935130e-01 -1.16786182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.92, Y:-112.04, Z:-1.17 [[ 6.73290690e-01 7.39340813e-01 7.40339580e-03 2.19921915e+02] [-7.39290226e-01 6.73331298e-01 -8.65590461e-03 -1.12037166e+02] [-1.13846016e-02 3.54681829e-04 9.99935130e-01 -1.16801101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.657628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:219.97, Y:-112.08, Z:-1.17 [[ 6.68285217e-01 7.43868329e-01 7.40117409e-03 2.19965455e+02] [-7.43817997e-01 6.68326140e-01 -8.65780384e-03 -1.12082751e+02] [-1.13866642e-02 2.80755836e-04 9.99935130e-01 -1.16986579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.01, Y:-112.13, Z:-1.17 [[ 6.61207364e-01 7.50166701e-01 7.39883931e-03 2.20008689e+02] [-7.50116736e-01 6.61248735e-01 -8.65979865e-03 -1.12128340e+02] [-1.13887657e-02 1.75929441e-04 9.99935130e-01 -1.16745026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:-112.17, Z:-1.17 [[ 6.57170640e-01 7.53705542e-01 7.39640571e-03 2.20051208e+02] [-7.53655776e-01 6.57212251e-01 -8.66187672e-03 -1.12174393e+02] [-1.13895129e-02 1.17987177e-04 9.99935130e-01 -1.16851566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.09, Y:-112.22, Z:-1.17 [[ 6.52676439e-01 7.57600684e-01 7.39394115e-03 2.20093010e+02] [-7.57551143e-01 6.52718317e-01 -8.66398000e-03 -1.12221684e+02] [-1.13899980e-02 5.34870362e-05 9.99935130e-01 -1.16871522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:-112.27, Z:-1.17 [[ 6.50918770e-01 7.59111402e-01 7.39149593e-03 2.20134525e+02] [-7.59061935e-01 6.50960735e-01 -8.66606559e-03 -1.12269499e+02] [-1.13900828e-02 3.03015428e-05 9.99935130e-01 -1.16802986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.18, Y:-112.32, Z:-1.17 [[ 6.51245317e-01 7.58831298e-01 7.38905462e-03 2.20175415e+02] [-7.58781789e-01 6.51287233e-01 -8.66814665e-03 -1.12317511e+02] [-1.13900579e-02 3.84098322e-05 9.99935130e-01 -1.16768757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:-112.37, Z:-1.17 [[ 6.53255870e-01 7.57101186e-01 7.38659224e-03 2.20216571e+02] [-7.57051543e-01 6.53297626e-01 -8.67024447e-03 -1.12365398e+02] [-1.13898956e-02 7.18570507e-05 9.99935130e-01 -1.16686184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.26, Y:-112.41, Z:-1.17 [[ 6.54754408e-01 7.55805623e-01 7.38415243e-03 2.20255262e+02] [-7.55755873e-01 6.54796038e-01 -8.67232188e-03 -1.12413229e+02] [-1.13897034e-02 9.76244155e-05 9.99935130e-01 -1.16554616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.30, Y:-112.46, Z:-1.17 [[ 6.55613222e-01 7.55060792e-01 7.38264804e-03 2.20296753e+02] [-7.55010980e-01 6.55654778e-01 -8.67360236e-03 -1.12461071e+02] [-1.13895655e-02 1.12548061e-04 9.99935130e-01 -1.16859827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:-112.51, Z:-1.17 [[ 6.59111270e-01 7.52009220e-01 7.38022680e-03 2.20337012e+02] [-7.51959193e-01 6.59152566e-01 -8.67566206e-03 -1.12509373e+02] [-1.13888733e-02 1.68597252e-04 9.99935130e-01 -1.17197730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.38, Y:-112.56, Z:-1.17 [[ 6.62387960e-01 7.49124661e-01 7.37781463e-03 2.20376423e+02] [-7.49074432e-01 6.62429010e-01 -8.67771289e-03 -1.12557566e+02] [-1.13879672e-02 2.21480237e-04 9.99935130e-01 -1.17273347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.42, Y:-112.61, Z:-1.17 [[ 6.69281125e-01 7.42972662e-01 7.37559126e-03 2.20416014e+02] [-7.42922035e-01 6.69321682e-01 -8.67960223e-03 -1.12605849e+02] [-1.13853503e-02 3.29604680e-04 9.99935130e-01 -1.17331243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:-112.65, Z:-1.17 [[ 6.77110862e-01 7.35844084e-01 7.37325196e-03 2.20456622e+02] [-7.35793009e-01 6.77150854e-01 -8.68158899e-03 -1.12654203e+02] [-1.13810998e-02 4.53210963e-04 9.99935130e-01 -1.17354267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.50, Y:-112.70, Z:-1.17 [[ 6.83037135e-01 7.30346455e-01 7.37082142e-03 2.20496579e+02] [-7.30295035e-01 6.83076683e-01 -8.68365207e-03 -1.12702738e+02] [-1.13769108e-02 5.48382538e-04 9.99935130e-01 -1.17122770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.54, Y:-112.75, Z:-1.17 [[ 6.83762045e-01 7.29667852e-01 7.36835464e-03 2.20539176e+02] [-7.29616371e-01 6.83801513e-01 -8.68574471e-03 -1.12748842e+02] [-1.13762007e-02 5.62910393e-04 9.99935130e-01 -1.17083296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.58, Y:-112.79, Z:-1.17 [[ 6.80715624e-01 7.32510739e-01 7.36590778e-03 2.20583315e+02] [-7.32459401e-01 6.80755278e-01 -8.68781926e-03 -1.12793755e+02] [-1.13783015e-02 5.18705905e-04 9.99935130e-01 -1.17104574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.63, Y:-112.84, Z:-1.17 [[ 6.71064170e-01 7.41362704e-01 7.36346423e-03 2.20629544e+02] [-7.41311867e-01 6.71104465e-01 -8.68988983e-03 -1.12837568e+02] [-1.13840139e-02 3.72850294e-04 9.99935131e-01 -1.17159432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:-112.88, Z:-1.17 [[ 6.63075541e-01 7.48516295e-01 7.36097542e-03 2.20673392e+02] [-7.48465869e-01 6.63116349e-01 -8.69199752e-03 -1.12881507e+02] [-1.13872849e-02 2.54012084e-04 9.99935131e-01 -1.17303736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:-112.93, Z:-1.17 [[ 6.52331373e-01 7.57898165e-01 7.35867476e-03 2.20718902e+02] [-7.57848305e-01 6.52372870e-01 -8.69394483e-03 -1.12925794e+02] [-1.13897246e-02 9.45737755e-05 9.99935131e-01 -1.17446435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.77, Y:-112.97, Z:-1.18 [[ 6.47573891e-01 7.61967153e-01 7.35622768e-03 2.20767318e+02] [-7.61917530e-01 6.47615671e-01 -8.69601489e-03 -1.12967424e+02] [-1.13900860e-02 2.64733703e-05 9.99935131e-01 -1.18046269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.80, Y:-113.02, Z:-1.18 [[ 6.40395296e-01 7.68010278e-01 7.35372406e-03 2.20803794e+02] [-7.67961025e-01 6.40437512e-01 -8.69813155e-03 -1.13017696e+02] [-1.13898552e-02 -7.71309349e-05 9.99935131e-01 -1.17781528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.84, Y:-113.07, Z:-1.18 [[ 6.38836929e-01 7.69307049e-01 7.35141921e-03 2.20843135e+02] [-7.69257859e-01 6.38879218e-01 -8.70007911e-03 -1.13067410e+02] [-1.13897011e-02 -9.72051848e-05 9.99935131e-01 -1.17991364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.88, Y:-113.12, Z:-1.18 [[ 6.40205323e-01 7.68168691e-01 7.34893767e-03 2.20881088e+02] [-7.68119401e-01 6.40247497e-01 -8.70217476e-03 -1.13118199e+02] [-1.13898771e-02 -7.36829985e-05 9.99935131e-01 -1.18167448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.92, Y:-113.17, Z:-1.18 [[ 6.44432290e-01 7.64626087e-01 7.34646013e-03 2.20916423e+02] [-7.64576543e-01 6.44474163e-01 -8.70426581e-03 -1.13169852e+02] [-1.13901125e-02 -7.62114470e-06 9.99935131e-01 -1.18318274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.95, Y:-113.22, Z:-1.18 [[ 6.50279078e-01 7.59659913e-01 7.34417471e-03 2.20952108e+02] [-7.59610027e-01 6.50320544e-01 -8.70619369e-03 -1.13221914e+02] [-1.13898140e-02 8.27468613e-05 9.99935131e-01 -1.18444908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:-113.27, Z:-1.19 [[ 6.54956118e-01 7.55631248e-01 7.34168402e-03 2.20988231e+02] [-7.55581083e-01 6.54997247e-01 -8.70829352e-03 -1.13271969e+02] [-1.13890415e-02 1.56312557e-04 9.99935131e-01 -1.18651086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.02, Y:-113.32, Z:-1.19 [[ 6.62868382e-01 7.48699966e-01 7.33955037e-03 2.21022339e+02] [-7.48649351e-01 6.62908956e-01 -8.71009144e-03 -1.13324041e+02] [-1.13866988e-02 2.78894602e-04 9.99935131e-01 -1.18810291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:-113.38, Z:-1.19 [[ 6.69196887e-01 7.43048914e-01 7.33743279e-03 2.21058475e+02] [-7.42997938e-01 6.69237004e-01 -8.71187493e-03 -1.13375757e+02] [-1.13838307e-02 3.78262152e-04 9.99935131e-01 -1.18915674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:-113.43, Z:-1.19 [[ 6.71218639e-01 7.41223136e-01 7.33498844e-03 2.21096349e+02] [-7.41172028e-01 6.71258589e-01 -8.71393247e-03 -1.13426208e+02] [-1.13826423e-02 4.12465638e-04 9.99935131e-01 -1.18992460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.14, Y:-113.47, Z:-1.19 [[ 6.70022666e-01 7.42304426e-01 7.33253095e-03 2.21136038e+02] [-7.42253360e-01 6.70062670e-01 -8.71599989e-03 -1.13474282e+02] [-1.13831806e-02 3.97321753e-04 9.99935131e-01 -1.18957099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.457628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:221.18, Y:-113.52, Z:-1.19 [[ 6.69649244e-01 7.42641337e-01 7.33036010e-03 2.21175904e+02] [-7.42590271e-01 6.69689248e-01 -8.71782525e-03 -1.13521866e+02] [-1.13832807e-02 3.94430999e-04 9.99935131e-01 -1.19230411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:-113.57, Z:-1.19 [[ 6.68161473e-01 7.43980205e-01 7.32806498e-03 2.21217220e+02] [-7.43929198e-01 6.68201552e-01 -8.71975406e-03 -1.13569442e+02] [-1.13839488e-02 3.74642212e-04 9.99935131e-01 -1.19137194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.26, Y:-113.62, Z:-1.19 [[ 6.68238914e-01 7.43910673e-01 7.32564757e-03 2.21258884e+02] [-7.43859639e-01 6.68278960e-01 -8.72178451e-03 -1.13616816e+02] [-1.13838047e-02 3.78982253e-04 9.99935131e-01 -1.19039583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.637628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:221.30, Y:-113.66, Z:-1.19 [[ 6.69013763e-01 7.43213937e-01 7.32319716e-03 2.21301051e+02] [-7.43162839e-01 6.69053726e-01 -8.72384150e-03 -1.13663420e+02] [-1.13832929e-02 3.94042034e-04 9.99935131e-01 -1.19213551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.34, Y:-113.71, Z:-1.19 [[ 6.68839429e-01 7.43370854e-01 7.32071346e-03 2.21344091e+02] [-7.43319743e-01 6.68879375e-01 -8.72592522e-03 -1.13709258e+02] [-1.13832727e-02 3.94611992e-04 9.99935131e-01 -1.18950345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.39, Y:-113.76, Z:-1.19 [[ 6.65921705e-01 7.45985741e-01 7.31824261e-03 2.21386590e+02] [-7.45934764e-01 6.65961823e-01 -8.72799698e-03 -1.13755424e+02] [-1.13846315e-02 3.53231060e-04 9.99935131e-01 -1.18883898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:-113.80, Z:-1.19 [[ 6.66127462e-01 7.45802041e-01 7.31574818e-03 2.21432827e+02] [-7.45751030e-01 6.66167537e-01 -8.73008729e-03 -1.13797995e+02] [-1.13844309e-02 3.59624156e-04 9.99935131e-01 -1.19300398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.48, Y:-113.84, Z:-1.19 [[ 6.59379895e-01 7.51774346e-01 7.31348301e-03 2.21475637e+02] [-7.51723678e-01 6.59420401e-01 -8.73198449e-03 -1.13842958e+02] [-1.13871418e-02 2.59976665e-04 9.99935131e-01 -1.19278142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.51, Y:-113.89, Z:-1.19 [[ 6.50609370e-01 7.59377373e-01 7.31119302e-03 2.21512508e+02] [-7.59327156e-01 6.50650435e-01 -8.73390145e-03 -1.13892419e+02] [-1.13893581e-02 1.30770706e-04 9.99935131e-01 -1.19335515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.55, Y:-113.94, Z:-1.20 [[ 6.46258388e-01 7.63083664e-01 7.30876741e-03 2.21551533e+02] [-7.63033660e-01 6.46299712e-01 -8.73593080e-03 -1.13942052e+02] [-1.13899003e-02 6.88330087e-05 9.99935131e-01 -1.19539632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:-113.99, Z:-1.20 [[ 6.47624258e-01 7.61924825e-01 7.30629767e-03 2.21594241e+02] [-7.61874724e-01 6.47665464e-01 -8.73799587e-03 -1.13986693e+02] [-1.13897326e-02 9.24545748e-05 9.99935131e-01 -1.20270154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.117628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:-114.04, Z:-1.20 [[ 6.43097314e-01 7.65749629e-01 7.30408068e-03 2.21624923e+02] [-7.65699752e-01 6.43138791e-01 -8.73984866e-03 -1.14040335e+02] [-1.13900735e-02 2.78404385e-05 9.99935131e-01 -1.19819425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.66, Y:-114.09, Z:-1.20 [[ 6.42374770e-01 7.66355880e-01 7.30206297e-03 2.21661122e+02] [-7.66306023e-01 6.42416271e-01 -8.74153412e-03 -1.14091998e+02] [-1.13900901e-02 1.97261348e-05 9.99935131e-01 -1.19929883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:-114.14, Z:-1.20 [[ 6.42065412e-01 7.66615107e-01 7.29959498e-03 2.21697373e+02] [-7.66565244e-01 6.42106904e-01 -8.74359451e-03 -1.14143248e+02] [-1.13900920e-02 1.83438057e-05 9.99935131e-01 -1.20200683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:-114.19, Z:-1.20 [[ 6.43022182e-01 7.65812788e-01 7.29714829e-03 2.21735056e+02] [-7.65762849e-01 6.43063584e-01 -8.74563597e-03 -1.14193455e+02] [-1.13900502e-02 3.57528549e-05 9.99935131e-01 -1.20310403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.357628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:221.78, Y:-114.24, Z:-1.20 [[ 6.44176812e-01 7.64841828e-01 7.29473388e-03 2.21775837e+02] [-7.64791804e-01 6.44218112e-01 -8.74764937e-03 -1.14241737e+02] [-1.13899678e-02 5.60801970e-05 9.99935131e-01 -1.20423122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.82, Y:-114.29, Z:-1.20 [[ 6.45610935e-01 7.63631680e-01 7.29225291e-03 2.21816760e+02] [-7.63581556e-01 6.45652112e-01 -8.74971708e-03 -1.14289184e+02] [-1.13898197e-02 8.06832025e-05 9.99935131e-01 -1.20452899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.86, Y:-114.34, Z:-1.20 [[ 6.48473279e-01 7.61202513e-01 7.28977348e-03 2.21856514e+02] [-7.61152211e-01 6.48514239e-01 -8.75178231e-03 -1.14337117e+02] [-1.13894006e-02 1.26669769e-04 9.99935131e-01 -1.20460800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.90, Y:-114.38, Z:-1.20 [[ 6.55491520e-01 7.55167372e-01 7.28748584e-03 2.21897956e+02] [-7.55116671e-01 6.55531987e-01 -8.75368678e-03 -1.14384051e+02] [-1.13876787e-02 2.35065407e-04 9.99935131e-01 -1.20490053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.597628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:221.94, Y:-114.43, Z:-1.21 [[ 6.63755157e-01 7.47914446e-01 7.28510879e-03 2.21938880e+02] [-7.47863282e-01 6.63795036e-01 -8.75566460e-03 -1.14431280e+02] [-1.13843071e-02 3.63352160e-04 9.99935131e-01 -1.21044744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.98, Y:-114.48, Z:-1.21 [[ 6.69770852e-01 7.42532132e-01 7.28273736e-03 2.21983429e+02] [-7.42480627e-01 6.69810289e-01 -8.75763665e-03 -1.14476157e+02] [-1.13808790e-02 4.58318365e-04 9.99935131e-01 -1.20842044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.02, Y:-114.52, Z:-1.21 [[ 6.69799923e-01 7.42505935e-01 7.28014539e-03 2.22024468e+02] [-7.42454404e-01 6.69839327e-01 -8.75979080e-03 -1.14522201e+02] [-1.13807243e-02 4.62131189e-04 9.99935131e-01 -1.20955478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.06, Y:-114.57, Z:-1.21 [[ 6.63537785e-01 7.48107366e-01 7.27856074e-03 2.22063731e+02] [-7.48056154e-01 6.63577602e-01 -8.76110730e-03 -1.14570119e+02] [-1.13841388e-02 3.68553582e-04 9.99935131e-01 -1.20824528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.11, Y:-114.61, Z:-1.21 [[ 6.54146173e-01 7.56333153e-01 7.27633243e-03 2.22109345e+02] [-7.56282422e-01 6.54186601e-01 -8.76295758e-03 -1.14614592e+02] [-1.13877945e-02 2.29292850e-04 9.99935131e-01 -1.20643073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.15, Y:-114.66, Z:-1.21 [[ 6.44088258e-01 7.64916601e-01 7.27390187e-03 2.22152530e+02] [-7.64866386e-01 6.44129325e-01 -8.76497466e-03 -1.14660477e+02] [-1.13898081e-02 8.18542289e-05 9.99935131e-01 -1.20538213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:-114.71, Z:-1.21 [[ 6.38630205e-01 7.69479426e-01 7.27146548e-03 2.22193690e+02] [-7.69429481e-01 6.38671600e-01 -8.76699543e-03 -1.14708601e+02] [-1.13901011e-02 3.98817881e-06 9.99935131e-01 -1.20590374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.23, Y:-114.76, Z:-1.21 [[ 6.34299393e-01 7.73053324e-01 7.26896207e-03 2.22234563e+02] [-7.73003589e-01 6.34341040e-01 -8.76907059e-03 -1.14755279e+02] [-1.13899601e-02 -5.67176179e-05 9.99935131e-01 -1.20817056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:-114.80, Z:-1.21 [[ 6.32741794e-01 7.74328753e-01 7.26664835e-03 2.22273627e+02] [-7.74279080e-01 6.32783514e-01 -8.77098747e-03 -1.14804076e+02] [-1.13898431e-02 -7.66434565e-05 9.99935131e-01 -1.21197182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.31, Y:-114.85, Z:-1.21 [[ 6.33218796e-01 7.73938749e-01 7.26420261e-03 2.22311253e+02] [-7.73889027e-01 6.33260458e-01 -8.77301259e-03 -1.14854446e+02] [-1.13899067e-02 -6.64502214e-05 9.99935131e-01 -1.21368183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:-114.91, Z:-1.22 [[ 6.36594680e-01 7.71164367e-01 7.26170430e-03 2.22346490e+02] [-7.71114440e-01 6.36636096e-01 -8.77508003e-03 -1.14905396e+02] [-1.13900921e-02 -1.34357793e-05 9.99935131e-01 -1.21632123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:-114.96, Z:-1.22 [[ 6.41342862e-01 7.67220068e-01 7.25955046e-03 2.22382415e+02] [-7.67169866e-01 6.41383944e-01 -8.77686153e-03 -1.14957479e+02] [-1.13899434e-02 5.96691438e-05 9.99935131e-01 -1.21711005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.42, Y:-115.01, Z:-1.22 [[ 6.42941035e-01 7.65881296e-01 7.25711722e-03 2.22420840e+02] [-7.65830986e-01 6.42981984e-01 -8.77887298e-03 -1.15006907e+02] [-1.13897703e-02 8.65724409e-05 9.99935131e-01 -1.21772053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:-115.06, Z:-1.22 [[ 6.51581657e-01 7.58543812e-01 7.25465678e-03 2.22458215e+02] [-7.58493018e-01 6.51622005e-01 -8.78090576e-03 -1.15057134e+02] [-1.13879957e-02 2.18870618e-04 9.99935131e-01 -1.21913766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.50, Y:-115.11, Z:-1.21 [[ 6.51469385e-01 7.58640260e-01 7.25237734e-03 2.22495359e+02] [-7.58589451e-01 6.51509714e-01 -8.78278801e-03 -1.15107253e+02] [-1.13879709e-02 2.20140550e-04 9.99935131e-01 -1.21495746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.54, Y:-115.15, Z:-1.22 [[ 6.53794043e-01 7.56637818e-01 7.24998278e-03 2.22536888e+02] [-7.56586864e-01 6.53834188e-01 -8.78476422e-03 -1.15154673e+02] [-1.13871714e-02 2.58184779e-04 9.99935131e-01 -1.21612062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.58, Y:-115.20, Z:-1.22 [[ 6.53828388e-01 7.56608163e-01 7.24754207e-03 2.22577944e+02] [-7.56557184e-01 6.53868503e-01 -8.78677737e-03 -1.15201821e+02] [-1.13870870e-02 2.61864460e-04 9.99935131e-01 -1.21844541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.62, Y:-115.25, Z:-1.22 [[ 6.53091586e-01 7.57244274e-01 7.24506010e-03 2.22620202e+02] [-7.57193312e-01 6.53131721e-01 -8.78882338e-03 -1.15248407e+02] [-1.13872648e-02 2.53995551e-04 9.99935131e-01 -1.22058479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.66, Y:-115.29, Z:-1.22 [[ 6.52076935e-01 7.58118207e-01 7.24259086e-03 2.22663068e+02] [-7.58067276e-01 6.52117110e-01 -8.79085773e-03 -1.15294844e+02] [-1.13875267e-02 2.41944436e-04 9.99935131e-01 -1.22168699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.71, Y:-115.34, Z:-1.22 [[ 6.48986886e-01 7.60765143e-01 7.24012975e-03 2.22706090e+02] [-7.60714353e-01 6.49027240e-01 -8.79288423e-03 -1.15341369e+02] [-1.13883613e-02 1.98795937e-04 9.99935131e-01 -1.22153522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:-115.39, Z:-1.22 [[ 6.44845693e-01 7.64278515e-01 7.23768355e-03 2.22749252e+02] [-7.64227922e-01 6.44886294e-01 -8.79489731e-03 -1.15387496e+02] [-1.13892340e-02 1.40111792e-04 9.99935131e-01 -1.22023203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.79, Y:-115.43, Z:-1.22 [[ 6.43548300e-01 7.65371307e-01 7.23520156e-03 2.22791382e+02] [-7.65320760e-01 6.43588959e-01 -8.79693867e-03 -1.15432572e+02] [-1.13894203e-02 1.24004966e-04 9.99935131e-01 -1.22078387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:-115.48, Z:-1.22 [[ 6.45329624e-01 7.63869990e-01 7.23290823e-03 2.22830390e+02] [-7.63819328e-01 6.45370138e-01 -8.79882386e-03 -1.15481354e+02] [-1.13890605e-02 1.53506595e-04 9.99935131e-01 -1.21876674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:-115.53, Z:-1.22 [[ 6.49970200e-01 7.59925299e-01 7.23047738e-03 2.22868894e+02] [-7.59874369e-01 6.50010376e-01 -8.80082097e-03 -1.15530650e+02] [-1.13878518e-02 2.26016928e-04 9.99935131e-01 -1.21823646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.91, Y:-115.58, Z:-1.22 [[ 6.55106869e-01 7.55501652e-01 7.22800930e-03 2.22910400e+02] [-7.55450428e-01 6.55146671e-01 -8.80284750e-03 -1.15577209e+02] [-1.13859721e-02 3.06403145e-04 9.99935131e-01 -1.22497857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.95, Y:-115.63, Z:-1.22 [[ 6.54335285e-01 7.56170022e-01 7.22720671e-03 2.22947957e+02] [-7.56118832e-01 6.54375129e-01 -8.80350639e-03 -1.15626170e+02] [-1.13862519e-02 2.95817758e-04 9.99935131e-01 -1.22425581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:-115.67, Z:-1.23 [[ 6.53640570e-01 7.56770643e-01 7.22493696e-03 2.22986527e+02] [-7.56719469e-01 6.53680435e-01 -8.80536875e-03 -1.15674291e+02] [-1.13864445e-02 2.88295797e-04 9.99935131e-01 -1.22522820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.03, Y:-115.72, Z:-1.23 [[ 6.51750437e-01 7.58399104e-01 7.22260426e-03 2.23025681e+02] [-7.58348009e-01 6.51790403e-01 -8.80728173e-03 -1.15723845e+02] [-1.13870587e-02 2.62902163e-04 9.99935131e-01 -1.22570111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.07, Y:-115.77, Z:-1.23 [[ 6.48044249e-01 7.61568455e-01 7.22081157e-03 2.23067137e+02] [-7.61517538e-01 6.48084442e-01 -8.80875126e-03 -1.15769914e+02] [-1.13881627e-02 2.09685941e-04 9.99935131e-01 -1.22652111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.11, Y:-115.82, Z:-1.23 [[ 6.42556541e-01 7.66204264e-01 7.21918433e-03 2.23107363e+02] [-7.66153623e-01 6.42597081e-01 -8.81008466e-03 -1.15818885e+02] [-1.13893512e-02 1.29973303e-04 9.99935131e-01 -1.22722806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.15, Y:-115.87, Z:-1.23 [[ 6.38010501e-01 7.69993844e-01 7.21676632e-03 2.23146526e+02] [-7.69943421e-01 6.38051312e-01 -8.81206492e-03 -1.15867999e+02] [-1.13899030e-02 6.56882083e-05 9.99935131e-01 -1.22910393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:-115.92, Z:-1.23 [[ 6.31641728e-01 7.75226859e-01 7.21425689e-03 2.23185748e+02] [-7.75176750e-01 6.31682924e-01 -8.81411886e-03 -1.15917224e+02] [-1.13900646e-02 -2.49589553e-05 9.99935131e-01 -1.23127367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.23, Y:-115.97, Z:-1.23 [[ 6.26733182e-01 7.79200557e-01 7.21176843e-03 2.23225237e+02] [-7.79150687e-01 6.26774666e-01 -8.81615447e-03 -1.15966869e+02] [-1.13897062e-02 -9.36777813e-05 9.99935131e-01 -1.23399686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.26, Y:-116.02, Z:-1.23 [[ 6.24658621e-01 7.80864658e-01 7.21067039e-03 2.23263327e+02] [-7.80814887e-01 6.24700225e-01 -8.81705245e-03 -1.16017571e+02] [-1.13894321e-02 -1.22550961e-04 9.99935131e-01 -1.23438395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:-116.07, Z:-1.23 [[ 6.23576003e-01 7.81729500e-01 7.20817925e-03 2.23301343e+02] [-7.81679764e-01 6.23617648e-01 -8.81908856e-03 -1.16068339e+02] [-1.13892895e-02 -1.35115859e-04 9.99935131e-01 -1.23371633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.34, Y:-116.12, Z:-1.23 [[ 6.24248624e-01 7.81192508e-01 7.20565972e-03 2.23338464e+02] [-7.81142712e-01 6.24290198e-01 -8.82114666e-03 -1.16118750e+02] [-1.13894364e-02 -1.22059908e-04 9.99935131e-01 -1.23282441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.38, Y:-116.17, Z:-1.23 [[ 6.27923368e-01 7.78241838e-01 7.20310316e-03 2.23376847e+02] [-7.78191823e-01 6.27964678e-01 -8.82323379e-03 -1.16168724e+02] [-1.13899040e-02 -6.50813036e-05 9.99935131e-01 -1.23291622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.42, Y:-116.22, Z:-1.24 [[ 6.30748594e-01 7.75953841e-01 7.20058027e-03 2.23417608e+02] [-7.75903653e-01 6.30789693e-01 -8.82529222e-03 -1.16216623e+02] [-1.13900712e-02 -2.04158725e-05 9.99935131e-01 -1.23525362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.46, Y:-116.26, Z:-1.24 [[ 6.31719420e-01 7.75163700e-01 7.19806303e-03 2.23458906e+02] [-7.75113437e-01 6.31760428e-01 -8.82734485e-03 -1.16264461e+02] [-1.13900887e-02 -2.91020095e-06 9.99935131e-01 -1.23886356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:-116.31, Z:-1.24 [[ 6.30772720e-01 7.75934276e-01 7.19556162e-03 2.23499280e+02] [-7.75884039e-01 6.30813760e-01 -8.82938339e-03 -1.16312669e+02] [-1.13900805e-02 -1.35872382e-05 9.99935131e-01 -1.24237694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.54, Y:-116.36, Z:-1.25 [[ 6.29613593e-01 7.76875140e-01 7.19306362e-03 2.23537250e+02] [-7.76824942e-01 6.29654680e-01 -8.83141797e-03 -1.16361166e+02] [-1.13900552e-02 -2.73704373e-05 9.99935131e-01 -1.24527432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.057628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.58, Y:-116.41, Z:-1.25 [[ 6.30058648e-01 7.76514257e-01 7.19089692e-03 2.23576840e+02] [-7.76464015e-01 6.30099681e-01 -8.83318183e-03 -1.16409975e+02] [-1.13900735e-02 -1.80500950e-05 9.99935131e-01 -1.24621868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.117628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:-116.46, Z:-1.25 [[ 6.32056530e-01 7.74888940e-01 7.18837182e-03 2.23617721e+02] [-7.74838569e-01 6.32097406e-01 -8.83523627e-03 -1.16456055e+02] [-1.13900780e-02 1.45410458e-05 9.99935131e-01 -1.25128198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.177628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.66, Y:-116.50, Z:-1.24 [[ 6.32885958e-01 7.74211679e-01 7.18604010e-03 2.23656468e+02] [-7.74161243e-01 6.32926753e-01 -8.83713233e-03 -1.16504364e+02] [-1.13900481e-02 2.97432297e-05 9.99935131e-01 -1.24321215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.70, Y:-116.55, Z:-1.25 [[ 6.33076782e-01 7.74055670e-01 7.18385248e-03 2.23696301e+02] [-7.74005204e-01 6.33117539e-01 -8.83891033e-03 -1.16551761e+02] [-1.13900317e-02 3.53696998e-05 9.99935131e-01 -1.24653759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.74, Y:-116.60, Z:-1.25 [[ 6.31500893e-01 7.75341889e-01 7.18168588e-03 2.23735803e+02] [-7.75291486e-01 6.31541728e-01 -8.84067036e-03 -1.16601081e+02] [-1.13900764e-02 1.49913145e-05 9.99935131e-01 -1.24545347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.78, Y:-116.65, Z:-1.25 [[ 6.29449586e-01 7.77008158e-01 7.17923112e-03 2.23775901e+02] [-7.76957840e-01 6.29490526e-01 -8.84266334e-03 -1.16649278e+02] [-1.13900795e-02 -1.19491189e-05 9.99935131e-01 -1.24728395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.81, Y:-116.70, Z:-1.25 [[ 6.27471670e-01 7.78606317e-01 7.17674131e-03 2.23813011e+02] [-7.78556080e-01 6.27512710e-01 -8.84468362e-03 -1.16698264e+02] [-1.13900229e-02 -3.77071760e-05 9.99935131e-01 -1.25064472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:-116.75, Z:-1.25 [[ 6.25316258e-01 7.80338456e-01 7.17444111e-03 2.23850148e+02] [-7.80288311e-01 6.25357410e-01 -8.84654906e-03 -1.16749013e+02] [-1.13898923e-02 -6.62415846e-05 9.99935131e-01 -1.25142801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.89, Y:-116.80, Z:-1.25 [[ 6.23055700e-01 7.82144588e-01 7.17201049e-03 2.23890191e+02] [-7.82094540e-01 6.23096970e-01 -8.84851915e-03 -1.16797629e+02] [-1.13896794e-02 -9.60699548e-05 9.99935131e-01 -1.25244688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:-116.84, Z:-1.25 [[ 6.20546572e-01 7.84136819e-01 7.16952328e-03 2.23931174e+02] [-7.84086880e-01 6.20587974e-01 -8.85053396e-03 -1.16844899e+02] [-1.13893495e-02 -1.29360627e-04 9.99935131e-01 -1.25479228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:-116.89, Z:-1.26 [[ 6.20501995e-01 7.84172116e-01 7.16700228e-03 2.23970943e+02] [-7.84122156e-01 6.20543372e-01 -8.85257495e-03 -1.16893571e+02] [-1.13893782e-02 -1.26764856e-04 9.99935131e-01 -1.25506953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.01, Y:-116.94, Z:-1.25 [[ 6.23415263e-01 7.81858094e-01 7.16448600e-03 2.24009602e+02] [-7.81807957e-01 6.23456425e-01 -8.85461093e-03 -1.16942764e+02] [-1.13897941e-02 -8.11525548e-05 9.99935131e-01 -1.25420631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:-116.99, Z:-1.26 [[ 6.25772533e-01 7.79972720e-01 7.16198025e-03 2.24048858e+02] [-7.79922435e-01 6.25813514e-01 -8.85663722e-03 -1.16992474e+02] [-1.13899995e-02 -4.35487753e-05 9.99935131e-01 -1.25582185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:-117.04, Z:-1.26 [[ 6.27214576e-01 7.78813596e-01 7.15948467e-03 2.24087214e+02] [-7.78763213e-01 6.27255436e-01 -8.85865413e-03 -1.17040731e+02] [-1.13900660e-02 -1.92662887e-05 9.99935131e-01 -1.26024926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:-117.09, Z:-1.26 [[ 6.24931911e-01 7.80646450e-01 7.15727530e-03 2.24127072e+02] [-7.80596166e-01 6.24972894e-01 -8.86043881e-03 -1.17087002e+02] [-1.13899732e-02 -4.97707019e-05 9.99935131e-01 -1.26467670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:-117.13, Z:-1.27 [[ 6.22371789e-01 7.82689056e-01 7.15527139e-03 2.24168416e+02] [-7.82638888e-01 6.22412914e-01 -8.86205678e-03 -1.17133061e+02] [-1.13897682e-02 -8.44995081e-05 9.99935131e-01 -1.26807166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:-117.18, Z:-1.27 [[ 6.21743559e-01 7.83188216e-01 7.15306668e-03 2.24208791e+02] [-7.83138060e-01 6.21784698e-01 -8.86383597e-03 -1.17180681e+02] [-1.13897193e-02 -9.08058463e-05 9.99935131e-01 -1.27044170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.077628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:224.25, Y:-117.23, Z:-1.27 [[ 6.23547778e-01 7.81752540e-01 7.15083067e-03 2.24248479e+02] [-7.81702270e-01 6.23588776e-01 -8.86563949e-03 -1.17228636e+02] [-1.13899139e-02 -6.16707633e-05 9.99935131e-01 -1.27306458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.29, Y:-117.28, Z:-1.27 [[ 6.28303084e-01 7.77935816e-01 7.14846341e-03 2.24286903e+02] [-7.77885274e-01 6.28343749e-01 -8.86754782e-03 -1.17276849e+02] [-1.13900753e-02 1.08232308e-05 9.99935131e-01 -1.27181221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.32, Y:-117.33, Z:-1.27 [[ 6.32478633e-01 7.74544839e-01 7.14642453e-03 2.24324774e+02] [-7.74494061e-01 6.32519001e-01 -8.86919067e-03 -1.17326616e+02] [-1.13898352e-02 7.47102300e-05 9.99935131e-01 -1.26950671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:-117.37, Z:-1.27 [[ 6.36841946e-01 7.70961281e-01 7.14421505e-03 2.24367058e+02] [-7.70910256e-01 6.36882001e-01 -8.87097007e-03 -1.17372026e+02] [-1.13891964e-02 1.41857194e-04 9.99935131e-01 -1.26899007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:-117.42, Z:-1.27 [[ 6.33085449e-01 7.74048970e-01 7.14189085e-03 2.24399979e+02] [-7.73998119e-01 6.33125726e-01 -8.87284085e-03 -1.17423345e+02] [-1.13897281e-02 8.94563456e-05 9.99935131e-01 -1.27096158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.44, Y:-117.47, Z:-1.27 [[ 6.31176933e-01 7.75606023e-01 7.13977398e-03 2.24438401e+02] [-7.75555252e-01 6.31217311e-01 -8.87454392e-03 -1.17473379e+02] [-1.13898986e-02 6.41182077e-05 9.99935131e-01 -1.27163896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.48, Y:-117.52, Z:-1.27 [[ 6.25573430e-01 7.80132645e-01 7.13728067e-03 2.24476765e+02] [-7.80082143e-01 6.25614144e-01 -8.87654869e-03 -1.17523386e+02] [-1.13900691e-02 -1.47321957e-05 9.99935131e-01 -1.27229079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.52, Y:-117.57, Z:-1.27 [[ 6.20310879e-01 7.84323599e-01 7.13479015e-03 2.24516750e+02] [-7.84273350e-01 6.20351903e-01 -8.87855007e-03 -1.17571849e+02] [-1.13897370e-02 -8.81645716e-05 9.99935131e-01 -1.27302257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.557628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:-117.62, Z:-1.27 [[ 6.13276222e-01 7.89836316e-01 7.13227207e-03 2.24554914e+02] [-7.89786412e-01 6.13317666e-01 -8.88057242e-03 -1.17620470e+02] [-1.13885471e-02 -1.86727663e-04 9.99935131e-01 -1.27186192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.617628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.59, Y:-117.67, Z:-1.26 [[ 6.10923937e-01 7.91657190e-01 7.13007123e-03 2.24592199e+02] [-7.91607388e-01 6.10965504e-01 -8.88233909e-03 -1.17670507e+02] [-1.13879952e-02 -2.17783497e-04 9.99935131e-01 -1.26366625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.677628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:-117.72, Z:-1.27 [[ 6.16356298e-01 7.87435146e-01 7.12774683e-03 2.24629252e+02] [-7.87385038e-01 6.16397496e-01 -8.88420394e-03 -1.17718645e+02] [-1.13892597e-02 -1.36446153e-04 9.99935131e-01 -1.27304464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.67, Y:-117.77, Z:-1.27 [[ 6.23526343e-01 7.81769867e-01 7.12562770e-03 2.24667413e+02] [-7.81719366e-01 6.23567056e-01 -8.88590328e-03 -1.17768799e+02] [-1.13900381e-02 -2.96463979e-05 9.99935131e-01 -1.27403322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.71, Y:-117.82, Z:-1.27 [[ 6.26900473e-01 7.79066786e-01 7.12323453e-03 2.24707508e+02] [-7.79016087e-01 6.26940940e-01 -8.88782131e-03 -1.17817373e+02] [-1.13900537e-02 2.26650964e-05 9.99935131e-01 -1.27476975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.75, Y:-117.87, Z:-1.27 [[ 6.29592680e-01 7.76892754e-01 7.12082222e-03 2.24748310e+02] [-7.76841893e-01 6.29632945e-01 -8.88975360e-03 -1.17865740e+02] [-1.13898894e-02 6.51707832e-05 9.99935131e-01 -1.27442483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.79, Y:-117.91, Z:-1.28 [[ 6.33715163e-01 7.73533724e-01 7.11828787e-03 2.24789646e+02] [-7.73482628e-01 6.33755127e-01 -8.89178247e-03 -1.17910475e+02] [-1.13893450e-02 1.28985364e-04 9.99935131e-01 -1.27648456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97762799999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.83, Y:-117.96, Z:-1.28 [[ 6.38339469e-01 7.69722073e-01 7.11704770e-03 2.24830272e+02] [-7.69670727e-01 6.38379112e-01 -8.89277500e-03 -1.17958134e+02] [-1.13883398e-02 1.98825988e-04 9.99935131e-01 -1.27572363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.87, Y:-118.01, Z:-1.27 [[ 6.40576922e-01 7.67861049e-01 7.11452343e-03 2.24870260e+02] [-7.67809565e-01 6.40616386e-01 -8.89479404e-03 -1.18006613e+02] [-1.13876462e-02 2.35200647e-04 9.99935131e-01 -1.27380028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.91, Y:-118.05, Z:-1.27 [[ 6.41994944e-01 7.66675885e-01 7.11194000e-03 2.24911515e+02] [-7.66624305e-01 6.42034283e-01 -8.89685918e-03 -1.18053426e+02] [-1.13871167e-02 2.59552548e-04 9.99935131e-01 -1.27399022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:-118.10, Z:-1.27 [[ 6.41344247e-01 7.67220315e-01 7.10955736e-03 2.24952687e+02] [-7.67168748e-01 6.41383602e-01 -8.89876276e-03 -1.18100720e+02] [-1.13872651e-02 2.52940080e-04 9.99935131e-01 -1.27343516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:-118.15, Z:-1.27 [[ 6.39990695e-01 7.68349791e-01 7.10700242e-03 2.24991788e+02] [-7.68298271e-01 6.40030111e-01 -8.90080280e-03 -1.18147492e+02] [-1.13876255e-02 2.36133296e-04 9.99935131e-01 -1.27356272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:-118.20, Z:-1.27 [[ 6.37838477e-01 7.70137381e-01 7.10578680e-03 2.25032181e+02] [-7.70085960e-01 6.37878023e-01 -8.90177316e-03 -1.18196194e+02] [-1.13882135e-02 2.05826792e-04 9.99935131e-01 -1.27327807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:225.07, Y:-118.24, Z:-1.28 [[ 6.36301804e-01 7.71407517e-01 7.10327698e-03 2.25073640e+02] [-7.71356153e-01 6.36341424e-01 -8.90377545e-03 -1.18244114e+02] [-1.13885487e-02 1.86331977e-04 9.99935131e-01 -1.27574718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.12, Y:-118.29, Z:-1.28 [[ 6.32427696e-01 7.74586850e-01 7.10078488e-03 2.25115008e+02] [-7.74535663e-01 6.32467544e-01 -8.90576246e-03 -1.18291529e+02] [-1.13893025e-02 1.32439709e-04 9.99935131e-01 -1.27593781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:-118.34, Z:-1.28 [[ 6.29949238e-01 7.76603871e-01 7.09831979e-03 2.25154182e+02] [-7.76552789e-01 6.29989221e-01 -8.90772682e-03 -1.18340465e+02] [-1.13896401e-02 9.91956870e-05 9.99935131e-01 -1.27629402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.20, Y:-118.39, Z:-1.28 [[ 6.26610161e-01 7.79300555e-01 7.09587559e-03 2.25195161e+02] [-7.79249623e-01 6.26650335e-01 -8.90967344e-03 -1.18388061e+02] [-1.13899463e-02 5.34335319e-05 9.99935131e-01 -1.27776280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:-118.43, Z:-1.28 [[ 6.25358696e-01 7.80305186e-01 7.09346672e-03 2.25235753e+02] [-7.80254297e-01 6.25398925e-01 -8.91159086e-03 -1.18434805e+02] [-1.13900070e-02 3.82329513e-05 9.99935131e-01 -1.28021183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:-118.48, Z:-1.28 [[ 6.25277006e-01 7.80370668e-01 7.09124053e-03 2.25275287e+02] [-7.80319764e-01 6.25317214e-01 -8.91336196e-03 -1.18483149e+02] [-1.13900010e-02 3.98851391e-05 9.99935131e-01 -1.28123868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.31, Y:-118.53, Z:-1.28 [[ 6.25722276e-01 7.80013704e-01 7.08902957e-03 2.25313311e+02] [-7.79962757e-01 6.25762430e-01 -8.91512005e-03 -1.18531065e+02] [-1.13899642e-02 4.92101670e-05 9.99935131e-01 -1.28365802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.35, Y:-118.58, Z:-1.28 [[ 6.26228676e-01 7.79607214e-01 7.08779151e-03 2.25351297e+02] [-7.79556230e-01 6.26268782e-01 -8.91610423e-03 -1.18580867e+02] [-1.13899217e-02 5.81881204e-05 9.99935131e-01 -1.28356726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.39, Y:-118.63, Z:-1.28 [[ 6.24786524e-01 7.80763472e-01 7.08529991e-03 2.25389935e+02] [-7.80712539e-01 6.24826696e-01 -8.91808378e-03 -1.18630687e+02] [-1.13899986e-02 4.03160862e-05 9.99935131e-01 -1.28400095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:225.43, Y:-118.68, Z:-1.29 [[ 6.23280042e-01 7.81966639e-01 7.08272820e-03 2.25425484e+02] [-7.81915760e-01 6.23320283e-01 -8.92012576e-03 -1.18679953e+02] [-1.13900489e-02 2.16395542e-05 9.99935131e-01 -1.28865848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.46, Y:-118.73, Z:-1.29 [[ 6.23230576e-01 7.82006083e-01 7.08067446e-03 2.25462985e+02] [-7.81955188e-01 6.23270796e-01 -8.92175569e-03 -1.18729268e+02] [-1.13900448e-02 2.35407966e-05 9.99935131e-01 -1.28696040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.50, Y:-118.78, Z:-1.29 [[ 6.21373118e-01 7.83482830e-01 7.07836176e-03 2.25497800e+02] [-7.83432010e-01 6.21413434e-01 -8.92359017e-03 -1.18779066e+02] [-1.13900688e-02 -5.36133396e-07 9.99935131e-01 -1.28727953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.53, Y:-118.83, Z:-1.29 [[ 6.20352985e-01 7.84290827e-01 7.07624806e-03 2.25534656e+02] [-7.84240040e-01 6.20393342e-01 -8.92526598e-03 -1.18829821e+02] [-1.13900614e-02 -1.26616694e-05 9.99935131e-01 -1.28814129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:-118.88, Z:-1.29 [[ 6.20202485e-01 7.84409867e-01 7.07367847e-03 2.25570675e+02] [-7.84359065e-01 6.20242823e-01 -8.92730203e-03 -1.18881851e+02] [-1.13900621e-02 -1.15689257e-05 9.99935131e-01 -1.28525263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.61, Y:-118.93, Z:-1.29 [[ 6.21621285e-01 7.83286013e-01 7.07102952e-03 2.25606739e+02] [-7.83235114e-01 6.21661501e-01 -8.92939969e-03 -1.18933225e+02] [-1.13900607e-02 1.24262993e-05 9.99935131e-01 -1.28509174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.64, Y:-118.98, Z:-1.29 [[ 6.24733597e-01 7.80805975e-01 7.06837481e-03 2.25641865e+02] [-7.80754893e-01 6.24773580e-01 -8.93150062e-03 -1.18983193e+02] [-1.13899029e-02 6.11403013e-05 9.99935131e-01 -1.28864123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.297628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:225.68, Y:-119.04, Z:-1.29 [[ 6.27206601e-01 7.78820870e-01 7.06625582e-03 2.25675506e+02] [-7.78769643e-01 6.27246397e-01 -8.93317677e-03 -1.19035136e+02] [-1.13896280e-02 9.99619114e-05 9.99935131e-01 -1.28985318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.71, Y:-119.08, Z:-1.29 [[ 6.26467206e-01 7.79415768e-01 7.06399247e-03 2.25713223e+02] [-7.79364558e-01 6.26507025e-01 -8.93496618e-03 -1.19084579e+02] [-1.13896944e-02 9.20379297e-05 9.99935131e-01 -1.28943469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:-119.13, Z:-1.29 [[ 6.24527562e-01 7.80970843e-01 7.06160232e-03 2.25753997e+02] [-7.80919711e-01 6.24567481e-01 -8.93685479e-03 -1.19132749e+02] [-1.13898702e-02 6.67676994e-05 9.99935131e-01 -1.29098141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.79, Y:-119.18, Z:-1.29 [[ 6.22316570e-01 7.82733835e-01 7.05902165e-03 2.25793260e+02] [-7.82682793e-01 6.22356604e-01 -8.93889274e-03 -1.19180886e+02] [-1.13900025e-02 3.78462947e-05 9.99935131e-01 -1.29245913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.83, Y:-119.23, Z:-1.29 [[ 6.21380329e-01 7.83477307e-01 7.05663751e-03 2.25833846e+02] [-7.83426292e-01 6.21420396e-01 -8.94077446e-03 -1.19229484e+02] [-1.13900324e-02 2.72660124e-05 9.99935131e-01 -1.29030160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.87, Y:-119.28, Z:-1.29 [[ 6.18428036e-01 7.85809777e-01 7.05396805e-03 2.25872362e+02] [-7.85758889e-01 6.18468264e-01 -8.94288007e-03 -1.19277954e+02] [-1.13900580e-02 -1.21903381e-05 9.99935131e-01 -1.29263546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.91, Y:-119.33, Z:-1.29 [[ 6.19550839e-01 7.84924859e-01 7.05151505e-03 2.25913733e+02] [-7.84873891e-01 6.19590966e-01 -8.94481386e-03 -1.19325802e+02] [-1.13900618e-02 7.21687806e-06 9.99935131e-01 -1.29263288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.95, Y:-119.38, Z:-1.29 [[ 6.16808044e-01 7.87082048e-01 7.04883745e-03 2.25949489e+02] [-7.87031196e-01 6.16848319e-01 -8.94692341e-03 -1.19375871e+02] [-1.13900263e-02 -2.91206432e-05 9.99935131e-01 -1.29160073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.99, Y:-119.43, Z:-1.29 [[ 6.15553964e-01 7.88063238e-01 7.04637646e-03 2.25987377e+02] [-7.88012428e-01 6.15594291e-01 -8.94886121e-03 -1.19425477e+02] [-1.13899777e-02 -4.41252388e-05 9.99935131e-01 -1.29316923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:-119.47, Z:-1.30 [[ 6.13380147e-01 7.89756397e-01 7.04475761e-03 2.26025871e+02] [-7.89705684e-01 6.13420596e-01 -8.95013542e-03 -1.19474824e+02] [-1.13898261e-02 -7.34497555e-05 9.99935131e-01 -1.29806381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:-119.52, Z:-1.30 [[ 6.12184361e-01 7.90683689e-01 7.04355876e-03 2.26062473e+02] [-7.90633027e-01 6.12224873e-01 -8.95107879e-03 -1.19523826e+02] [-1.13897139e-02 -8.91597281e-05 9.99935131e-01 -1.30032705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.10, Y:-119.57, Z:-1.30 [[ 6.11741360e-01 7.91026501e-01 7.04153208e-03 2.26100790e+02] [-7.90975843e-01 6.11781878e-01 -8.95267284e-03 -1.19572624e+02] [-1.13896832e-02 -9.29615166e-05 9.99935131e-01 -1.30168112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.14, Y:-119.62, Z:-1.30 [[ 6.16224142e-01 7.87539367e-01 7.03932382e-03 2.26140941e+02] [-7.87488459e-01 6.16264347e-01 -8.95440882e-03 -1.19621407e+02] [-1.13900337e-02 -2.54633722e-05 9.99935131e-01 -1.30117167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:-119.67, Z:-1.30 [[ 6.16002680e-01 7.87712626e-01 7.03679326e-03 2.26180047e+02] [-7.87661707e-01 6.16042870e-01 -8.95639700e-03 -1.19671308e+02] [-1.13900333e-02 -2.54480354e-05 9.99935131e-01 -1.30189513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:226.22, Y:-119.72, Z:-1.31 [[ 6.24177741e-01 7.81250707e-01 7.03427422e-03 2.26217865e+02] [-7.81199349e-01 6.24217369e-01 -8.95837500e-03 -1.19721556e+02] [-1.13896529e-02 9.64478316e-05 9.99935131e-01 -1.30524015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:-119.77, Z:-1.30 [[ 6.34510597e-01 7.72882175e-01 7.03173758e-03 2.26257197e+02] [-7.72830273e-01 6.34549510e-01 -8.96036565e-03 -1.19771038e+02] [-1.13872925e-02 2.51107286e-04 9.99935131e-01 -1.30325091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:226.30, Y:-119.82, Z:-1.30 [[ 6.40288890e-01 7.68102030e-01 7.02913150e-03 2.26295427e+02] [-7.68049815e-01 6.40327382e-01 -8.96240957e-03 -1.19818683e+02] [-1.13849904e-02 3.39808129e-04 9.99935131e-01 -1.30460627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.34, Y:-119.86, Z:-1.30 [[ 6.42952176e-01 7.65874089e-01 7.02705486e-03 2.26336262e+02] [-7.65821723e-01 6.42990462e-01 -8.96403749e-03 -1.19864998e+02] [-1.13836533e-02 3.81976145e-04 9.99935131e-01 -1.30497153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:-119.91, Z:-1.30 [[ 6.44569687e-01 7.64513291e-01 7.02470496e-03 2.26376964e+02] [-7.64460825e-01 6.44607834e-01 -8.96587862e-03 -1.19911922e+02] [-1.13827132e-02 4.09021821e-04 9.99935131e-01 -1.30351782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:-119.96, Z:-1.30 [[ 6.39166107e-01 7.69036653e-01 7.02240845e-03 2.26418442e+02] [-7.68984437e-01 6.39204597e-01 -8.96767697e-03 -1.19958140e+02] [-1.13852280e-02 3.31712373e-04 9.99935131e-01 -1.30479199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:-120.00, Z:-1.31 [[ 6.35841024e-01 7.71788129e-01 7.01974097e-03 2.26460914e+02] [-7.71736056e-01 6.35879708e-01 -8.96976454e-03 -1.20003983e+02] [-1.13864686e-02 2.85957052e-04 9.99935131e-01 -1.30521364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:-120.05, Z:-1.31 [[ 6.29672155e-01 7.76829283e-01 7.01727269e-03 2.26503964e+02] [-7.76777499e-01 6.29711224e-01 -8.97169513e-03 -1.20049332e+02] [-1.13883309e-02 1.98367077e-04 9.99935131e-01 -1.30510138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:-120.10, Z:-1.30 [[ 6.22058672e-01 7.82939206e-01 7.01491143e-03 2.26546011e+02] [-7.82887785e-01 6.22098218e-01 -8.97354100e-03 -1.20095200e+02] [-1.13897010e-02 9.01805264e-05 9.99935131e-01 -1.30082617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:-120.14, Z:-1.30 [[ 6.17356214e-01 7.86652484e-01 7.01244148e-03 2.26589135e+02] [-7.86601279e-01 6.17396039e-01 -8.97547074e-03 -1.20140156e+02] [-1.13900299e-02 2.50672023e-05 9.99935131e-01 -1.30136971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.63, Y:-120.19, Z:-1.31 [[ 6.17532770e-01 7.86513914e-01 7.01007651e-03 2.26632201e+02] [-7.86462679e-01 6.17572556e-01 -8.97731747e-03 -1.20186319e+02] [-1.13900160e-02 3.06241663e-05 9.99935131e-01 -1.30568108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.67, Y:-120.24, Z:-1.30 [[ 6.12181418e-01 7.90686289e-01 7.00736770e-03 2.26670961e+02] [-7.90635301e-01 6.12221521e-01 -8.97943137e-03 -1.20235181e+02] [-1.13899746e-02 -4.32312385e-05 9.99935131e-01 -1.30299375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.71, Y:-120.28, Z:-1.31 [[ 6.10884648e-01 7.91688625e-01 7.00488158e-03 2.26712594e+02] [-7.91637681e-01 6.10924805e-01 -8.98137038e-03 -1.20282373e+02] [-1.13899047e-02 -5.87469246e-05 9.99935131e-01 -1.30674273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.75, Y:-120.33, Z:-1.31 [[ 6.12232303e-01 7.90646935e-01 7.00226776e-03 2.26753250e+02] [-7.90595899e-01 6.12272344e-01 -8.98340777e-03 -1.20330650e+02] [-1.13899987e-02 -3.60317476e-05 9.99935131e-01 -1.30709976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:-120.38, Z:-1.31 [[ 6.09471747e-01 7.92776889e-01 6.99957335e-03 2.26789011e+02] [-7.92725969e-01 6.09511935e-01 -8.98550667e-03 -1.20381668e+02] [-1.13898255e-02 -7.23311251e-05 9.99935131e-01 -1.30509040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.83, Y:-120.43, Z:-1.30 [[ 6.11183671e-01 7.91457870e-01 6.99709664e-03 2.26827873e+02] [-7.91406841e-01 6.11223721e-01 -8.98743489e-03 -1.20430526e+02] [-1.13899675e-02 -4.45766947e-05 9.99935131e-01 -1.30429923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.87, Y:-120.48, Z:-1.31 [[ 6.16536267e-01 7.87295438e-01 6.99456143e-03 2.26865900e+02] [-7.87244116e-01 6.16575942e-01 -8.98940751e-03 -1.20479051e+02] [-1.13899978e-02 3.58684193e-05 9.99935131e-01 -1.30583929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.90, Y:-120.53, Z:-1.30 [[ 6.23661395e-01 7.81663337e-01 6.99227752e-03 2.26903520e+02] [-7.81611637e-01 6.23700575e-01 -8.99118367e-03 -1.20527233e+02] [-1.13891661e-02 1.42208663e-04 9.99935131e-01 -1.30138585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.94, Y:-120.57, Z:-1.30 [[ 6.30149076e-01 7.76442705e-01 6.99055278e-03 2.26943363e+02] [-7.76390666e-01 6.30187804e-01 -8.99252443e-03 -1.20574184e+02] [-1.13875411e-02 2.39231029e-04 9.99935131e-01 -1.30474483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:-120.62, Z:-1.31 [[ 6.31882831e-01 7.75032419e-01 6.98839269e-03 2.26979617e+02] [-7.74980275e-01 6.31921417e-01 -8.99420280e-03 -1.20624653e+02] [-1.13869138e-02 2.67415832e-04 9.99935131e-01 -1.30752622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.02, Y:-120.67, Z:-1.31 [[ 6.40801109e-01 7.67675150e-01 6.98593651e-03 2.27021995e+02] [-7.67622542e-01 6.40839062e-01 -8.99611015e-03 -1.20670795e+02] [-1.13829512e-02 4.02155016e-04 9.99935131e-01 -1.30805715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:-120.72, Z:-1.31 [[ 6.45008805e-01 7.64143227e-01 6.98362363e-03 2.27062638e+02] [-7.64090392e-01 6.45046441e-01 -8.99790526e-03 -1.20717918e+02] [-1.13804499e-02 4.67608396e-04 9.99935131e-01 -1.30579599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.10, Y:-120.77, Z:-1.31 [[ 6.42758606e-01 7.66036968e-01 6.98125036e-03 2.27098774e+02] [-7.65984224e-01 6.42796370e-01 -8.99974625e-03 -1.20767427e+02] [-1.13816607e-02 4.37136713e-04 9.99935131e-01 -1.30583918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:227.14, Y:-120.82, Z:-1.31 [[ 6.41125718e-01 7.67404127e-01 6.97993202e-03 2.27138967e+02] [-7.67351453e-01 6.41163578e-01 -9.00076860e-03 -1.20815781e+02] [-1.13825052e-02 4.14563259e-04 9.99935131e-01 -1.30512460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.18, Y:-120.86, Z:-1.30 [[ 6.33691197e-01 7.73554641e-01 6.97740389e-03 2.27182934e+02] [-7.73502313e-01 6.33729534e-01 -9.00272798e-03 -1.20861258e+02] [-1.13858889e-02 3.07911421e-04 9.99935131e-01 -1.30332034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:-120.91, Z:-1.30 [[ 6.22428045e-01 7.82645948e-01 6.97484369e-03 2.27227099e+02] [-7.82594158e-01 6.22467106e-01 -9.00471106e-03 -1.20907201e+02] [-1.13891114e-02 1.46312776e-04 9.99935131e-01 -1.30405142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:-120.95, Z:-1.31 [[ 6.19228499e-01 7.85179886e-01 6.97226253e-03 2.27272043e+02] [-7.85128234e-01 6.19267742e-01 -9.00670918e-03 -1.20950243e+02] [-1.13895842e-02 1.03090841e-04 9.99935131e-01 -1.31107829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.31, Y:-121.00, Z:-1.31 [[ 6.05330545e-01 7.95943684e-01 6.97009243e-03 2.27306387e+02] [-7.95892710e-01 6.05370665e-01 -9.00838825e-03 -1.21000815e+02] [-1.13896592e-02 -9.43931866e-05 9.99935131e-01 -1.30677548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:-121.05, Z:-1.31 [[ 6.01349872e-01 7.98955430e-01 6.96796458e-03 2.27345200e+02] [-7.98904638e-01 6.01390222e-01 -9.01003384e-03 -1.21049121e+02] [-1.13890812e-02 -1.48556519e-04 9.99935131e-01 -1.31017039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.38, Y:-121.10, Z:-1.31 [[ 5.99583065e-01 8.00282219e-01 6.96553174e-03 2.27378800e+02] [-8.00231494e-01 5.99623500e-01 -9.01191424e-03 -1.21102272e+02] [-1.13887712e-02 -1.70646709e-04 9.99935131e-01 -1.30930396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.16, Z:-1.31 [[ 6.01018371e-01 7.99204877e-01 6.96295973e-03 2.27412840e+02] [-7.99154057e-01 6.01058686e-01 -9.01390105e-03 -1.21155242e+02] [-1.13891011e-02 -1.46957387e-04 9.99935131e-01 -1.30922982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.45, Y:-121.21, Z:-1.31 [[ 6.01654612e-01 7.98726036e-01 6.96038808e-03 2.27449870e+02] [-7.98675161e-01 6.01694857e-01 -9.01588639e-03 -1.21205740e+02] [-1.13892529e-02 -1.34639439e-04 9.99935131e-01 -1.31147731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.48, Y:-121.26, Z:-1.31 [[ 6.04054695e-01 7.96912473e-01 6.95959275e-03 2.27482499e+02] [-7.96861470e-01 6.04094778e-01 -9.01650028e-03 -1.21259310e+02] [-1.13896152e-02 -9.93719797e-05 9.99935131e-01 -1.31189673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:-121.31, Z:-1.31 [[ 6.09123886e-01 7.93044568e-01 6.95735167e-03 2.27514035e+02] [-7.92993291e-01 6.09163617e-01 -9.01822923e-03 -1.21314678e+02] [-1.13900232e-02 -2.39143632e-05 9.99935131e-01 -1.31253030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.55, Y:-121.37, Z:-1.31 [[ 6.13760293e-01 7.89461800e-01 6.95475759e-03 2.27546977e+02] [-7.89410268e-01 6.13799694e-01 -9.02022931e-03 -1.21367484e+02] [-1.13899545e-02 4.61015298e-05 9.99935131e-01 -1.31345755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:-121.42, Z:-1.31 [[ 6.21109919e-01 7.83692626e-01 6.95252667e-03 2.27578949e+02] [-7.83640708e-01 6.21148810e-01 -9.02194851e-03 -1.21422656e+02] [-1.13889882e-02 1.55338782e-04 9.99935131e-01 -1.31372981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.61, Y:-121.48, Z:-1.31 [[ 6.25413460e-01 7.80262585e-01 6.94998056e-03 2.27613305e+02] [-7.80210433e-01 6.25452036e-01 -9.02390946e-03 -1.21476016e+02] [-1.13878984e-02 2.21227100e-04 9.99935131e-01 -1.31489158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:-121.53, Z:-1.32 [[ 6.31469278e-01 7.75369772e-01 6.94745486e-03 2.27645244e+02] [-7.75317300e-01 6.31507417e-01 -9.02585356e-03 -1.21530619e+02] [-1.13857433e-02 3.13067290e-04 9.99935131e-01 -1.31514726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.68, Y:-121.58, Z:-1.32 [[ 6.34800333e-01 7.72645006e-01 6.94489723e-03 2.27678142e+02] [-7.72592349e-01 6.34838216e-01 -9.02782109e-03 -1.21583519e+02] [-1.13841870e-02 3.65289372e-04 9.99935131e-01 -1.31701743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.72, Y:-121.63, Z:-1.32 [[ 6.40703303e-01 7.67757173e-01 6.94267791e-03 2.27717048e+02] [-7.67704208e-01 6.40740756e-01 -9.02952749e-03 -1.21631986e+02] [-1.13809412e-02 4.55325041e-04 9.99935131e-01 -1.31966332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.75, Y:-121.69, Z:-1.31 [[ 6.35268316e-01 7.72260307e-01 6.94155782e-03 2.27747943e+02] [-7.72207599e-01 6.35306128e-01 -9.03038849e-03 -1.21685720e+02] [-1.13838248e-02 3.76395988e-04 9.99935131e-01 -1.31454938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.597628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:227.79, Y:-121.74, Z:-1.31 [[ 6.29688078e-01 7.76817076e-01 6.93943316e-03 2.27785001e+02] [-7.76764623e-01 6.29726244e-01 -9.03202089e-03 -1.21735529e+02] [-1.13861712e-02 2.97049691e-04 9.99935131e-01 -1.31432960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:-121.79, Z:-1.31 [[ 6.24168879e-01 7.81258655e-01 6.93721430e-03 2.27821965e+02] [-7.81206455e-01 6.24207390e-01 -9.03372481e-03 -1.21785565e+02] [-1.13879361e-02 2.19173295e-04 9.99935131e-01 -1.31144335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:-121.83, Z:-1.31 [[ 6.16285748e-01 7.87492086e-01 6.93486613e-03 2.27861872e+02] [-7.87440255e-01 6.16324755e-01 -9.03552706e-03 -1.21834553e+02] [-1.13895357e-02 1.07673800e-04 9.99935131e-01 -1.31133515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.90, Y:-121.88, Z:-1.31 [[ 6.10112565e-01 7.92284419e-01 6.93233164e-03 2.27901036e+02] [-7.92232873e-01 6.10151948e-01 -9.03747118e-03 -1.21884014e+02] [-1.13900233e-02 2.18537112e-05 9.99935131e-01 -1.31194901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:-121.94, Z:-1.31 [[ 6.07550671e-01 7.94250691e-01 6.92982498e-03 2.27938295e+02] [-7.94199250e-01 6.07590191e-01 -9.03939284e-03 -1.21935170e+02] [-1.13900377e-02 -1.17726206e-05 9.99935131e-01 -1.31189285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.97, Y:-121.99, Z:-1.32 [[ 6.06045664e-01 7.95399690e-01 6.92723614e-03 2.27974747e+02] [-7.95348302e-01 6.06085252e-01 -9.04137634e-03 -1.21987005e+02] [-1.13900036e-02 -3.00785744e-05 9.99935131e-01 -1.31508811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:228.01, Y:-122.04, Z:-1.32 [[ 6.07311757e-01 7.94433433e-01 6.92467255e-03 2.28008724e+02] [-7.94381959e-01 6.07351234e-01 -9.04333934e-03 -1.22039097e+02] [-1.13900395e-02 -8.70864731e-06 9.99935131e-01 -1.32175434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.04, Y:-122.09, Z:-1.32 [[ 6.07780087e-01 7.94075214e-01 6.92245191e-03 2.28041995e+02] [-7.94023698e-01 6.07819508e-01 -9.04503886e-03 -1.22092952e+02] [-1.13900425e-02 8.03638416e-07 9.99935131e-01 -1.31945152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:-122.15, Z:-1.32 [[ 6.08537380e-01 7.93495036e-01 6.91986080e-03 2.28072408e+02] [-7.93443460e-01 6.08576722e-01 -9.04702074e-03 -1.22147817e+02] [-1.13900323e-02 1.49320076e-05 9.99935131e-01 -1.32002735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.11, Y:-122.20, Z:-1.32 [[ 6.06334793e-01 7.95179393e-01 6.91746944e-03 2.28110006e+02] [-7.95127906e-01 6.06374251e-01 -9.04884884e-03 -1.22198296e+02] [-1.13900335e-02 -1.36411028e-05 9.99935131e-01 -1.32004588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:-122.25, Z:-1.32 [[ 6.06854834e-01 7.94782608e-01 6.91493738e-03 2.28150323e+02] [-7.94731072e-01 6.06894230e-01 -9.05078337e-03 -1.22245537e+02] [-1.13900408e-02 -3.00396273e-06 9.99935131e-01 -1.32185378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:-122.30, Z:-1.32 [[ 6.07736627e-01 7.94108563e-01 6.91250049e-03 2.28185263e+02] [-7.94056962e-01 6.07775937e-01 -9.05264415e-03 -1.22295838e+02] [-1.13900337e-02 1.27042820e-05 9.99935131e-01 -1.32068169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:-122.35, Z:-1.32 [[ 6.11362669e-01 7.91320375e-01 6.91027942e-03 2.28223754e+02] [-7.91268576e-01 6.11401717e-01 -9.05433927e-03 -1.22346108e+02] [-1.13898399e-02 6.75980643e-05 9.99935131e-01 -1.32101585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.26, Y:-122.40, Z:-1.32 [[ 6.16694303e-01 7.87172421e-01 6.90776325e-03 2.28262835e+02] [-7.87120337e-01 6.16732972e-01 -9.05625851e-03 -1.22395075e+02] [-1.13890823e-02 1.47702085e-04 9.99935131e-01 -1.32229908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.30, Y:-122.44, Z:-1.32 [[ 6.20492561e-01 7.84181931e-01 6.90522296e-03 2.28301417e+02] [-7.84129640e-01 6.20530948e-01 -9.05819502e-03 -1.22444419e+02] [-1.13881774e-02 2.05952632e-04 9.99935131e-01 -1.31814414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:-122.49, Z:-1.33 [[ 6.24150825e-01 7.81273369e-01 6.90439751e-03 2.28339781e+02] [-7.81220893e-01 6.24188958e-01 -9.05882416e-03 -1.22492280e+02] [-1.13870668e-02 2.60212986e-04 9.99935131e-01 -1.32548869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:-122.54, Z:-1.32 [[ 6.23418650e-01 7.81857745e-01 6.90315369e-03 2.28378854e+02] [-7.81805294e-01 6.23456818e-01 -9.05977189e-03 -1.22540676e+02] [-1.13872711e-02 2.51108660e-04 9.99935131e-01 -1.31941545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.42, Y:-122.59, Z:-1.32 [[ 6.19240145e-01 7.85171333e-01 6.90074505e-03 2.28418506e+02] [-7.85119066e-01 6.19278564e-01 -9.06160616e-03 -1.22587260e+02] [-1.13883969e-02 1.93403799e-04 9.99935131e-01 -1.32354789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.46, Y:-122.64, Z:-1.32 [[ 6.16101139e-01 7.87636843e-01 6.89855194e-03 2.28457695e+02] [-7.87584711e-01 6.16139741e-01 -9.06327545e-03 -1.22636012e+02] [-1.13890417e-02 1.50700293e-04 9.99935131e-01 -1.32148639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:-122.68, Z:-1.32 [[ 6.10654717e-01 7.91866944e-01 6.89637168e-03 2.28495198e+02] [-7.91815060e-01 6.10693653e-01 -9.06493414e-03 -1.22684683e+02] [-1.13897921e-02 7.48938384e-05 9.99935131e-01 -1.31957000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:-122.73, Z:-1.32 [[ 6.06326336e-01 7.95186042e-01 6.89437503e-03 2.28533565e+02] [-7.95134355e-01 6.06365531e-01 -9.06645245e-03 -1.22734975e+02] [-1.13900278e-02 1.52744584e-05 9.99935131e-01 -1.31874044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:-122.78, Z:-1.32 [[ 6.02172097e-01 7.98336563e-01 6.89186427e-03 2.28572624e+02] [-7.98285058e-01 6.02211533e-01 -9.06836060e-03 -1.22783718e+02] [-1.13899640e-02 -4.09585411e-05 9.99935131e-01 -1.32034185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.61, Y:-122.83, Z:-1.32 [[ 5.98776308e-01 8.00886677e-01 6.88931437e-03 2.28611369e+02] [-8.00835318e-01 5.98815934e-01 -9.07029737e-03 -1.22833023e+02] [-1.13897115e-02 -8.61270982e-05 9.99935131e-01 -1.32230217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.65, Y:-122.88, Z:-1.33 [[ 5.98050663e-01 8.01428710e-01 6.88669519e-03 2.28648222e+02] [-8.01377364e-01 5.98090305e-01 -9.07228556e-03 -1.22883458e+02] [-1.13896558e-02 -9.31552465e-05 9.99935131e-01 -1.32584416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.68, Y:-122.94, Z:-1.33 [[ 6.04519232e-01 7.96560797e-01 6.88443309e-03 2.28682779e+02] [-7.96509112e-01 6.04558431e-01 -9.07400182e-03 -1.22935824e+02] [-1.13900362e-02 1.89492655e-06 9.99935131e-01 -1.32877622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:-122.99, Z:-1.33 [[ 6.14943767e-01 7.88540918e-01 6.88363113e-03 2.28715948e+02] [-7.88488715e-01 6.14982275e-01 -9.07461015e-03 -1.22988882e+02] [-1.13890125e-02 1.52709491e-04 9.99935131e-01 -1.32966447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.75, Y:-123.04, Z:-1.33 [[ 6.20360641e-01 7.84286505e-01 6.88138019e-03 2.28751536e+02] [-7.84234019e-01 6.20398762e-01 -9.07631675e-03 -1.23041414e+02] [-1.13876325e-02 2.33977236e-04 9.99935131e-01 -1.33014038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:-123.09, Z:-1.33 [[ 6.21194989e-01 7.83625847e-01 6.87883085e-03 2.28790499e+02] [-7.83573299e-01 6.21233024e-01 -9.07824845e-03 -1.23090760e+02] [-1.13873070e-02 2.49294258e-04 9.99935131e-01 -1.33013415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.83, Y:-123.14, Z:-1.33 [[ 6.21671719e-01 7.83247719e-01 6.87627910e-03 2.28829265e+02] [-7.83195127e-01 6.21709693e-01 -9.08018085e-03 -1.23139888e+02] [-1.13870803e-02 2.59423359e-04 9.99935131e-01 -1.33155494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:-123.19, Z:-1.33 [[ 6.19848362e-01 7.84691507e-01 6.87368343e-03 2.28869106e+02] [-7.84638981e-01 6.19886428e-01 -9.08214535e-03 -1.23188791e+02] [-1.13875854e-02 2.36192952e-04 9.99935131e-01 -1.33288095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:-123.24, Z:-1.33 [[ 6.16128604e-01 7.87615598e-01 6.87112278e-03 2.28909990e+02] [-7.87563232e-01 6.16166889e-01 -9.08408219e-03 -1.23236660e+02] [-1.13885232e-02 1.85519213e-04 9.99935131e-01 -1.33327201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.95, Y:-123.29, Z:-1.33 [[ 6.12375143e-01 7.90537480e-01 6.86855341e-03 2.28949848e+02] [-7.90485275e-01 6.12413646e-01 -9.08602450e-03 -1.23285995e+02] [-1.13892388e-02 1.34565217e-04 9.99935131e-01 -1.33388935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.99, Y:-123.33, Z:-1.34 [[ 6.04584049e-01 7.96511761e-01 6.86597304e-03 2.28990176e+02] [-7.96459915e-01 6.04623034e-01 -9.08797398e-03 -1.23334283e+02] [-1.13900036e-02 2.59718074e-05 9.99935131e-01 -1.33668033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.03, Y:-123.38, Z:-1.34 [[ 5.98081713e-01 8.01405739e-01 6.86342106e-03 2.29028285e+02] [-8.01354189e-01 5.98121090e-01 -9.08990088e-03 -1.23383331e+02] [-1.13898556e-02 -6.35277245e-05 9.99935131e-01 -1.33711982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.07, Y:-123.43, Z:-1.34 [[ 5.95773002e-01 8.03123562e-01 6.86106134e-03 2.29066767e+02] [-8.03072105e-01 5.95812500e-01 -9.09168165e-03 -1.23433206e+02] [-1.13896499e-02 -9.33485004e-05 9.99935131e-01 -1.33831313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:-123.49, Z:-1.34 [[ 5.97425614e-01 8.01895004e-01 6.85844811e-03 2.29101783e+02] [-8.01843444e-01 5.97464976e-01 -9.09365254e-03 -1.23485033e+02] [-1.13898371e-02 -6.66207034e-05 9.99935131e-01 -1.33680002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:-123.54, Z:-1.34 [[ 6.03010331e-01 7.97703914e-01 6.85614835e-03 2.29136156e+02] [-7.97652060e-01 6.03049306e-01 -9.09538612e-03 -1.23536899e+02] [-1.13900206e-02 1.57909391e-05 9.99935131e-01 -1.33573243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.17, Y:-123.59, Z:-1.34 [[ 6.06290603e-01 7.95213639e-01 6.85372004e-03 2.29172635e+02] [-7.95161604e-01 6.06329336e-01 -9.09721558e-03 -1.23588765e+02] [-1.13898414e-02 6.57412951e-05 9.99935131e-01 -1.33556891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.21, Y:-123.64, Z:-1.34 [[ 6.10851361e-01 7.91715654e-01 6.85110750e-03 2.29209256e+02] [-7.91663375e-01 6.10889765e-01 -9.09918265e-03 -1.23639559e+02] [-1.13892368e-02 1.34477229e-04 9.99935131e-01 -1.33851515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.25, Y:-123.69, Z:-1.34 [[ 6.13577034e-01 7.89605152e-01 6.85030373e-03 2.29245763e+02] [-7.89552735e-01 6.13615249e-01 -9.09978772e-03 -1.23689477e+02] [-1.13886901e-02 1.74744721e-04 9.99935131e-01 -1.34127719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:-123.74, Z:-1.35 [[ 6.18531061e-01 7.85730508e-01 6.84806072e-03 2.29281685e+02] [-7.85677832e-01 6.18568919e-01 -9.10147540e-03 -1.23738456e+02] [-1.13873044e-02 2.49175734e-04 9.99935132e-01 -1.34515299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05762799999997 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:229.32, Y:-123.79, Z:-1.35 [[ 6.25705632e-01 7.80029227e-01 6.84601007e-03 2.29317541e+02] [-7.79976190e-01 6.25742981e-01 -9.10301760e-03 -1.23789690e+02] [-1.13844625e-02 3.56084529e-04 9.99935132e-01 -1.34721877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.36, Y:-123.84, Z:-1.34 [[ 6.32381782e-01 7.74626648e-01 6.84376776e-03 2.29358585e+02] [-7.74573274e-01 6.32418649e-01 -9.10470309e-03 -1.23836542e+02] [-1.13808720e-02 4.56648758e-04 9.99935132e-01 -1.34148726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:-123.89, Z:-1.35 [[ 6.34872585e-01 7.72586562e-01 6.84142094e-03 2.29392924e+02] [-7.72533051e-01 6.34909251e-01 -9.10646619e-03 -1.23886372e+02] [-1.13792149e-02 4.96221930e-04 9.99935132e-01 -1.34680074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:-123.94, Z:-1.34 [[ 6.37166484e-01 7.70695847e-01 6.83980870e-03 2.29431221e+02] [-7.70642214e-01 6.37202972e-01 -9.10767697e-03 -1.23935669e+02] [-1.13775953e-02 5.32061193e-04 9.99935132e-01 -1.34345271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.47, Y:-123.98, Z:-1.34 [[ 6.36581709e-01 7.71178951e-01 6.83757076e-03 2.29471802e+02] [-7.71125328e-01 6.36618212e-01 -9.10935679e-03 -1.23983862e+02] [-1.13778663e-02 5.26225920e-04 9.99935132e-01 -1.34283543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:-124.03, Z:-1.34 [[ 6.32171770e-01 7.74798126e-01 6.83502643e-03 2.29516566e+02] [-7.74744691e-01 6.32208548e-01 -9.11126548e-03 -1.24028604e+02] [-1.13805536e-02 4.64484389e-04 9.99935132e-01 -1.34232695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:-124.07, Z:-1.34 [[ 6.25642628e-01 7.80079881e-01 6.83241426e-03 2.29562313e+02] [-7.80026735e-01 6.25679823e-01 -9.11322389e-03 -1.24072377e+02] [-1.13839464e-02 3.72155549e-04 9.99935132e-01 -1.34395238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:-124.12, Z:-1.34 [[ 6.21237179e-01 7.83592829e-01 6.82981625e-03 2.29604097e+02] [-7.83539872e-01 6.21274643e-01 -9.11517053e-03 -1.24119101e+02] [-1.13857739e-02 3.11249479e-04 9.99935132e-01 -1.34499468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:-124.16, Z:-1.35 [[ 6.15767715e-01 7.87898160e-01 6.82724722e-03 2.29649008e+02] [-7.87845444e-01 6.15805517e-01 -9.11709432e-03 -1.24163977e+02] [-1.13875983e-02 2.35196712e-04 9.99935132e-01 -1.34608364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.69, Y:-124.21, Z:-1.35 [[ 6.12989344e-01 7.90061698e-01 6.82468581e-03 2.29691190e+02] [-7.90009095e-01 6.13027302e-01 -9.11901128e-03 -1.24211052e+02] [-1.13883003e-02 1.98292885e-04 9.99935132e-01 -1.34773191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.73, Y:-124.26, Z:-1.35 [[ 6.09225748e-01 7.92967494e-01 6.82215990e-03 2.29732553e+02] [-7.92915050e-01 6.09263927e-01 -9.12090059e-03 -1.24258019e+02] [-1.13890736e-02 1.47294230e-04 9.99935132e-01 -1.35012879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.77, Y:-124.31, Z:-1.35 [[ 6.04730513e-01 7.96400964e-01 6.81993216e-03 2.29772078e+02] [-7.96348719e-01 6.04768962e-01 -9.12256602e-03 -1.24307607e+02] [-1.13897037e-02 8.56497912e-05 9.99935132e-01 -1.35126722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.81, Y:-124.36, Z:-1.35 [[ 6.02590170e-01 7.98021685e-01 6.81741916e-03 2.29809755e+02] [-7.97969522e-01 6.02628731e-01 -9.12444364e-03 -1.24357815e+02] [-1.13898765e-02 5.82073360e-05 9.99935132e-01 -1.35184059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:-124.41, Z:-1.35 [[ 5.96812885e-01 8.02351505e-01 6.81492977e-03 2.29848494e+02] [-8.02299600e-01 5.96851792e-01 -9.12630255e-03 -1.24407962e+02] [-1.13900056e-02 -2.09204717e-05 9.99935132e-01 -1.35251847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.88, Y:-124.46, Z:-1.35 [[ 5.93389748e-01 8.04886450e-01 6.81247072e-03 2.29884676e+02] [-8.04834690e-01 5.93428849e-01 -9.12813778e-03 -1.24458047e+02] [-1.13898311e-02 -6.63693844e-05 9.99935132e-01 -1.35410443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:-124.51, Z:-1.36 [[ 5.93582092e-01 8.04744631e-01 6.81030239e-03 2.29919636e+02] [-8.04692843e-01 5.93621155e-01 -9.12975524e-03 -1.24507904e+02] [-1.13898611e-02 -6.09423803e-05 9.99935132e-01 -1.35565203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:-124.56, Z:-1.36 [[ 5.96524045e-01 8.02566321e-01 6.80909587e-03 2.29955497e+02] [-8.02514381e-01 5.96562905e-01 -9.13065498e-03 -1.24560039e+02] [-1.13900102e-02 -1.77421166e-05 9.99935132e-01 -1.35719748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.99, Y:-124.61, Z:-1.36 [[ 6.01575885e-01 7.98786657e-01 6.80668775e-03 2.29988586e+02] [-7.98734452e-01 6.01614389e-01 -9.13244983e-03 -1.24614105e+02] [-1.13898804e-02 5.71255693e-05 9.99935132e-01 -1.35771763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.02, Y:-124.67, Z:-1.36 [[ 6.05786718e-01 7.95597985e-01 6.80431315e-03 2.30020766e+02] [-7.95545557e-01 6.05824919e-01 -9.13421873e-03 -1.24668744e+02] [-1.13893885e-02 1.20247284e-04 9.99935132e-01 -1.35581794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.06, Y:-124.72, Z:-1.36 [[ 6.07683240e-01 7.94150373e-01 6.80181012e-03 2.30056127e+02] [-7.94097834e-01 6.07721287e-01 -9.13608224e-03 -1.24721277e+02] [-1.13890279e-02 1.50541381e-04 9.99935132e-01 -1.35654570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.09, Y:-124.78, Z:-1.36 [[ 6.10047276e-01 7.92335845e-01 6.79925583e-03 2.30088303e+02] [-7.92283172e-01 6.10085136e-01 -9.13798280e-03 -1.24775483e+02] [-1.13884762e-02 1.87665538e-04 9.99935132e-01 -1.35716575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:230.12, Y:-124.83, Z:-1.36 [[ 6.12795703e-01 7.90212143e-01 6.79669668e-03 2.30120094e+02] [-7.90159317e-01 6.12833351e-01 -9.13988586e-03 -1.24829474e+02] [-1.13876912e-02 2.30409580e-04 9.99935132e-01 -1.35913344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.15, Y:-124.88, Z:-1.36 [[ 6.12923893e-01 7.90112738e-01 6.79433484e-03 2.30152484e+02] [-7.90059887e-01 6.12961504e-01 -9.14164124e-03 -1.24882040e+02] [-1.13875929e-02 2.35198923e-04 9.99935132e-01 -1.35810913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:230.19, Y:-124.93, Z:-1.36 [[ 6.11885282e-01 7.90917360e-01 6.79202179e-03 2.30187835e+02] [-7.90864539e-01 6.11922937e-01 -9.14335947e-03 -1.24932893e+02] [-1.13878356e-02 2.23117913e-04 9.99935132e-01 -1.35956979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:-124.99, Z:-1.36 [[ 6.08145653e-01 7.93796425e-01 6.78969769e-03 2.30220851e+02] [-7.93743763e-01 6.08183530e-01 -9.14508497e-03 -1.24985880e+02] [-1.13887181e-02 1.72263473e-04 9.99935132e-01 -1.35870018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.26, Y:-125.04, Z:-1.36 [[ 6.05043105e-01 7.96163786e-01 6.78724250e-03 2.30255444e+02] [-7.96111252e-01 6.05081159e-01 -9.14690678e-03 -1.25037042e+02] [-1.13892685e-02 1.30872753e-04 9.99935132e-01 -1.35691419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.29, Y:-125.09, Z:-1.36 [[ 5.98282506e-01 8.01256518e-01 6.78497976e-03 2.30291441e+02] [-8.01204288e-01 5.98320977e-01 -9.14858493e-03 -1.25086906e+02] [-1.13899590e-02 3.72834393e-05 9.99935132e-01 -1.35814453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.33, Y:-125.14, Z:-1.36 [[ 5.90433629e-01 8.07057697e-01 6.78258527e-03 2.30326327e+02] [-8.07005826e-01 5.90472581e-01 -9.15035982e-03 -1.25139497e+02] [-1.13897989e-02 -7.09056677e-05 9.99935132e-01 -1.36024776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:-125.19, Z:-1.36 [[ 5.84713931e-01 8.11211224e-01 6.78007244e-03 2.30362099e+02] [-8.11159607e-01 5.84753220e-01 -9.15222135e-03 -1.25191915e+02] [-1.13890539e-02 -1.48289567e-04 9.99935132e-01 -1.36225530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.40, Y:-125.24, Z:-1.37 [[ 5.83755247e-01 8.11901390e-01 6.77829413e-03 2.30395800e+02] [-8.11849804e-01 5.83794577e-01 -9.15353821e-03 -1.25242496e+02] [-1.13889017e-02 -1.59530805e-04 9.99935132e-01 -1.36518516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:-124.77, Z:-0.45 [[ 6.63639530e-01 7.48021829e-01 6.77623260e-03 2.31100239e+02] [-7.47966481e-01 6.63673359e-01 -9.15506407e-03 -1.24768817e+02] [-1.13453928e-02 1.00726756e-03 9.99935132e-01 -4.47392984e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 264.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.14, Y:-124.81, Z:-0.45 [[ 6.65089401e-01 7.46724971e-01 7.60961978e-03 2.31143906e+02] [-7.46677728e-01 6.65132925e-01 -8.40011247e-03 -1.24812917e+02] [-1.13339824e-02 -9.51078392e-05 9.99935764e-01 -4.48063338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.19, Y:-124.86, Z:-0.45 [[ 6.66842826e-01 7.45159560e-01 7.60756892e-03 2.31187072e+02] [-7.45112194e-01 6.66886216e-01 -8.40196942e-03 -1.24857160e+02] [-1.13341907e-02 -6.56993354e-05 9.99935764e-01 -4.46486287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.037628 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:-124.90, Z:-0.45 [[ 6.69340325e-01 7.42917012e-01 7.60548052e-03 2.31226451e+02] [-7.42869478e-01 6.69383532e-01 -8.40385943e-03 -1.24903263e+02] [-1.13343535e-02 -2.48373458e-05 9.99935764e-01 -4.48569346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.27, Y:-124.95, Z:-0.45 [[ 6.71973744e-01 7.40535936e-01 7.60357143e-03 2.31268170e+02] [-7.40488230e-01 6.72016761e-01 -8.40558636e-03 -1.24950379e+02] [-1.13343662e-02 1.79781872e-05 9.99935764e-01 -4.48377526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.31, Y:-125.00, Z:-0.45 [[ 6.78364376e-01 7.34686324e-01 7.60126055e-03 2.31307604e+02] [-7.34638224e-01 6.78406951e-01 -8.40767560e-03 -1.24998939e+02] [-1.13337523e-02 1.19291056e-04 9.99935764e-01 -4.48683943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.35, Y:-125.05, Z:-0.45 [[ 6.82136510e-01 7.31185361e-01 7.59927230e-03 2.31347580e+02] [-7.31137023e-01 6.82178815e-01 -8.40947229e-03 -1.25045828e+02] [-1.13329456e-02 1.80298763e-04 9.99935764e-01 -4.45986198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:-125.09, Z:-0.45 [[ 6.82136463e-01 7.31185427e-01 7.59717195e-03 2.31391625e+02] [-7.31137067e-01 6.82178743e-01 -8.41136933e-03 -1.25090455e+02] [-1.13328999e-02 1.83127701e-04 9.99935764e-01 -4.46661869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.44, Y:-125.13, Z:-0.45 [[ 6.82065793e-01 7.31251375e-01 7.59477718e-03 2.31435368e+02] [-7.31202995e-01 6.82108050e-01 -8.41353106e-03 -1.25134589e+02] [-1.13328648e-02 1.85257911e-04 9.99935764e-01 -4.51997900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.48, Y:-125.18, Z:-0.45 [[ 6.82973971e-01 7.30403249e-01 7.59268210e-03 2.31477332e+02] [-7.30354796e-01 6.83016144e-01 -8.41542131e-03 -1.25179779e+02] [-1.13325755e-02 2.02161925e-04 9.99935764e-01 -4.54802938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.52, Y:-125.22, Z:-0.45 [[ 6.87638473e-01 7.26013576e-01 7.59060211e-03 2.31521479e+02] [-7.25964833e-01 6.87680311e-01 -8.41729702e-03 -1.25224902e+02] [-1.13309795e-02 2.77547074e-04 9.99935764e-01 -4.52206842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.56, Y:-125.27, Z:-0.45 [[ 6.85450636e-01 7.28079560e-01 7.58814365e-03 2.31559558e+02] [-7.28030919e-01 6.85492592e-01 -8.41951272e-03 -1.25272657e+02] [-1.13316914e-02 2.46757154e-04 9.99935764e-01 -4.50288152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.60, Y:-125.32, Z:-0.44 [[ 6.83577302e-01 7.29838695e-01 7.58619009e-03 2.31601411e+02] [-7.29790142e-01 6.83619361e-01 -8.42127256e-03 -1.25318942e+02] [-1.13322370e-02 2.20264031e-04 9.99935764e-01 -4.44923459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.64, Y:-125.36, Z:-0.44 [[ 6.78436612e-01 7.34619797e-01 7.58408595e-03 2.31644134e+02] [-7.34571519e-01 6.78478986e-01 -8.42316710e-03 -1.25363645e+02] [-1.13334682e-02 1.43531410e-04 9.99935764e-01 -4.43120489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.69, Y:-125.41, Z:-0.44 [[ 6.76230916e-01 7.36650705e-01 7.58200918e-03 2.31686288e+02] [-7.36602534e-01 6.76273410e-01 -8.42503606e-03 -1.25410371e+02] [-1.13338200e-02 1.12342676e-04 9.99935764e-01 -4.43043946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:-125.46, Z:-0.44 [[ 6.68081562e-01 7.44049444e-01 7.57963051e-03 2.31728483e+02] [-7.44001719e-01 6.68124558e-01 -8.42717550e-03 -1.25457150e+02] [-1.13343725e-02 -9.21755031e-06 9.99935764e-01 -4.41525879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:231.77, Y:-125.50, Z:-0.44 [[ 6.62716086e-01 7.48832408e-01 7.57723330e-03 2.31770604e+02] [-7.48784968e-01 6.62759396e-01 -8.42933038e-03 -1.25503157e+02] [-1.13340383e-02 -8.74655550e-05 9.99935764e-01 -4.44644349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.81, Y:-125.55, Z:-0.45 [[ 6.56780089e-01 7.54044121e-01 7.57484784e-03 2.31812816e+02] [-7.53997001e-01 6.56823746e-01 -8.43147348e-03 -1.25549484e+02] [-1.13330429e-02 -1.73788659e-04 9.99935764e-01 -4.49079469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:-125.60, Z:-0.46 [[ 6.56653339e-01 7.54154527e-01 7.57243571e-03 2.31850409e+02] [-7.54107389e-01 6.56696977e-01 -8.43363930e-03 -1.25597481e+02] [-1.13330629e-02 -1.72452313e-04 9.99935764e-01 -4.57334951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.89, Y:-125.65, Z:-0.46 [[ 6.59725411e-01 7.51468601e-01 7.57124342e-03 2.31888313e+02] [-7.51421273e-01 6.59768843e-01 -8.43470953e-03 -1.25647581e+02] [-1.13336899e-02 -1.24601158e-04 9.99935764e-01 -4.58979182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.94, Y:-125.69, Z:-0.46 [[ 6.66814531e-01 7.45185258e-01 7.57051216e-03 2.31935970e+02] [-7.45137513e-01 6.66857504e-01 -8.43536582e-03 -1.25687590e+02] [-1.13343631e-02 -1.62481106e-05 9.99935764e-01 -4.64059384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.97, Y:-125.74, Z:-0.46 [[ 6.67868708e-01 7.44240624e-01 7.56844155e-03 2.31972516e+02] [-7.44192798e-01 6.67911591e-01 -8.43722321e-03 -1.25736769e+02] [-1.13343741e-02 2.57767526e-06 9.99935764e-01 -4.56483302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:-125.78, Z:-0.46 [[ 6.77316716e-01 7.35652646e-01 7.56642094e-03 2.32017649e+02] [-7.35604256e-01 6.77358961e-01 -8.43903489e-03 -1.25779056e+02] [-1.13333814e-02 1.50007948e-04 9.99935764e-01 -4.61463106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.05, Y:-125.83, Z:-0.46 [[ 6.80290681e-01 7.32903383e-01 7.56437934e-03 2.32051844e+02] [-7.32854802e-01 6.80332706e-01 -8.44086450e-03 -1.25830336e+02] [-1.13326328e-02 1.98649737e-04 9.99935764e-01 -4.56390008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.10, Y:-125.87, Z:-0.46 [[ 6.84822535e-01 7.28670643e-01 7.56238228e-03 2.32095865e+02] [-7.28621782e-01 6.84864235e-01 -8.44265333e-03 -1.25873997e+02] [-1.13311188e-02 2.71602800e-04 9.99935764e-01 -4.60217064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:-125.92, Z:-0.46 [[ 6.88949931e-01 7.24769504e-01 7.56036756e-03 2.32138926e+02] [-7.24720387e-01 6.88991329e-01 -8.44445712e-03 -1.25918597e+02] [-1.13293127e-02 3.38655649e-04 9.99935764e-01 -4.61238005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.19, Y:-125.96, Z:-0.46 [[ 6.93086266e-01 7.20815025e-01 7.55827522e-03 2.32185483e+02] [-7.20765652e-01 6.93127358e-01 -8.44632947e-03 -1.25960367e+02] [-1.13270885e-02 4.06289794e-04 9.99935764e-01 -4.63888082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:-126.01, Z:-0.46 [[ 6.89957184e-01 7.23810742e-01 7.55610869e-03 2.32224065e+02] [-7.23761526e-01 6.89998464e-01 -8.44826721e-03 -1.26007517e+02] [-1.13286499e-02 3.60121894e-04 9.99935764e-01 -4.57966356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:-126.05, Z:-0.46 [[ 6.87496335e-01 7.26148548e-01 7.55487606e-03 2.32267654e+02] [-7.26099460e-01 6.87537768e-01 -8.44936934e-03 -1.26052393e+02] [-1.13297599e-02 3.23319020e-04 9.99935764e-01 -4.55343009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:-126.10, Z:-0.45 [[ 6.84479214e-01 7.28993251e-01 7.55282230e-03 2.32309861e+02] [-7.28944316e-01 6.84520826e-01 -8.45120479e-03 -1.26097283e+02] [-1.13309354e-02 2.79087128e-04 9.99935764e-01 -4.52646088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.35, Y:-126.14, Z:-0.45 [[ 6.80584968e-01 7.32630251e-01 7.55089852e-03 2.32351810e+02] [-7.32581519e-01 6.80626818e-01 -8.45292328e-03 -1.26142618e+02] [-1.13322113e-02 2.21283816e-04 9.99935764e-01 -4.49943068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.39, Y:-126.19, Z:-0.45 [[ 6.75002946e-01 7.37776415e-01 7.54883017e-03 2.32394905e+02] [-7.37727981e-01 6.75045141e-01 -8.45477000e-03 -1.26188172e+02] [-1.13335310e-02 1.38011409e-04 9.99935764e-01 -4.50145668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:-126.23, Z:-0.45 [[ 6.70181619e-01 7.42158776e-01 7.54649433e-03 2.32438052e+02] [-7.42110595e-01 6.70224102e-01 -8.45685439e-03 -1.26234282e+02] [-1.13341711e-02 6.72949654e-05 9.99935764e-01 -4.51301561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.48, Y:-126.28, Z:-0.45 [[ 6.68849830e-01 7.43359261e-01 7.54411513e-03 2.32480974e+02] [-7.43311132e-01 6.68892373e-01 -8.45897628e-03 -1.26279093e+02] [-1.13342594e-02 5.01600845e-05 9.99935764e-01 -4.54861192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.52, Y:-126.33, Z:-0.46 [[ 6.70872775e-01 7.41534111e-01 7.54202438e-03 2.32522875e+02] [-7.41485845e-01 6.70915163e-01 -8.46083998e-03 -1.26326103e+02] [-1.13340600e-02 8.38428779e-05 9.99935764e-01 -4.56787799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:-126.38, Z:-0.46 [[ 6.77433157e-01 7.35545697e-01 7.53961760e-03 2.32562392e+02] [-7.35497033e-01 6.77475087e-01 -8.46298417e-03 -1.26375746e+02] [-1.13328147e-02 1.87739711e-04 9.99935764e-01 -4.58282584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:-126.42, Z:-0.46 [[ 6.84265517e-01 7.29194002e-01 7.53724998e-03 2.32601258e+02] [-7.29144926e-01 6.84306963e-01 -8.46509228e-03 -1.26424874e+02] [-1.13304872e-02 2.96623169e-04 9.99935764e-01 -4.58731738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:-126.47, Z:-0.46 [[ 6.87149575e-01 7.26476901e-01 7.53483153e-03 2.32641289e+02] [-7.26427638e-01 6.87190798e-01 -8.46724440e-03 -1.26472486e+02] [-1.13291244e-02 3.44753523e-04 9.99935764e-01 -4.62418112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.68, Y:-126.52, Z:-0.46 [[ 6.87270038e-01 7.26362962e-01 7.53273732e-03 2.32681400e+02] [-7.26313671e-01 6.87311229e-01 -8.46910708e-03 -1.26521027e+02] [-1.13289806e-02 3.49433447e-04 9.99935764e-01 -4.59967566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.72, Y:-126.57, Z:-0.46 [[ 6.85981149e-01 7.27580344e-01 7.53033576e-03 2.32722819e+02] [-7.27531103e-01 6.86022399e-01 -8.47124189e-03 -1.26568869e+02] [-1.13294881e-02 3.32558759e-04 9.99935764e-01 -4.59935874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.76, Y:-126.62, Z:-0.46 [[ 6.82731776e-01 7.30630312e-01 7.52796325e-03 2.32764757e+02] [-7.30581232e-01 6.82773217e-01 -8.47334970e-03 -1.26615089e+02] [-1.13307778e-02 2.85236426e-04 9.99935764e-01 -4.60514796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:-126.66, Z:-0.46 [[ 6.78548888e-01 7.34516692e-01 7.52568831e-03 2.32805632e+02] [-7.34467827e-01 6.78590583e-01 -8.47536973e-03 -1.26661074e+02] [-1.13321618e-02 2.23576767e-04 9.99935764e-01 -4.61748810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:-126.71, Z:-0.47 [[ 6.72439113e-01 7.40114206e-01 7.52344798e-03 2.32848054e+02] [-7.40065666e-01 6.72481186e-01 -8.47735796e-03 -1.26706903e+02] [-1.13335903e-02 1.32661524e-04 9.99935764e-01 -4.66287676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.89, Y:-126.75, Z:-0.47 [[ 6.69278177e-01 7.42973843e-01 7.52267837e-03 2.32889246e+02] [-7.42925475e-01 6.69320447e-01 -8.47804085e-03 -1.26754060e+02] [-1.13340450e-02 8.53783197e-05 9.99935764e-01 -4.65159859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:-126.80, Z:-0.46 [[ 6.65718618e-01 7.46164974e-01 7.52018736e-03 2.32930912e+02] [-7.46116784e-01 6.65761091e-01 -8.48024985e-03 -1.26800213e+02] [-1.13343135e-02 3.45221974e-05 9.99935764e-01 -4.64363923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:-126.85, Z:-0.46 [[ 6.65302230e-01 7.46536282e-01 7.51811694e-03 2.32972499e+02] [-7.46488095e-01 6.65344707e-01 -8.48208497e-03 -1.26847642e+02] [-1.13343235e-02 3.09652505e-05 9.99935764e-01 -4.64777390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.01, Y:-126.90, Z:-0.47 [[ 6.65762337e-01 7.46126011e-01 7.51570472e-03 2.33013053e+02] [-7.46077773e-01 6.65804757e-01 -8.48422182e-03 -1.26895702e+02] [-1.13342905e-02 4.11751038e-05 9.99935764e-01 -4.65691106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:-126.94, Z:-0.47 [[ 6.69138503e-01 7.43099733e-01 7.51330169e-03 2.33053263e+02] [-7.43051280e-01 6.69180676e-01 -8.48634932e-03 -1.26944262e+02] [-1.13339602e-02 9.57746508e-05 9.99935764e-01 -4.65895496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:-126.99, Z:-0.47 [[ 6.72117793e-01 7.40406144e-01 7.51090776e-03 2.33094046e+02] [-7.40357498e-01 6.72159744e-01 -8.48846756e-03 -1.26992133e+02] [-1.13334434e-02 1.44493207e-04 9.99935764e-01 -4.67877195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.797628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:233.13, Y:-127.04, Z:-0.47 [[ 6.77048049e-01 7.35900511e-01 7.50853502e-03 2.33133509e+02] [-7.35851562e-01 6.77089646e-01 -8.49056586e-03 -1.27040499e+02] [-1.13321631e-02 2.23353824e-04 9.99935764e-01 -4.72314774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.17, Y:-127.09, Z:-0.47 [[ 6.81553187e-01 7.31730078e-01 7.50644304e-03 2.33172483e+02] [-7.31680855e-01 6.81594458e-01 -8.49241496e-03 -1.27088125e+02] [-1.13305054e-02 2.95711820e-04 9.99935764e-01 -4.71050969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:-127.13, Z:-0.47 [[ 6.85457916e-01 7.28073576e-01 7.50423543e-03 2.33215725e+02] [-7.28024111e-01 6.85498898e-01 -8.49436524e-03 -1.27134481e+02] [-1.13286680e-02 3.59265567e-04 9.99935764e-01 -4.71870799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.25, Y:-127.18, Z:-0.47 [[ 6.83981068e-01 7.29461187e-01 7.50171779e-03 2.33254253e+02] [-7.29411781e-01 6.84022121e-01 -8.49658809e-03 -1.27182620e+02] [-1.13292721e-02 3.39664064e-04 9.99935764e-01 -4.71449729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.30, Y:-127.23, Z:-0.47 [[ 6.79569331e-01 7.33572957e-01 7.49940387e-03 2.33296379e+02] [-7.33523777e-01 6.79610655e-01 -8.49862995e-03 -1.27227399e+02] [-1.13310399e-02 2.74417219e-04 9.99935764e-01 -4.73291020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:-127.27, Z:-0.48 [[ 6.73596898e-01 7.39060897e-01 7.49727763e-03 2.33339631e+02] [-7.39012033e-01 6.73638595e-01 -8.50050526e-03 -1.27273644e+02] [-1.13328466e-02 1.85335598e-04 9.99935764e-01 -4.75030529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.38, Y:-127.32, Z:-0.47 [[ 6.63503909e-01 7.48135273e-01 7.49505674e-03 2.33382047e+02] [-7.48086958e-01 6.63546239e-01 -8.50246301e-03 -1.27319503e+02] [-1.13343092e-02 3.44632465e-05 9.99935764e-01 -4.73790485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.42, Y:-127.37, Z:-0.47 [[ 6.55274994e-01 7.55353256e-01 7.49268700e-03 2.33423120e+02] [-7.55305383e-01 6.55317824e-01 -8.50455080e-03 -1.27366196e+02] [-1.13340315e-02 -8.64473476e-05 9.99935764e-01 -4.71717795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.46, Y:-127.41, Z:-0.47 [[ 6.51280849e-01 7.58799807e-01 7.49055964e-03 2.33464011e+02] [-7.58752139e-01 6.51323907e-01 -8.50642411e-03 -1.27414113e+02] [-1.13334535e-02 -1.43407032e-04 9.99935764e-01 -4.71694272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:-127.46, Z:-0.47 [[ 6.47730883e-01 7.61832417e-01 7.48811851e-03 2.33504643e+02] [-7.61784926e-01 6.47774136e-01 -8.50857246e-03 -1.27461541e+02] [-1.13327158e-02 -1.93070651e-04 9.99935764e-01 -4.72496347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:-127.51, Z:-0.47 [[ 6.47506521e-01 7.62023142e-01 7.48570144e-03 2.33545383e+02] [-7.61975639e-01 6.47549762e-01 -8.51069843e-03 -1.27510030e+02] [-1.13327133e-02 -1.93189408e-04 9.99935764e-01 -4.73626106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:-127.56, Z:-0.48 [[ 6.49689484e-01 7.60162861e-01 7.48329741e-03 2.33585652e+02] [-7.60115209e-01 6.49732561e-01 -8.51281172e-03 -1.27558172e+02] [-1.13332653e-02 -1.57483928e-04 9.99935764e-01 -4.76900666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.62, Y:-127.61, Z:-0.48 [[ 6.53605781e-01 7.56798202e-01 7.48089603e-03 2.33623685e+02] [-7.56750305e-01 6.53648584e-01 -8.51492149e-03 -1.27608426e+02] [-1.13339544e-02 -9.57684386e-05 9.99935764e-01 -4.76868074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.66, Y:-127.66, Z:-0.47 [[ 6.56568611e-01 7.54229229e-01 7.47850953e-03 2.33661780e+02] [-7.54181141e-01 6.56611200e-01 -8.51701700e-03 -1.27657394e+02] [-1.13342563e-02 -4.81448210e-05 9.99935764e-01 -4.74842772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.70, Y:-127.71, Z:-0.48 [[ 6.56836621e-01 7.53995860e-01 7.47642087e-03 2.33702408e+02] [-7.53947735e-01 6.56879168e-01 -8.51885007e-03 -1.27706064e+02] [-1.13342828e-02 -4.13378861e-05 9.99935764e-01 -4.75771226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.74, Y:-127.75, Z:-0.48 [[ 6.55194210e-01 7.55423514e-01 7.47405401e-03 2.33742853e+02] [-7.55375458e-01 6.55236836e-01 -8.52092614e-03 -1.27753892e+02] [-1.13341835e-02 -6.28555014e-05 9.99935764e-01 -4.77710418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.79, Y:-127.80, Z:-0.48 [[ 6.52655252e-01 7.57618157e-01 7.47330296e-03 2.33785913e+02] [-7.57570237e-01 6.52698030e-01 -8.52158480e-03 -1.27799270e+02] [-1.13339175e-02 -9.98948218e-05 9.99935764e-01 -4.79602162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:-127.84, Z:-0.48 [[ 6.52999532e-01 7.57321460e-01 7.47116647e-03 2.33828609e+02] [-7.57273499e-01 6.53042264e-01 -8.52345752e-03 -1.27844360e+02] [-1.13339848e-02 -9.19026129e-05 9.99935764e-01 -4.82470878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.87, Y:-127.89, Z:-0.48 [[ 6.55483912e-01 7.55172202e-01 7.46906404e-03 2.33869766e+02] [-7.55124080e-01 6.55526462e-01 -8.52529948e-03 -1.27892470e+02] [-1.13342383e-02 -5.18734645e-05 9.99935764e-01 -4.81355492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.91, Y:-127.94, Z:-0.48 [[ 6.56819768e-01 7.54010637e-01 7.46663354e-03 2.33910134e+02] [-7.53962416e-01 6.56862206e-01 -8.52742763e-03 -1.27940152e+02] [-1.13343205e-02 -2.85780261e-05 9.99935764e-01 -4.79034838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.95, Y:-127.98, Z:-0.48 [[ 6.58387089e-01 7.52642493e-01 7.46448531e-03 2.33952823e+02] [-7.52594162e-01 6.58429402e-01 -8.52930766e-03 -1.27983967e+02] [-1.13343560e-02 -2.14202445e-06 9.99935764e-01 -4.80374858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05762799999997 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:234.00, Y:-128.03, Z:-0.48 [[ 6.61219078e-01 7.50155737e-01 7.46331788e-03 2.33995527e+02] [-7.50107235e-01 6.61261196e-01 -8.53032907e-03 -1.28030221e+02] [-1.13342778e-02 4.21275869e-05 9.99935764e-01 -4.82528723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.03, Y:-128.08, Z:-0.48 [[ 6.65606617e-01 7.46265480e-01 7.46087536e-03 2.34034366e+02] [-7.46216709e-01 6.65648421e-01 -8.53246483e-03 -1.28078692e+02] [-1.13338039e-02 1.11835195e-04 9.99935764e-01 -4.78080323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:-128.13, Z:-0.48 [[ 6.69025717e-01 7.43201828e-01 7.45877306e-03 2.34074788e+02] [-7.43152845e-01 6.69067273e-01 -8.53430219e-03 -1.28127219e+02] [-1.13331299e-02 1.66659221e-04 9.99935764e-01 -4.79975231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:-128.17, Z:-0.48 [[ 6.68978828e-01 7.43244058e-01 7.45639070e-03 2.34115927e+02] [-7.43195054e-01 6.69020360e-01 -8.53638314e-03 -1.28174173e+02] [-1.13330932e-02 1.69106900e-04 9.99935764e-01 -4.82767819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.297628 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:234.16, Y:-128.22, Z:-0.49 [[ 6.68509330e-01 7.43666396e-01 7.45431258e-03 2.34157286e+02] [-7.43617398e-01 6.68550869e-01 -8.53819745e-03 -1.28221008e+02] [-1.13331577e-02 1.64708135e-04 9.99935764e-01 -4.89687701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:-128.27, Z:-0.49 [[ 6.66203812e-01 7.45732475e-01 7.45355005e-03 2.34199117e+02] [-7.45683599e-01 6.66245494e-01 -8.53886306e-03 -1.28267598e+02] [-1.13336016e-02 1.30633096e-04 9.99935764e-01 -4.88951788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:-128.31, Z:-0.49 [[ 6.62919094e-01 7.48653962e-01 7.45114456e-03 2.34240724e+02] [-7.48605246e-01 6.62960963e-01 -8.54096162e-03 -1.28313137e+02] [-1.13340427e-02 8.40006320e-05 9.99935764e-01 -4.87812008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.29, Y:-128.36, Z:-0.49 [[ 6.64506815e-01 7.47245076e-01 7.44907129e-03 2.34285263e+02] [-7.47196251e-01 6.64548556e-01 -8.54276945e-03 -1.28356518e+02] [-1.13338120e-02 1.10810375e-04 9.99935764e-01 -4.89309468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:-128.40, Z:-0.49 [[ 6.58918623e-01 7.52177368e-01 7.44684999e-03 2.34323254e+02] [-7.52128833e-01 6.58960702e-01 -8.54470536e-03 -1.28404838e+02] [-1.13343155e-02 2.92749020e-05 9.99935764e-01 -4.88272429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.37, Y:-128.45, Z:-0.49 [[ 6.54847393e-01 7.55724457e-01 7.44562446e-03 2.34366049e+02] [-7.55676138e-01 6.54889719e-01 -8.54577311e-03 -1.28450807e+02] [-1.13343127e-02 -3.03034961e-05 9.99935764e-01 -4.89683715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.41, Y:-128.50, Z:-0.49 [[ 6.50129679e-01 7.59786812e-01 7.44321172e-03 2.34406237e+02] [-7.59738733e-01 6.50172278e-01 -8.54787405e-03 -1.28497556e+02] [-1.13339319e-02 -9.76696382e-05 9.99935764e-01 -4.90990744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:-128.54, Z:-0.49 [[ 6.47243508e-01 7.62246990e-01 7.44098329e-03 2.34447590e+02] [-7.62199051e-01 6.47286264e-01 -8.54981347e-03 -1.28544419e+02] [-1.13335159e-02 -1.37699139e-04 9.99935764e-01 -4.93433929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.49, Y:-128.59, Z:-0.50 [[ 6.45556652e-01 7.63676157e-01 7.43886866e-03 2.34487873e+02] [-7.63628291e-01 6.45599490e-01 -8.55165294e-03 -1.28591920e+02] [-1.13332233e-02 -1.59954131e-04 9.99935764e-01 -4.98549463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.53, Y:-128.64, Z:-0.50 [[ 6.47274178e-01 7.62220987e-01 7.43676682e-03 2.34526054e+02] [-7.62173004e-01 6.47316885e-01 -8.55348037e-03 -1.28640777e+02] [-1.13335870e-02 -1.31655933e-04 9.99935764e-01 -5.00815070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:-128.69, Z:-0.50 [[ 6.50674772e-01 7.59320134e-01 7.43469236e-03 2.34563539e+02] [-7.59271940e-01 6.50717241e-01 -8.55528311e-03 -1.28689894e+02] [-1.13340812e-02 -7.82463987e-05 9.99935764e-01 -4.99221470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:234.60, Y:-128.74, Z:-0.50 [[ 6.56392161e-01 7.54383250e-01 7.43258160e-03 2.34603157e+02] [-7.54334716e-01 6.56434241e-01 -8.55711648e-03 -1.28737604e+02] [-1.13343464e-02 1.01698525e-05 9.99935764e-01 -4.98740802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.64, Y:-128.78, Z:-0.49 [[ 6.59262896e-01 7.51875802e-01 7.43049150e-03 2.34643871e+02] [-7.51827087e-01 6.59304767e-01 -8.55893101e-03 -1.28784202e+02] [-1.13342116e-02 5.61408668e-05 9.99935764e-01 -4.92002765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.69, Y:-128.83, Z:-0.49 [[ 6.61354824e-01 7.50036410e-01 7.42843207e-03 2.34687030e+02] [-7.49987559e-01 6.61396535e-01 -8.56071806e-03 -1.28830672e+02] [-1.13339895e-02 9.04405488e-05 9.99935764e-01 -4.91326088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:-128.88, Z:-0.50 [[ 6.63229349e-01 7.48379373e-01 7.42600470e-03 2.34730704e+02] [-7.48330394e-01 6.63270910e-01 -8.56282317e-03 -1.28875872e+02] [-1.13336931e-02 1.22010613e-04 9.99935764e-01 -4.95700784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.78, Y:-128.92, Z:-0.50 [[ 6.71084225e-01 7.41343951e-01 7.42360596e-03 2.34778437e+02] [-7.41294514e-01 6.71125239e-01 -8.56490227e-03 -1.28917789e+02] [-1.13317078e-02 2.44692433e-04 9.99935764e-01 -5.04538322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.82, Y:-128.96, Z:-0.51 [[ 6.75912899e-01 7.36944149e-01 7.42116810e-03 2.34819664e+02] [-7.36894422e-01 6.75953561e-01 -8.56701406e-03 -1.28964916e+02] [-1.13297759e-02 3.21937931e-04 9.99935764e-01 -5.06939949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:-129.01, Z:-0.51 [[ 6.79030900e-01 7.34072190e-01 7.41999927e-03 2.34862139e+02] [-7.34022280e-01 6.79071337e-01 -8.56802628e-03 -1.29011638e+02] [-1.13282586e-02 3.71509817e-04 9.99935764e-01 -5.06527802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.90, Y:-129.06, Z:-0.50 [[ 6.78215688e-01 7.34825464e-01 7.41743971e-03 2.34899950e+02] [-7.34775575e-01 6.78256151e-01 -8.57024155e-03 -1.29060776e+02] [-1.13285558e-02 3.62318746e-04 9.99935764e-01 -5.01563855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.94, Y:-129.11, Z:-0.50 [[ 6.78548163e-01 7.34518486e-01 7.41508071e-03 2.34941266e+02] [-7.34468556e-01 6.78588576e-01 -8.57228210e-03 -1.29106949e+02] [-1.13282887e-02 3.70562648e-04 9.99935764e-01 -4.96646052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:-129.15, Z:-0.49 [[ 6.76722430e-01 7.36200924e-01 7.41298784e-03 2.34985546e+02] [-7.36151075e-01 6.76762943e-01 -8.57409156e-03 -1.29151528e+02] [-1.13290896e-02 3.45201111e-04 9.99935764e-01 -4.92276712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:-129.20, Z:-0.49 [[ 6.73305593e-01 7.39327151e-01 7.41224578e-03 2.35028668e+02] [-7.39277483e-01 6.73346328e-01 -8.57473301e-03 -1.29196899e+02] [-1.13305414e-02 2.93709292e-04 9.99935764e-01 -4.89907821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.08, Y:-129.24, Z:-0.50 [[ 6.68566537e-01 7.43615407e-01 7.41018525e-03 2.35075167e+02] [-7.43565981e-01 6.68607565e-01 -8.57651333e-03 -1.29238626e+02] [-1.13321334e-02 2.24008154e-04 9.99935764e-01 -4.95232791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.12, Y:-129.28, Z:-0.50 [[ 6.61235645e-01 7.50141683e-01 7.40791491e-03 2.35117199e+02] [-7.50092640e-01 6.61277129e-01 -8.57847387e-03 -1.29282583e+02] [-1.13337555e-02 1.15770248e-04 9.99935764e-01 -4.99340431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.16, Y:-129.33, Z:-0.50 [[ 6.58768200e-01 7.52309519e-01 7.40584254e-03 2.35159710e+02] [-7.52260592e-01 6.58809822e-01 -8.58026259e-03 -1.29328500e+02] [-1.13340550e-02 8.12806483e-05 9.99935764e-01 -5.04243270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.20, Y:-129.38, Z:-0.50 [[ 6.58624597e-01 7.52435265e-01 7.40351859e-03 2.35200596e+02] [-7.52386324e-01 6.58666201e-01 -8.58226735e-03 -1.29377032e+02] [-1.13340481e-02 8.21862342e-05 9.99935764e-01 -5.04869678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.24, Y:-129.43, Z:-0.51 [[ 6.58547882e-01 7.52502419e-01 7.40246445e-03 2.35241145e+02] [-7.52453471e-01 6.58589480e-01 -8.58317648e-03 -1.29425415e+02] [-1.13340463e-02 8.24226257e-05 9.99935764e-01 -5.05777657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.28, Y:-129.47, Z:-0.51 [[ 6.57651089e-01 7.53286322e-01 7.40009315e-03 2.35280991e+02] [-7.53237401e-01 6.57692718e-01 -8.58522044e-03 -1.29474420e+02] [-1.13341165e-02 7.20526369e-05 9.99935764e-01 -5.06378491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.32, Y:-129.52, Z:-0.51 [[ 6.55804951e-01 7.54894125e-01 7.39775080e-03 2.35319700e+02] [-7.54845283e-01 6.55846673e-01 -8.58723833e-03 -1.29523870e+02] [-1.13342460e-02 4.73961175e-05 9.99935764e-01 -5.07480108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-129.57, Z:-0.51 [[ 6.53719078e-01 7.56701180e-01 7.39536263e-03 2.35359015e+02] [-7.56652430e-01 6.53760907e-01 -8.58929454e-03 -1.29573403e+02] [-1.13343283e-02 1.92665983e-05 9.99935764e-01 -5.08882194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.40, Y:-129.62, Z:-0.51 [[ 6.50502248e-01 7.59468348e-01 7.39285938e-03 2.35397595e+02] [-7.59419751e-01 6.50544256e-01 -8.59144856e-03 -1.29623188e+02] [-1.13343154e-02 -2.55268270e-05 9.99935764e-01 -5.10688720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:-129.67, Z:-0.51 [[ 6.47629383e-01 7.61919658e-01 7.39037280e-03 2.35434925e+02] [-7.61871196e-01 6.47671546e-01 -8.59358699e-03 -1.29671329e+02] [-1.13341570e-02 -6.50527255e-05 9.99935764e-01 -5.14778753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.09, Y:-129.16, Z:0.40 [[ 7.16144786e-01 6.97912645e-01 7.38818789e-03 2.36086128e+02] [-6.97860429e-01 7.16182198e-01 -8.59546502e-03 -1.29164599e+02] [-1.12901724e-02 9.99673488e-04 9.99935764e-01 3.96341816e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 271.277628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:-129.21, Z:0.39 [[ 7.16329579e-01 6.97714410e-01 8.15702417e-03 2.36127106e+02] [-6.97670924e-01 7.16376012e-01 -7.79046317e-03 -1.29211853e+02] [-1.12790149e-02 -1.10379384e-04 9.99936384e-01 3.91824457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.17, Y:-129.26, Z:0.40 [[ 7.16712154e-01 6.97321435e-01 8.15504929e-03 2.36167033e+02] [-6.97277900e-01 7.16758541e-01 -7.79252992e-03 -1.29260105e+02] [-1.12790994e-02 -1.01334736e-04 9.99936384e-01 3.98042325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.21, Y:-129.30, Z:0.40 [[ 7.16237614e-01 6.97808861e-01 8.15307571e-03 2.36212441e+02] [-6.97765335e-01 7.16284009e-01 -7.79459427e-03 -1.29303141e+02] [-1.12790547e-02 -1.06151998e-04 9.99936384e-01 4.00086165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.26, Y:-129.34, Z:0.40 [[ 7.16506741e-01 6.97532543e-01 8.15110886e-03 2.36259725e+02] [-6.97488975e-01 7.16553097e-01 -7.79665053e-03 -1.29344040e+02] [-1.12791198e-02 -9.89558998e-05 9.99936384e-01 3.98534586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.31, Y:-129.38, Z:0.40 [[ 7.17073901e-01 6.96949508e-01 8.14886656e-03 2.36306935e+02] [-6.96905876e-01 7.17120196e-01 -7.79899343e-03 -1.29383652e+02] [-1.12792214e-02 -8.65383390e-05 9.99936384e-01 3.95820815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:-129.43, Z:0.40 [[ 7.17319096e-01 6.96697168e-01 8.14679658e-03 2.36351070e+02] [-6.96653495e-01 7.17365353e-01 -7.80115513e-03 -1.29427351e+02] [-1.12792723e-02 -7.95767624e-05 9.99936384e-01 3.97672249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.40, Y:-129.47, Z:0.40 [[ 7.16225529e-01 6.97821361e-01 8.14488935e-03 2.36395966e+02] [-6.97777738e-01 7.16271833e-01 -7.80314588e-03 -1.29471531e+02] [-1.12791567e-02 -9.45101743e-05 9.99936384e-01 3.98500893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:-129.51, Z:0.40 [[ 7.14547389e-01 6.99539653e-01 8.14265992e-03 2.36441847e+02] [-6.99496115e-01 7.14593773e-01 -7.80547162e-03 -1.29514375e+02] [-1.12789310e-02 -1.18379617e-04 9.99936384e-01 3.95984874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.49, Y:-129.56, Z:0.39 [[ 7.13832606e-01 7.00269051e-01 8.14043892e-03 2.36486125e+02] [-7.00225534e-01 7.13879009e-01 -7.80778724e-03 -1.29558524e+02] [-1.12788402e-02 -1.26690075e-04 9.99936384e-01 3.93983209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.53, Y:-129.60, Z:0.39 [[ 7.13163053e-01 7.00950946e-01 8.13820568e-03 2.36528716e+02] [-7.00907447e-01 7.13209473e-01 -7.81011430e-03 -1.29603801e+02] [-1.12787524e-02 -1.34244009e-04 9.99936384e-01 3.92341323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.57, Y:-129.65, Z:0.39 [[ 7.13011246e-01 7.01105387e-01 8.13627783e-03 2.36573214e+02] [-7.01061875e-01 7.13057654e-01 -7.81212214e-03 -1.29648146e+02] [-1.12787561e-02 -1.33903246e-04 9.99936384e-01 3.91918851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:-129.69, Z:0.39 [[ 7.14149588e-01 6.99945857e-01 8.13409566e-03 2.36620471e+02] [-6.99902243e-01 7.14195901e-01 -7.81439360e-03 -1.29690185e+02] [-1.12789902e-02 -1.12425827e-04 9.99936384e-01 3.91340201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:-129.73, Z:0.39 [[ 7.18315400e-01 6.95670078e-01 8.13188523e-03 2.36667207e+02] [-6.95626163e-01 7.18361427e-01 -7.81669315e-03 -1.29732221e+02] [-1.12794722e-02 -4.19010538e-05 9.99936384e-01 3.92217595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:-129.78, Z:0.39 [[ 7.21497285e-01 6.92369537e-01 8.12970071e-03 2.36711575e+02] [-6.92325386e-01 7.21543085e-01 -7.81896449e-03 -1.29776668e+02] [-1.12795422e-02 1.29634672e-05 9.99936384e-01 3.93365732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:-129.82, Z:0.39 [[ 7.26692723e-01 6.86914572e-01 8.12752137e-03 2.36756036e+02] [-6.86870052e-01 7.26738165e-01 -7.82122917e-03 -1.29821689e+02] [-1.12790963e-02 1.01079305e-04 9.99936384e-01 3.94503407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:-129.86, Z:0.39 [[ 7.32232785e-01 6.81005968e-01 8.12532144e-03 2.36801969e+02] [-6.80961055e-01 7.32277839e-01 -7.82351397e-03 -1.29864942e+02] [-1.12778525e-02 1.95605956e-04 9.99936384e-01 3.92084390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:-129.91, Z:0.39 [[ 7.35349764e-01 6.77639093e-01 8.12309833e-03 2.36848113e+02] [-6.77593949e-01 7.35394586e-01 -7.82582153e-03 -1.29907161e+02] [-1.12767651e-02 2.50553738e-04 9.99936384e-01 3.90192514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.89, Y:-129.95, Z:0.39 [[ 7.38632596e-01 6.74059300e-01 8.12087567e-03 2.36893380e+02] [-6.74013914e-01 7.38677172e-01 -7.82812731e-03 -1.29948784e+02] [-1.12753275e-02 3.08526798e-04 9.99936384e-01 3.87910413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.94, Y:-129.99, Z:0.39 [[ 7.40848026e-01 6.71623616e-01 8.11910042e-03 2.36940808e+02] [-6.71578063e-01 7.40892433e-01 -7.82996811e-03 -1.29989622e+02] [-1.12741716e-02 3.48206688e-04 9.99936384e-01 3.85689914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.99, Y:-130.03, Z:0.38 [[ 7.41729727e-01 6.70649777e-01 8.11720219e-03 2.36988558e+02] [-6.70604144e-01 7.41774051e-01 -7.83193549e-03 -1.30030435e+02] [-1.12736157e-02 3.65749949e-04 9.99936384e-01 3.84632080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.04, Y:-130.07, Z:0.38 [[ 7.40825280e-01 6.71648756e-01 8.11503184e-03 2.37037010e+02] [-6.71603158e-01 7.40869640e-01 -7.83418364e-03 -1.30069098e+02] [-1.12740004e-02 3.53680271e-04 9.99936384e-01 3.83411846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:-130.11, Z:0.38 [[ 7.38024353e-01 6.74725302e-01 8.11302836e-03 2.37083145e+02] [-6.74679866e-01 7.38068879e-01 -7.83625788e-03 -1.30110530e+02] [-1.12752952e-02 3.09652265e-04 9.99936384e-01 3.82641208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.13, Y:-130.15, Z:0.39 [[ 7.33320115e-01 6.79835142e-01 8.11106362e-03 2.37130618e+02] [-6.79789994e-01 7.33364933e-01 -7.83829099e-03 -1.30151466e+02] [-1.12771153e-02 2.34156562e-04 9.99936384e-01 3.85685598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.18, Y:-130.19, Z:0.38 [[ 7.27967700e-01 6.85563468e-01 8.10915157e-03 2.37180130e+02] [-6.85518651e-01 7.28012849e-01 -7.84026862e-03 -1.30190943e+02] [-1.12785683e-02 1.48487664e-04 9.99936384e-01 3.84901315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.23, Y:-130.23, Z:0.38 [[ 7.23776852e-01 6.89986482e-01 8.10692592e-03 2.37226990e+02] [-6.89941916e-01 7.23822248e-01 -7.84256929e-03 -1.30233098e+02] [-1.12792401e-02 8.29621210e-05 9.99936384e-01 3.81843657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:-130.28, Z:0.38 [[ 7.19865523e-01 6.94066238e-01 8.10469548e-03 2.37271430e+02] [-6.94021902e-01 7.19911145e-01 -7.84487361e-03 -1.30277556e+02] [-1.12795225e-02 2.24178708e-05 9.99936384e-01 3.82203714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:237.32, Y:-130.32, Z:0.38 [[ 7.18198946e-01 6.95790647e-01 8.10245108e-03 2.37315746e+02] [-6.95746395e-01 7.18244649e-01 -7.84719102e-03 -1.30320633e+02] [-1.12795442e-02 -1.40680462e-06 9.99936384e-01 3.80428183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.36, Y:-130.36, Z:0.38 [[ 7.17430507e-01 6.96582983e-01 8.10037770e-03 2.37358787e+02] [-6.96538757e-01 7.17476235e-01 -7.84933071e-03 -1.30364893e+02] [-1.12795387e-02 -1.08777022e-05 9.99936384e-01 3.78119983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:-130.41, Z:0.38 [[ 7.17581934e-01 6.96427013e-01 8.09835014e-03 2.37401298e+02] [-6.96382753e-01 7.17627630e-01 -7.85142204e-03 -1.30411123e+02] [-1.12795422e-02 -5.51275440e-06 9.99936384e-01 3.76223144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.44, Y:-130.46, Z:0.37 [[ 7.19893250e-01 6.94037579e-01 8.09614601e-03 2.37442732e+02] [-6.93993143e-01 7.19938773e-01 -7.85369420e-03 -1.30457545e+02] [-1.12794883e-02 3.51516247e-05 9.99936384e-01 3.73725038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:-130.50, Z:0.37 [[ 7.23041688e-01 6.90756978e-01 8.09411104e-03 2.37484871e+02] [-6.90712312e-01 7.23086986e-01 -7.85579091e-03 -1.30504894e+02] [-1.12791887e-02 8.93621777e-05 9.99936384e-01 3.71751740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:-130.55, Z:0.37 [[ 7.25766102e-01 6.87893950e-01 8.09192725e-03 2.37526735e+02] [-6.87849080e-01 7.25811198e-01 -7.85803970e-03 -1.30550787e+02] [-1.12787094e-02 1.37074128e-04 9.99936384e-01 3.70129307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.57, Y:-130.60, Z:0.37 [[ 7.29360830e-01 6.84081379e-01 8.08991288e-03 2.37568197e+02] [-6.84036250e-01 7.29405667e-01 -7.86011296e-03 -1.30596942e+02] [-1.12777852e-02 1.99064841e-04 9.99936384e-01 3.68583953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.62, Y:-130.64, Z:0.36 [[ 7.30389885e-01 6.82982577e-01 8.08797051e-03 2.37618672e+02] [-6.82937359e-01 7.30434632e-01 -7.86211113e-03 -1.30635085e+02] [-1.12774187e-02 2.18829226e-04 9.99936384e-01 3.64888725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.66, Y:-130.68, Z:0.36 [[ 7.30030188e-01 6.83367065e-01 8.08575069e-03 2.37663110e+02] [-6.83321845e-01 7.30074933e-01 -7.86439343e-03 -1.30677950e+02] [-1.12774714e-02 2.16074531e-04 9.99936384e-01 3.64750480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:237.70, Y:-130.72, Z:0.36 [[ 7.26847777e-01 6.86751018e-01 8.08379937e-03 2.37702739e+02] [-6.86705984e-01 7.26892709e-01 -7.86639868e-03 -1.30724297e+02] [-1.12783121e-02 1.66480983e-04 9.99936384e-01 3.64224034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:-130.77, Z:0.37 [[ 7.26819222e-01 6.86781261e-01 8.08201307e-03 2.37746987e+02] [-6.86736208e-01 7.26864135e-01 -7.86823351e-03 -1.30767497e+02] [-1.12782808e-02 1.68572349e-04 9.99936384e-01 3.67884655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.79, Y:-130.81, Z:0.37 [[ 7.26916305e-01 6.86678526e-01 8.08007610e-03 2.37792601e+02] [-6.86633445e-01 7.26961190e-01 -7.87022213e-03 -1.30809061e+02] [-1.12782143e-02 1.72942308e-04 9.99936384e-01 3.68477228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.84, Y:-130.85, Z:0.37 [[ 7.26290590e-01 6.87340326e-01 8.07803144e-03 2.37837310e+02] [-6.87295263e-01 7.26335493e-01 -7.87232022e-03 -1.30853134e+02] [-1.12783241e-02 1.65599350e-04 9.99936384e-01 3.68585187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:-130.90, Z:0.37 [[ 7.24666366e-01 6.89052566e-01 8.07581308e-03 2.37881409e+02] [-6.89007583e-01 7.24711350e-01 -7.87459526e-03 -1.30896814e+02] [-1.12786435e-02 1.42157881e-04 9.99936384e-01 3.67931275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:-130.94, Z:0.37 [[ 7.21591050e-01 6.92272468e-01 8.07376458e-03 2.37926220e+02] [-6.92227663e-01 7.21636211e-01 -7.87669502e-03 -1.30940510e+02] [-1.12791400e-02 9.48694422e-05 9.99936384e-01 3.66459458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.97, Y:-130.99, Z:0.37 [[ 7.19463245e-01 6.94483613e-01 8.07155687e-03 2.37969580e+02] [-6.94438921e-01 7.19508518e-01 -7.87895669e-03 -1.30985177e+02] [-1.12793602e-02 6.34165063e-05 9.99936384e-01 3.65305679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.01, Y:-131.03, Z:0.37 [[ 7.18153849e-01 6.95837576e-01 8.06951313e-03 2.38013067e+02] [-6.95792946e-01 7.18199183e-01 -7.88104931e-03 -1.31030046e+02] [-1.12794480e-02 4.50955914e-05 9.99936384e-01 3.67697851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.06, Y:-131.07, Z:0.37 [[ 7.16722282e-01 6.97312044e-01 8.06742138e-03 2.38055808e+02] [-6.97267483e-01 7.16767684e-01 -7.88318995e-03 -1.31074802e+02] [-1.12795102e-02 2.49072899e-05 9.99936384e-01 3.66596103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.10, Y:-131.12, Z:0.36 [[ 7.18073676e-01 6.95920358e-01 8.06536615e-03 2.38099113e+02] [-6.95875686e-01 7.18118968e-01 -7.88529211e-03 -1.31120148e+02] [-1.12794277e-02 4.97284970e-05 9.99936384e-01 3.64962385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:-131.17, Z:0.36 [[ 7.21639853e-01 6.92221719e-01 8.06314468e-03 2.38143152e+02] [-6.92176788e-01 7.21684890e-01 -7.88756303e-03 -1.31165673e+02] [-1.12789921e-02 1.10858239e-04 9.99936384e-01 3.63600620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.19, Y:-131.21, Z:0.36 [[ 7.23459461e-01 6.90319803e-01 8.06089647e-03 2.38188927e+02] [-6.90274729e-01 7.23504353e-01 -7.88985998e-03 -1.31209296e+02] [-1.12786203e-02 1.43760730e-04 9.99936384e-01 3.63356128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:-131.25, Z:0.36 [[ 7.26537159e-01 6.87079919e-01 8.05867670e-03 2.38234341e+02] [-6.87034619e-01 7.26581824e-01 -7.89212659e-03 -1.31251644e+02] [-1.12778097e-02 1.97333355e-04 9.99936384e-01 3.62067154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:-131.29, Z:0.36 [[ 7.28608834e-01 6.84882659e-01 8.05673342e-03 2.38279983e+02] [-6.84837203e-01 7.28653339e-01 -7.89410991e-03 -1.31293702e+02] [-1.12771047e-02 2.34167439e-04 9.99936384e-01 3.59586411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:-131.34, Z:0.36 [[ 7.28835265e-01 6.84641715e-01 8.05478484e-03 2.38325853e+02] [-6.84596222e-01 7.28879732e-01 -7.89609764e-03 -1.31337143e+02] [-1.12769673e-02 2.40679137e-04 9.99936384e-01 3.58026993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.37, Y:-131.38, Z:0.36 [[ 7.28018009e-01 6.85510711e-01 8.05255323e-03 2.38371343e+02] [-6.85465247e-01 7.28062505e-01 -7.89837281e-03 -1.31379977e+02] [-1.12771812e-02 2.30412261e-04 9.99936384e-01 3.58551171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.42, Y:-131.42, Z:0.36 [[ 7.24130193e-01 6.89616310e-01 8.05033052e-03 2.38418665e+02] [-6.89571073e-01 7.24174921e-01 -7.90063764e-03 -1.31422284e+02] [-1.12782560e-02 1.69815204e-04 9.99936384e-01 3.60269413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.47, Y:-131.46, Z:0.36 [[ 7.23185191e-01 6.90607275e-01 8.04810773e-03 2.38469871e+02] [-6.90562073e-01 7.23229955e-01 -7.90290128e-03 -1.31459090e+02] [-1.12784337e-02 1.57543210e-04 9.99936384e-01 3.55249786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:238.51, Y:-131.51, Z:0.36 [[ 7.17690469e-01 6.96315770e-01 8.04606095e-03 2.38510149e+02] [-6.96270902e-01 7.17735566e-01 -7.90498458e-03 -1.31505193e+02] [-1.12793095e-02 7.10939757e-05 9.99936384e-01 3.56314234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.55, Y:-131.55, Z:0.36 [[ 7.16056549e-01 6.97995924e-01 8.04419063e-03 2.38552461e+02] [-6.97951139e-01 7.16101730e-01 -7.90688738e-03 -1.31550253e+02] [-1.12794340e-02 4.73264797e-05 9.99936384e-01 3.58963539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.60, Y:-131.60, Z:0.36 [[ 7.14639728e-01 6.99446483e-01 8.04218986e-03 2.38595574e+02] [-6.99401768e-01 7.14684977e-01 -7.90892186e-03 -1.31595060e+02] [-1.12794999e-02 2.73079648e-05 9.99936384e-01 3.59028532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:-131.64, Z:0.36 [[ 7.12970494e-01 7.01147937e-01 8.04021949e-03 2.38639450e+02] [-7.01103307e-01 7.13015828e-01 -7.91092443e-03 -1.31640056e+02] [-1.12795321e-02 3.23123006e-06 9.99936384e-01 3.59625742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:-131.69, Z:0.36 [[ 7.09876744e-01 7.04280057e-01 8.03799435e-03 2.38682885e+02] [-7.04235602e-01 7.09922248e-01 -7.91318467e-03 -1.31685710e+02] [-1.12794492e-02 -4.32560198e-05 9.99936384e-01 3.58453720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.73, Y:-131.73, Z:0.36 [[ 7.08604909e-01 7.05559714e-01 8.03574689e-03 2.38725917e+02] [-7.05515314e-01 7.08650469e-01 -7.91546628e-03 -1.31730407e+02] [-1.12793699e-02 -6.04042246e-05 9.99936384e-01 3.56615191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:-131.78, Z:0.36 [[ 7.06200740e-01 7.07966081e-01 8.03380135e-03 2.38768521e+02] [-7.07921815e-01 7.06246429e-01 -7.91744042e-03 -1.31776644e+02] [-1.12791228e-02 -9.60009426e-05 9.99936384e-01 3.56791866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:-131.82, Z:0.36 [[ 7.04455550e-01 7.09702665e-01 8.03152859e-03 2.38809898e+02] [-7.09658485e-01 7.04501322e-01 -7.91974526e-03 -1.31822688e+02] [-1.12788868e-02 -1.20533910e-04 9.99936384e-01 3.57842622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:-131.87, Z:0.36 [[ 7.05477280e-01 7.08687049e-01 8.02956576e-03 2.38850477e+02] [-7.08642780e-01 7.05522966e-01 -7.92173480e-03 -1.31867828e+02] [-1.12790739e-02 -1.01489883e-04 9.99936384e-01 3.55281938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:-131.91, Z:0.35 [[ 7.05987198e-01 7.08179096e-01 8.02776929e-03 2.38895040e+02] [-7.08134773e-01 7.06032832e-01 -7.92355490e-03 -1.31912900e+02] [-1.12791646e-02 -9.08142651e-05 9.99936384e-01 3.54685664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.94, Y:-131.95, Z:0.35 [[ 7.06087798e-01 7.08078818e-01 8.02552911e-03 2.38941752e+02] [-7.08034463e-01 7.06133402e-01 -7.92582326e-03 -1.31953431e+02] [-1.12792017e-02 -8.60241003e-05 9.99936384e-01 3.52694649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.99, Y:-132.00, Z:0.35 [[ 7.07523604e-01 7.06644162e-01 8.02359185e-03 2.38987511e+02] [-7.06599693e-01 7.07569095e-01 -7.92778394e-03 -1.31995294e+02] [-1.12793679e-02 -6.03732729e-05 9.99936384e-01 3.54500160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.03, Y:-132.04, Z:0.36 [[ 7.07959630e-01 7.06207346e-01 8.02167961e-03 2.39032436e+02] [-7.06162826e-01 7.08005072e-01 -7.92971835e-03 -1.32039749e+02] [-1.12794152e-02 -5.06914764e-05 9.99936384e-01 3.55274259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.08, Y:-132.08, Z:0.36 [[ 7.10521808e-01 7.03629483e-01 8.01942690e-03 2.39076818e+02] [-7.03584773e-01 7.10567063e-01 -7.93199589e-03 -1.32083144e+02] [-1.12795268e-02 -6.49059219e-06 9.99936384e-01 3.56670842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:-132.13, Z:0.36 [[ 7.11789633e-01 7.02346951e-01 8.01743135e-03 2.39121437e+02] [-7.02302137e-01 7.11834785e-01 -7.93401243e-03 -1.32126257e+02] [-1.12795159e-02 1.66886271e-05 9.99936384e-01 3.55866568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.17, Y:-132.17, Z:0.35 [[ 7.12967953e-01 7.01150806e-01 8.01532420e-03 2.39166633e+02] [-7.01105892e-01 7.13013006e-01 -7.93614060e-03 -1.32170101e+02] [-1.12794618e-02 3.86229034e-05 9.99936384e-01 3.54726792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.21, Y:-132.21, Z:0.36 [[ 7.14529536e-01 6.99559384e-01 8.01309740e-03 2.39211299e+02] [-6.99514345e-01 7.14574463e-01 -7.93838836e-03 -1.32213855e+02] [-1.12793288e-02 6.69363761e-05 9.99936384e-01 3.55144801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:-132.26, Z:0.35 [[ 7.17785539e-01 6.96218174e-01 8.01087997e-03 2.39255245e+02] [-6.96172900e-01 7.17830230e-01 -7.94062540e-03 -1.32258200e+02] [-1.12788595e-02 1.22708548e-04 9.99936384e-01 3.54649586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:-132.30, Z:0.35 [[ 7.19907180e-01 6.94024145e-01 8.00861494e-03 2.39299366e+02] [-6.93978710e-01 7.19951707e-01 -7.94290917e-03 -1.32302556e+02] [-1.12783867e-02 1.60349067e-04 9.99936384e-01 3.54513046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:-132.35, Z:0.35 [[ 7.22006257e-01 6.91840201e-01 8.00638081e-03 2.39345088e+02] [-6.91794606e-01 7.22050620e-01 -7.94516051e-03 -1.32345742e+02] [-1.12777937e-02 1.97684544e-04 9.99936384e-01 3.54055937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:-132.39, Z:0.35 [[ 7.22272697e-01 6.91562061e-01 8.00412371e-03 2.39390872e+02] [-6.91516424e-01 7.22317017e-01 -7.94743371e-03 -1.32388885e+02] [-1.12776584e-02 2.05231374e-04 9.99936384e-01 3.52865547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.44, Y:-132.43, Z:0.35 [[ 7.22220280e-01 6.91616829e-01 8.00183035e-03 2.39435864e+02] [-6.91571170e-01 7.22264576e-01 -7.94974210e-03 -1.32431485e+02] [-1.12776140e-02 2.07629782e-04 9.99936384e-01 3.50642437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.48, Y:-132.47, Z:0.35 [[ 7.21788213e-01 6.92067757e-01 7.99971330e-03 2.39480658e+02] [-6.92022102e-01 7.21832514e-01 -7.95187189e-03 -1.32473772e+02] [-1.12776873e-02 2.03588987e-04 9.99936384e-01 3.48175304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.53, Y:-132.52, Z:0.35 [[ 7.18802756e-01 6.95168054e-01 7.99836947e-03 2.39526764e+02] [-6.95122575e-01 7.18847238e-01 -7.95322335e-03 -1.32516391e+02] [-1.12784326e-02 1.56951684e-04 9.99936384e-01 3.46583670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.57, Y:-132.56, Z:0.35 [[ 7.12881097e-01 7.01239333e-01 7.99623783e-03 2.39572212e+02] [-7.01194209e-01 7.12925938e-01 -7.95536594e-03 -1.32560059e+02] [-1.12793409e-02 6.43143334e-05 9.99936384e-01 3.46068212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:-132.60, Z:0.34 [[ 7.08799176e-01 7.05365029e-01 7.99402103e-03 2.39617581e+02] [-7.05320141e-01 7.08844254e-01 -7.95759288e-03 -1.32603257e+02] [-1.12795236e-02 1.99123464e-06 9.99936384e-01 3.43970272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.66, Y:-132.65, Z:0.34 [[ 7.04188614e-01 7.09967976e-01 7.99180121e-03 2.39663569e+02] [-7.09923357e-01 7.04233958e-01 -7.95982163e-03 -1.32646629e+02] [-1.12793163e-02 -6.83505849e-05 9.99936384e-01 3.40512558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.71, Y:-132.69, Z:0.34 [[ 7.02762907e-01 7.11379269e-01 7.98951629e-03 2.39705211e+02] [-7.11334715e-01 7.02808315e-01 -7.96211441e-03 -1.32692133e+02] [-1.12791816e-02 -8.77416220e-05 9.99936384e-01 3.41033349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.75, Y:-132.74, Z:0.34 [[ 7.03088425e-01 7.11057570e-01 7.98740403e-03 2.39748134e+02] [-7.11012971e-01 7.03133790e-01 -7.96423281e-03 -1.32738454e+02] [-1.12792417e-02 -7.95879682e-05 9.99936384e-01 3.42563582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:-132.78, Z:0.34 [[ 7.04241973e-01 7.09915122e-01 7.98517125e-03 2.39791459e+02] [-7.09870424e-01 7.04287240e-01 -7.96647083e-03 -1.32783611e+02] [-1.12793723e-02 -5.81137642e-05 9.99936384e-01 3.41118318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.83, Y:-132.83, Z:0.34 [[ 7.06326007e-01 7.07841680e-01 7.98295726e-03 2.39833018e+02] [-7.07796825e-01 7.06371117e-01 -7.96868879e-03 -1.32829286e+02] [-1.12795005e-02 -2.18196612e-05 9.99936384e-01 3.36996387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.88, Y:-132.88, Z:0.34 [[ 7.08608759e-01 7.05556468e-01 7.98104814e-03 2.39875321e+02] [-7.05511446e-01 7.08653702e-01 -7.97060042e-03 -1.32876149e+02] [-1.12795080e-02 1.73164591e-05 9.99936384e-01 3.37585415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:-132.92, Z:0.34 [[ 7.12001417e-01 7.02132694e-01 7.97885338e-03 2.39916861e+02] [-7.02087431e-01 7.12046118e-01 -7.97279684e-03 -1.32924164e+02] [-1.12792729e-02 7.47899808e-05 9.99936384e-01 3.35994331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:-132.97, Z:0.34 [[ 7.13600542e-01 7.00507415e-01 7.97669894e-03 2.39958947e+02] [-7.00462025e-01 7.13645116e-01 -7.97495175e-03 -1.32969939e+02] [-1.12790451e-02 1.03555194e-04 9.99936384e-01 3.39187692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.00, Y:-133.01, Z:0.34 [[ 7.13130754e-01 7.00985686e-01 7.97470400e-03 2.40003650e+02] [-7.00940304e-01 7.13175335e-01 -7.97694613e-03 -1.33013797e+02] [-1.12790873e-02 9.88141616e-05 9.99936384e-01 3.39113503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:-133.06, Z:0.34 [[ 7.12831317e-01 7.01290207e-01 7.97244207e-03 2.40048018e+02] [-7.01244819e-01 7.12875891e-01 -7.97920614e-03 -1.33056447e+02] [-1.12791009e-02 9.71943211e-05 9.99936384e-01 3.38358800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.09, Y:-133.10, Z:0.34 [[ 7.12098003e-01 7.02034834e-01 7.97035399e-03 2.40092866e+02] [-7.01989469e-01 7.12142601e-01 -7.98129136e-03 -1.33100217e+02] [-1.12791732e-02 8.83570658e-05 9.99936384e-01 3.37239940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:-133.14, Z:0.34 [[ 7.12754596e-01 7.01368231e-01 7.96812241e-03 2.40139589e+02] [-7.01322800e-01 7.12799126e-01 -7.98351864e-03 -1.33142977e+02] [-1.12790570e-02 1.02063686e-04 9.99936384e-01 3.36857796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:-133.19, Z:0.34 [[ 7.12042636e-01 7.02091040e-01 7.96589481e-03 2.40183544e+02] [-7.02045629e-01 7.12087188e-01 -7.98574071e-03 -1.33187168e+02] [-1.12791286e-02 9.37662348e-05 9.99936384e-01 3.42061740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:-133.23, Z:0.34 [[ 7.12806526e-01 7.01315503e-01 7.96380890e-03 2.40229807e+02] [-7.01270020e-01 7.12851004e-01 -7.98782034e-03 -1.33227645e+02] [-1.12789914e-02 1.08990045e-04 9.99936384e-01 3.37196700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:-133.27, Z:0.34 [[ 7.09845458e-01 7.04312455e-01 7.96190534e-03 2.40276089e+02] [-7.04267138e-01 7.09890106e-01 -7.98971727e-03 -1.33269395e+02] [-1.12793352e-02 6.41562263e-05 9.99936384e-01 3.38019803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.32, Y:-133.31, Z:0.34 [[ 7.06411318e-01 7.07756802e-01 7.95981632e-03 2.40321662e+02] [-7.07711680e-01 7.06456162e-01 -7.99179793e-03 -1.33311998e+02] [-1.12795106e-02 1.22415274e-05 9.99936384e-01 3.40010064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.37, Y:-133.35, Z:0.33 [[ 7.07106278e-01 7.07062505e-01 7.95767283e-03 2.40366306e+02] [-7.07017315e-01 7.07151054e-01 -7.99393170e-03 -1.33353254e+02] [-1.12794861e-02 2.63468180e-05 9.99936384e-01 3.34535736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.41, Y:-133.40, Z:0.33 [[ 7.07864857e-01 7.06303087e-01 7.95571574e-03 2.40409660e+02] [-7.06257827e-01 7.07909562e-01 -7.99587896e-03 -1.33399032e+02] [-1.12794412e-02 4.12152108e-05 9.99936384e-01 3.32650187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:-133.44, Z:0.33 [[ 7.07942051e-01 7.06225739e-01 7.95350185e-03 2.40453936e+02] [-7.06180450e-01 7.07986725e-01 -7.99808051e-03 -1.33443795e+02] [-1.12794241e-02 4.55700098e-05 9.99936384e-01 3.30980317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.50, Y:-133.49, Z:0.33 [[ 7.07959753e-01 7.06208019e-01 7.95129847e-03 2.40496954e+02] [-7.06162703e-01 7.08004401e-01 -8.00027041e-03 -1.33489663e+02] [-1.12794094e-02 4.89590380e-05 9.99936384e-01 3.28135592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:-133.54, Z:0.33 [[ 7.08895730e-01 7.05268499e-01 7.94909685e-03 2.40537440e+02] [-7.05223100e-01 7.08940293e-01 -8.00245735e-03 -1.33535865e+02] [-1.12793161e-02 6.70211194e-05 9.99936384e-01 3.26257110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.58, Y:-133.58, Z:0.33 [[ 7.09463695e-01 7.04697165e-01 7.94802751e-03 2.40579253e+02] [-7.04651718e-01 7.09508210e-01 -8.00351927e-03 -1.33583013e+02] [-1.12792481e-02 7.76151153e-05 9.99936384e-01 3.26226281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:-133.63, Z:0.33 [[ 7.09982364e-01 7.04174628e-01 7.94577027e-03 2.40621066e+02] [-7.04129124e-01 7.10026820e-01 -8.00575960e-03 -1.33629936e+02] [-1.12791628e-02 8.90998659e-05 9.99936384e-01 3.26514426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.67, Y:-133.67, Z:0.33 [[ 7.07373599e-01 7.06795227e-01 7.94353349e-03 2.40665138e+02] [-7.06749862e-01 7.07418197e-01 -8.00797838e-03 -1.33674331e+02] [-1.12794010e-02 5.05412848e-05 9.99936384e-01 3.27043008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.71, Y:-133.72, Z:0.33 [[ 7.04246070e-01 7.09911550e-01 7.94132791e-03 2.40711257e+02] [-7.09866358e-01 7.04290843e-01 -8.01016500e-03 -1.33717455e+02] [-1.12795132e-02 3.84569590e-06 9.99936384e-01 3.25220952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:-133.76, Z:0.32 [[ 7.00952346e-01 7.13163922e-01 7.93907321e-03 2.40756640e+02] [-7.13118913e-01 7.00997302e-01 -8.01239907e-03 -1.33760993e+02] [-1.12794229e-02 -4.51933297e-05 9.99936384e-01 3.23884023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:-133.81, Z:0.32 [[ 7.01030084e-01 7.13087532e-01 7.93680262e-03 2.40801408e+02] [-7.13042492e-01 7.01075010e-01 -8.01464761e-03 -1.33805093e+02] [-1.12794393e-02 -4.07684304e-05 9.99936384e-01 3.21212614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.84, Y:-133.85, Z:0.32 [[ 7.02950862e-01 7.11194157e-01 7.93453808e-03 2.40844561e+02] [-7.11148971e-01 7.02995641e-01 -8.01688889e-03 -1.33850079e+02] [-1.12795102e-02 -7.15963921e-06 9.99936384e-01 3.19192020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.89, Y:-133.90, Z:0.32 [[ 7.05001089e-01 7.09161857e-01 7.93254173e-03 2.40886966e+02] [-7.09116519e-01 7.05045715e-01 -8.01886374e-03 -1.33896755e+02] [-1.12794769e-02 2.82112966e-05 9.99936384e-01 3.18138836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:-133.94, Z:0.32 [[ 7.05855466e-01 7.08311494e-01 7.93027100e-03 2.40932258e+02] [-7.08266077e-01 7.05900011e-01 -8.02110876e-03 -1.33940637e+02] [-1.12794219e-02 4.50015314e-05 9.99936384e-01 3.16842516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.98, Y:-133.98, Z:0.32 [[ 7.05238956e-01 7.08925357e-01 7.92801488e-03 2.40977305e+02] [-7.08879954e-01 7.05283515e-01 -8.02333808e-03 -1.33984406e+02] [-1.12794460e-02 3.83597476e-05 9.99936384e-01 3.17496702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:241.02, Y:-134.03, Z:0.32 [[ 7.04286913e-01 7.09871205e-01 7.92573924e-03 2.41022137e+02] [-7.09825836e-01 7.04331507e-01 -8.02558540e-03 -1.34028380e+02] [-1.12794798e-02 2.64202861e-05 9.99936384e-01 3.18150471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.07, Y:-134.07, Z:0.32 [[ 7.03879457e-01 7.10275249e-01 7.92346967e-03 2.41067227e+02] [-7.10229881e-01 7.03924051e-01 -8.02782547e-03 -1.34072800e+02] [-1.12794866e-02 2.31365080e-05 9.99936384e-01 3.17868893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99762799999996 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:241.11, Y:-134.12, Z:0.32 [[ 7.05323729e-01 7.08841091e-01 7.92120391e-03 2.41111828e+02] [-7.08795607e-01 7.05368205e-01 -8.03006052e-03 -1.34117005e+02] [-1.12794022e-02 4.92776906e-05 9.99936384e-01 3.17985945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:-134.16, Z:0.32 [[ 7.06618492e-01 7.07550421e-01 7.91891764e-03 2.41155811e+02] [-7.07504830e-01 7.06662860e-01 -8.03231451e-03 -1.34162047e+02] [-1.12792725e-02 7.31094840e-05 9.99936384e-01 3.17728043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.20, Y:-134.21, Z:0.32 [[ 7.06347131e-01 7.07821346e-01 7.91663130e-03 2.41198277e+02] [-7.07775747e-01 7.06391490e-01 -8.03456729e-03 -1.34207000e+02] [-1.12792792e-02 7.19939157e-05 9.99936384e-01 3.16628796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17762799999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:241.24, Y:-134.25, Z:0.31 [[ 7.03308576e-01 7.10840635e-01 7.91451931e-03 2.41241613e+02] [-7.10795203e-01 7.03353106e-01 -8.03664718e-03 -1.34252694e+02] [-1.12794771e-02 2.66405209e-05 9.99936384e-01 3.12601562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.237628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:-134.30, Z:0.31 [[ 6.97983687e-01 7.16069946e-01 7.91225716e-03 2.41284860e+02] [-7.16024823e-01 6.98028530e-01 -8.03887371e-03 -1.34295912e+02] [-1.12793771e-02 -5.43698192e-05 9.99936384e-01 3.08327697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:-134.34, Z:0.31 [[ 6.92892291e-01 7.20997711e-01 7.91044860e-03 2.41329778e+02] [-7.20952886e-01 6.92937432e-01 -8.04065298e-03 -1.34339408e+02] [-1.12787383e-02 -1.31754285e-04 9.99936384e-01 3.09319441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.357628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:241.37, Y:-134.38, Z:0.31 [[ 6.90893664e-01 7.22913138e-01 7.90819496e-03 2.41374968e+02] [-7.22868413e-01 6.90938904e-01 -8.04286889e-03 -1.34382275e+02] [-1.12783751e-02 -1.59817187e-04 9.99936384e-01 3.08320166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.42, Y:-134.43, Z:0.31 [[ 6.91113576e-01 7.22702918e-01 7.90680342e-03 2.41420201e+02] [-7.22658164e-01 6.91158787e-01 -8.04423665e-03 -1.34425318e+02] [-1.12784500e-02 -1.54434876e-04 9.99936384e-01 3.07395840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:-134.47, Z:0.31 [[ 6.92789806e-01 7.21096251e-01 7.90449628e-03 2.41463980e+02] [-7.21051366e-01 6.92834887e-01 -8.04650307e-03 -1.34468890e+02] [-1.12788140e-02 -1.25012541e-04 9.99936384e-01 3.06287476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:-134.52, Z:0.31 [[ 6.96773563e-01 7.17247625e-01 7.90236741e-03 2.41506039e+02] [-7.17202467e-01 6.96818370e-01 -8.04859327e-03 -1.34516340e+02] [-1.12793492e-02 -5.95503964e-05 9.99936384e-01 3.06021096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.55, Y:-134.56, Z:0.30 [[ 7.02984321e-01 7.11161468e-01 7.90006276e-03 2.41547260e+02] [-7.11115897e-01 7.03028708e-01 -8.05085475e-03 -1.34561993e+02] [-1.12794286e-02 4.17644356e-05 9.99936384e-01 3.04088726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.59, Y:-134.61, Z:0.30 [[ 7.05279768e-01 7.08885090e-01 7.89793846e-03 2.41591746e+02] [-7.08839353e-01 7.05323984e-01 -8.05293816e-03 -1.34606033e+02] [-1.12792132e-02 8.12047788e-05 9.99936384e-01 3.03104543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.717628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:241.64, Y:-134.65, Z:0.30 [[ 7.08373896e-01 7.05793228e-01 7.89573158e-03 2.41635100e+02] [-7.05747274e-01 7.08417886e-01 -8.05510138e-03 -1.34650298e+02] [-1.12787135e-02 1.33632507e-04 9.99936384e-01 2.98487893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.777628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-134.69, Z:0.30 [[ 7.09626272e-01 7.04534061e-01 7.89376010e-03 2.41678915e+02] [-7.04488006e-01 7.09670158e-01 -8.05703290e-03 -1.34694391e+02] [-1.12784201e-02 1.56422904e-04 9.99936384e-01 2.96001534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.837628 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:241.72, Y:-134.74, Z:0.29 [[ 7.09938808e-01 7.04219148e-01 7.89176146e-03 2.41724336e+02] [-7.04173053e-01 7.09982651e-01 -8.05899007e-03 -1.34737764e+02] [-1.12783088e-02 1.64224044e-04 9.99936384e-01 2.94057339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.77, Y:-134.78, Z:0.29 [[ 7.09896171e-01 7.04262155e-01 7.88945956e-03 2.41769921e+02] [-7.04216038e-01 7.09939990e-01 -8.06124292e-03 -1.34779724e+02] [-1.12782712e-02 1.66761534e-04 9.99936384e-01 2.93718127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.82, Y:-134.82, Z:0.29 [[ 7.09306188e-01 7.04856384e-01 7.88733772e-03 2.41815459e+02] [-7.04810279e-01 7.09350021e-01 -8.06331845e-03 -1.34823672e+02] [-1.12783647e-02 1.60284975e-04 9.99936384e-01 2.93393418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.86, Y:-134.87, Z:0.29 [[ 7.08029220e-01 7.06139115e-01 7.88510516e-03 2.41860967e+02] [-7.06093066e-01 7.08073111e-01 -8.06550107e-03 -1.34866702e+02] [-1.12785967e-02 1.42992354e-04 9.99936384e-01 2.93295313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.91, Y:-134.91, Z:0.29 [[ 7.05959764e-01 7.08208072e-01 7.88278733e-03 2.41906909e+02] [-7.08162126e-01 7.06003764e-01 -8.06776576e-03 -1.34907187e+02] [-1.12789344e-02 1.13226579e-04 9.99936384e-01 2.92869195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.95, Y:-134.95, Z:0.29 [[ 7.04131425e-01 7.10025934e-01 7.88093267e-03 2.41952581e+02] [-7.09980082e-01 7.04175522e-01 -8.06957707e-03 -1.34950437e+02] [-1.12791689e-02 8.67375893e-05 9.99936384e-01 2.92200188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.00, Y:-134.99, Z:0.29 [[ 7.01190710e-01 7.12930230e-01 7.87875696e-03 2.41996533e+02] [-7.12884537e-01 7.01234971e-01 -8.07170077e-03 -1.34994861e+02] [-1.12794194e-02 4.31575898e-05 9.99936384e-01 2.91664887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:-135.04, Z:0.29 [[ 6.98870742e-01 7.15204619e-01 7.87646704e-03 2.42040173e+02] [-7.15159045e-01 6.98915125e-01 -8.07393468e-03 -1.35039645e+02] [-1.12794973e-02 9.71007380e-06 9.99936384e-01 2.90220698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:-135.08, Z:0.29 [[ 6.94691253e-01 7.19264941e-01 7.87448478e-03 2.42082737e+02] [-7.19219604e-01 6.94735879e-01 -8.07586751e-03 -1.35082750e+02] [-1.12793755e-02 -5.32493099e-05 9.99936384e-01 2.85293081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.13, Y:-135.13, Z:0.29 [[ 6.89406288e-01 7.24332100e-01 7.87267068e-03 2.42125953e+02] [-7.24287071e-01 6.89451225e-01 -8.07763559e-03 -1.35127280e+02] [-1.12787132e-02 -1.33300816e-04 9.99936384e-01 2.85645995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.17, Y:-135.17, Z:0.28 [[ 6.88268227e-01 7.25413607e-01 7.87066918e-03 2.42167016e+02] [-7.25368626e-01 6.88313212e-01 -8.07958532e-03 -1.35173091e+02] [-1.12785267e-02 -1.48214625e-04 9.99936384e-01 2.82193981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.21, Y:-135.22, Z:0.28 [[ 6.89136840e-01 7.24588502e-01 7.86883618e-03 2.42206643e+02] [-7.24543446e-01 6.89181751e-01 -8.08137012e-03 -1.35221649e+02] [-1.12787262e-02 -1.32143810e-04 9.99936384e-01 2.84049561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.24, Y:-135.27, Z:0.29 [[ 6.92128345e-01 7.21731574e-01 7.86695978e-03 2.42244471e+02] [-7.21686313e-01 6.92173048e-01 -8.08319633e-03 -1.35270987e+02] [-1.12791955e-02 -8.28678933e-05 9.99936384e-01 2.89139909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:-135.32, Z:0.29 [[ 6.94050091e-01 7.19883748e-01 7.86516227e-03 2.42285299e+02] [-7.19838348e-01 6.94094652e-01 -8.08494497e-03 -1.35318539e+02] [-1.12793876e-02 -5.02886215e-05 9.99936384e-01 2.90665682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:-135.37, Z:0.29 [[ 6.94488118e-01 7.19461204e-01 7.86322193e-03 2.42326552e+02] [-7.19415755e-01 6.94532630e-01 -8.08683166e-03 -1.35366248e+02] [-1.12794259e-02 -4.07172515e-05 9.99936384e-01 2.91814568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.37, Y:-135.41, Z:0.29 [[ 6.91849302e-01 7.21999134e-01 7.86091894e-03 2.42371482e+02] [-7.21953823e-01 6.91893954e-01 -8.08906970e-03 -1.35409502e+02] [-1.12792236e-02 -7.88032596e-05 9.99936384e-01 2.90463542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.42, Y:-135.45, Z:0.28 [[ 6.88702780e-01 7.25001186e-01 7.85879028e-03 2.42417218e+02] [-7.24956046e-01 6.88747606e-01 -8.09113723e-03 -1.35450381e+02] [-1.12788071e-02 -1.24888821e-04 9.99936384e-01 2.83581018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.46, Y:-135.49, Z:0.28 [[ 6.87501005e-01 7.26140920e-01 7.85699372e-03 2.42462561e+02] [-7.26095835e-01 6.87545885e-01 -8.09288143e-03 -1.35492916e+02] [-1.12786161e-02 -1.41066302e-04 9.99936384e-01 2.81548591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:-135.54, Z:0.28 [[ 6.88426266e-01 7.25263796e-01 7.85509621e-03 2.42507658e+02] [-7.25218633e-01 6.88471067e-01 -8.09472277e-03 -1.35537466e+02] [-1.12788158e-02 -1.24042366e-04 9.99936384e-01 2.81796991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:-135.58, Z:0.28 [[ 6.93294735e-01 7.20611368e-01 7.85285442e-03 2.42549950e+02] [-7.20565879e-01 6.93339206e-01 -8.09689698e-03 -1.35583655e+02] [-1.12794079e-02 -4.49629023e-05 9.99936384e-01 2.83934473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.59, Y:-135.63, Z:0.28 [[ 6.95487768e-01 7.18495047e-01 7.85056917e-03 2.42592591e+02] [-7.18449398e-01 6.95532075e-01 -8.09911210e-03 -1.35627798e+02] [-1.12794946e-02 -7.40329617e-06 9.99936384e-01 2.84759546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:-135.67, Z:0.29 [[ 6.95241764e-01 7.18733113e-01 7.84874669e-03 2.42636374e+02] [-7.18687459e-01 6.95286065e-01 -8.10087786e-03 -1.35672394e+02] [-1.12794934e-02 -8.72720706e-06 9.99936384e-01 2.85521820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.68, Y:-135.72, Z:0.29 [[ 6.94059495e-01 7.19874881e-01 7.84680592e-03 2.42679564e+02] [-7.19829279e-01 6.94103850e-01 -8.10275733e-03 -1.35717976e+02] [-1.12794697e-02 -2.45649880e-05 9.99936384e-01 2.86130278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:-135.76, Z:0.28 [[ 6.92360287e-01 7.21509319e-01 7.84446454e-03 2.42721787e+02] [-7.21463796e-01 6.92404723e-01 -8.10502344e-03 -1.35764006e+02] [-1.12793942e-02 -4.79008052e-05 9.99936384e-01 2.84307706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:-135.81, Z:0.28 [[ 6.90877251e-01 7.22929541e-01 7.84244489e-03 2.42762179e+02] [-7.22884086e-01 6.90921757e-01 -8.10697719e-03 -1.35809523e+02] [-1.12792891e-02 -6.82524971e-05 9.99936384e-01 2.81910317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.80, Y:-135.86, Z:0.28 [[ 6.90980554e-01 7.22830823e-01 7.84059828e-03 2.42803644e+02] [-7.22785342e-01 6.91025034e-01 -8.10876272e-03 -1.35855827e+02] [-1.12793133e-02 -6.40721547e-05 9.99936384e-01 2.80533614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.84, Y:-135.90, Z:0.28 [[ 6.93108321e-01 7.20790823e-01 7.83862204e-03 2.42844686e+02] [-7.20745190e-01 6.93152644e-01 -8.11067268e-03 -1.35903641e+02] [-1.12794600e-02 -2.80743997e-05 9.99936384e-01 2.82042571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:-135.95, Z:0.28 [[ 6.96247970e-01 7.17758564e-01 7.83633460e-03 2.42886212e+02] [-7.17712713e-01 6.96292067e-01 -8.11288215e-03 -1.35949019e+02] [-1.12794683e-02 2.43407642e-05 9.99936384e-01 2.84113834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.93, Y:-135.99, Z:0.28 [[ 6.98956972e-01 7.15120810e-01 7.83450623e-03 2.42929738e+02] [-7.15074772e-01 6.99000875e-01 -8.11464740e-03 -1.35994564e+02] [-1.12792799e-02 6.95316113e-05 9.99936384e-01 2.84757433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:-136.04, Z:0.28 [[ 7.03715237e-01 7.10438963e-01 7.83227954e-03 2.42973808e+02] [-7.10392609e-01 7.03758807e-01 -8.11679603e-03 -1.36038887e+02] [-1.12785239e-02 1.47919550e-04 9.99936384e-01 2.84194891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:-136.08, Z:0.28 [[ 7.05970540e-01 7.08197915e-01 7.83008673e-03 2.43016731e+02] [-7.08151400e-01 7.06013937e-01 -8.11891083e-03 -1.36081866e+02] [-1.12779461e-02 1.86824985e-04 9.99936384e-01 2.78331279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.06, Y:-136.13, Z:0.28 [[ 7.03449252e-01 7.10702368e-01 7.82900821e-03 2.43060999e+02] [-7.10655996e-01 7.03492801e-01 -8.11995072e-03 -1.36125270e+02] [-1.12785191e-02 1.48241632e-04 9.99936384e-01 2.77200946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:-136.17, Z:0.27 [[ 7.01037865e-01 7.13081095e-01 7.82713392e-03 2.43105776e+02] [-7.13034850e-01 7.01081550e-01 -8.12175701e-03 -1.36167425e+02] [-1.12789306e-02 1.12639935e-04 9.99936384e-01 2.72942039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.15, Y:-136.21, Z:0.28 [[ 6.97020708e-01 7.17008295e-01 7.82541936e-03 2.43150665e+02] [-7.16962278e-01 6.97064633e-01 -8.12340867e-03 -1.36210520e+02] [-1.12793745e-02 5.16535777e-05 9.99936384e-01 2.75523257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:-136.25, Z:0.28 [[ 6.94372142e-01 7.19573569e-01 7.82352640e-03 2.43195202e+02] [-7.19527693e-01 6.94416215e-01 -8.12523134e-03 -1.36253976e+02] [-1.12794853e-02 1.26903859e-05 9.99936385e-01 2.77437327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:-136.30, Z:0.28 [[ 6.91777932e-01 7.22067943e-01 7.82164061e-03 2.43239492e+02] [-7.22022206e-01 6.91822148e-01 -8.12704627e-03 -1.36298042e+02] [-1.12794638e-02 -2.52869460e-05 9.99936385e-01 2.79102819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.28, Y:-136.34, Z:0.28 [[ 6.89871951e-01 7.23889179e-01 7.81977527e-03 2.43283148e+02] [-7.23843538e-01 6.89916266e-01 -8.12884069e-03 -1.36341661e+02] [-1.12793700e-02 -5.24346158e-05 9.99936385e-01 2.81018939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.33, Y:-136.39, Z:0.28 [[ 6.88838693e-01 7.24872496e-01 7.81789737e-03 2.43327832e+02] [-7.24826898e-01 6.88883052e-01 -8.13064636e-03 -1.36385136e+02] [-1.12792989e-02 -6.59184910e-05 9.99936385e-01 2.83799963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:-136.43, Z:0.28 [[ 6.89279141e-01 7.24453710e-01 7.81588547e-03 2.43372474e+02] [-7.24408064e-01 6.89323450e-01 -8.13257991e-03 -1.36428450e+02] [-1.12793508e-02 -5.62727612e-05 9.99936385e-01 2.81039746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.42, Y:-136.47, Z:0.28 [[ 6.91615980e-01 7.22223151e-01 7.81387264e-03 2.43416142e+02] [-7.22177340e-01 6.91660119e-01 -8.13451340e-03 -1.36472019e+02] [-1.12794780e-02 -1.70423004e-05 9.99936385e-01 2.75882665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.46, Y:-136.52, Z:0.27 [[ 6.94291086e-01 7.19651904e-01 7.81185250e-03 2.43459607e+02] [-7.19605907e-01 6.94335032e-01 -8.13645294e-03 -1.36515956e+02] [-1.12794567e-02 2.76115473e-05 9.99936385e-01 2.71395467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.297628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:-136.56, Z:0.27 [[ 6.99274701e-01 7.14810394e-01 7.80984548e-03 2.43501571e+02] [-7.14764072e-01 6.99318303e-01 -8.13837894e-03 -1.36561696e+02] [-1.12789657e-02 1.08765541e-04 9.99936385e-01 2.67824937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:-136.61, Z:0.27 [[ 7.01870364e-01 7.12261911e-01 7.80779897e-03 2.43543302e+02] [-7.12215408e-01 7.01913775e-01 -8.14034185e-03 -1.36606817e+02] [-1.12784571e-02 1.52629970e-04 9.99936385e-01 2.72680168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:-136.65, Z:0.28 [[ 7.04752726e-01 7.09410081e-01 7.80593093e-03 2.43586264e+02] [-7.09363383e-01 7.04795926e-01 -8.14213276e-03 -1.36652129e+02] [-1.12776994e-02 2.00948681e-04 9.99936385e-01 2.76914010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.63, Y:-136.70, Z:0.28 [[ 7.06036472e-01 7.08132473e-01 7.80388954e-03 2.43630397e+02] [-7.08085675e-01 7.06079564e-01 -8.14408887e-03 -1.36696480e+02] [-1.12772607e-02 2.24201386e-04 9.99936385e-01 2.78358523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:-136.74, Z:0.28 [[ 7.06440117e-01 7.07729815e-01 7.80187432e-03 2.43675219e+02] [-7.07682972e-01 7.06483159e-01 -8.14601896e-03 -1.36740963e+02] [-1.12770733e-02 2.33420989e-04 9.99936385e-01 2.77586144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:-136.78, Z:0.28 [[ 7.06583494e-01 7.07586696e-01 7.79958672e-03 2.43720074e+02] [-7.07539820e-01 7.06626500e-01 -8.14820868e-03 -1.36784103e+02] [-1.12769587e-02 2.38871574e-04 9.99936385e-01 2.75871356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.657628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:243.76, Y:-136.83, Z:0.27 [[ 7.06303531e-01 7.07866175e-01 7.79747596e-03 2.43764854e+02] [-7.07819293e-01 7.06346531e-01 -8.15022809e-03 -1.36826875e+02] [-1.12769909e-02 2.37330958e-04 9.99936385e-01 2.71513019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.81, Y:-136.87, Z:0.27 [[ 7.04269987e-01 7.09889440e-01 7.79543161e-03 2.43811280e+02] [-7.09842660e-01 7.04313098e-01 -8.15218297e-03 -1.36868164e+02] [-1.12775732e-02 2.07807889e-04 9.99936385e-01 2.73229816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.777628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:-136.91, Z:0.27 [[ 7.03363974e-01 7.10787157e-01 7.79341393e-03 2.43857450e+02] [-7.10740411e-01 7.03407122e-01 -8.15411140e-03 -1.36911388e+02] [-1.12777805e-02 1.96213980e-04 9.99936385e-01 2.71071704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:-136.95, Z:0.28 [[ 7.00624075e-01 7.13488056e-01 7.79103894e-03 2.43901326e+02] [-7.13441451e-01 7.00667375e-01 -8.15638001e-03 -1.36954035e+02] [-1.12784065e-02 1.56106078e-04 9.99936385e-01 2.76553852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:-137.00, Z:0.28 [[ 6.97379629e-01 7.16659600e-01 7.78914382e-03 2.43946594e+02] [-7.16613172e-01 6.97423118e-01 -8.15818940e-03 -1.36996426e+02] [-1.12789737e-02 1.07552039e-04 9.99936385e-01 2.77677427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:-137.04, Z:0.28 [[ 6.90791084e-01 7.23012475e-01 7.78710770e-03 2.43992091e+02] [-7.22966425e-01 6.90834974e-01 -8.16013244e-03 -1.37038843e+02] [-1.12794839e-02 7.12932300e-06 9.99936385e-01 2.79590316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:-137.08, Z:0.27 [[ 6.87999319e-01 7.25669573e-01 7.78505196e-03 2.44042556e+02] [-7.25623670e-01 6.88043363e-01 -8.16209322e-03 -1.37077583e+02] [-1.12794360e-02 -3.35034034e-05 9.99936385e-01 2.71101076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:-137.12, Z:0.27 [[ 6.79913141e-01 7.33251357e-01 7.78259674e-03 2.44083754e+02] [-7.33205918e-01 6.79957663e-01 -8.16443362e-03 -1.37123242e+02] [-1.12784183e-02 -1.55140278e-04 9.99936385e-01 2.71104821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:-137.17, Z:0.27 [[ 6.79339472e-01 7.33782900e-01 7.78064375e-03 2.44127696e+02] [-7.33737475e-01 6.79384008e-01 -8.16629437e-03 -1.37167215e+02] [-1.12783321e-02 -1.61263795e-04 9.99936385e-01 2.67988420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:-137.21, Z:0.27 [[ 6.81945847e-01 7.31361303e-01 7.77857461e-03 2.44170143e+02] [-7.31315697e-01 6.81990198e-01 -8.16826480e-03 -1.37210829e+02] [-1.12788644e-02 -1.18279463e-04 9.99936385e-01 2.65909637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:-137.26, Z:0.27 [[ 6.85099398e-01 7.28408085e-01 7.77667414e-03 2.44213273e+02] [-7.28362268e-01 6.85143530e-01 -8.17007376e-03 -1.37255630e+02] [-1.12792858e-02 -6.69234075e-05 9.99936385e-01 2.66140057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:-137.30, Z:0.27 [[ 6.92056802e-01 7.21801176e-01 7.77464611e-03 2.44255855e+02] [-7.21754915e-01 6.92100470e-01 -8.17200318e-03 -1.37301091e+02] [-1.12793977e-02 4.41013425e-05 9.99936385e-01 2.66569013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:-137.35, Z:0.27 [[ 6.98801880e-01 7.15273038e-01 7.77261484e-03 2.44297401e+02] [-7.15226348e-01 6.98845089e-01 -8.17393472e-03 -1.37347054e+02] [-1.12784488e-02 1.52782020e-04 9.99936385e-01 2.68547806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:244.34, Y:-137.39, Z:0.27 [[ 7.02622948e-01 7.11519930e-01 7.77055279e-03 2.44339217e+02] [-7.11472988e-01 7.02665883e-01 -8.17589453e-03 -1.37393480e+02] [-1.12774142e-02 2.16032710e-04 9.99936385e-01 2.66504169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49762799999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:244.38, Y:-137.44, Z:0.27 [[ 7.01165554e-01 7.12956184e-01 7.76822329e-03 2.44382526e+02] [-7.12909305e-01 7.01208558e-01 -8.17810728e-03 -1.37436878e+02] [-1.12777768e-02 1.96168459e-04 9.99936385e-01 2.65282277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55762799999997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:-137.48, Z:0.26 [[ 6.94157714e-01 7.19781036e-01 7.76708454e-03 2.44426662e+02] [-7.19734568e-01 6.94201161e-01 -8.17918866e-03 -1.37480182e+02] [-1.12791440e-02 8.74076678e-05 9.99936385e-01 2.62666197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61762799999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:-137.52, Z:0.26 [[ 6.86736364e-01 7.26865098e-01 7.76501974e-03 2.44470505e+02] [-7.26819056e-01 6.86780262e-01 -8.18114843e-03 -1.37523017e+02] [-1.12794536e-02 -2.54721892e-05 9.99936385e-01 2.57631074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67762799999997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:-137.57, Z:0.26 [[ 6.83750660e-01 7.29674419e-01 7.76385369e-03 2.44510681e+02] [-7.29628545e-01 6.83794733e-01 -8.18225485e-03 -1.37571068e+02] [-1.12792643e-02 -7.01071203e-05 9.99936385e-01 2.62869664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:-137.62, Z:0.27 [[ 6.82743198e-01 7.30617191e-01 7.76180459e-03 2.44551666e+02] [-7.30571356e-01 6.82787312e-01 -8.18419820e-03 -1.37617065e+02] [-1.12791776e-02 -8.28464468e-05 9.99936385e-01 2.69281607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:-137.66, Z:0.27 [[ 6.81664353e-01 7.31623874e-01 7.75991886e-03 2.44593516e+02] [-7.31578084e-01 6.81708513e-01 -8.18598578e-03 -1.37662310e+02] [-1.12790654e-02 -9.68918663e-05 9.99936385e-01 2.71880038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.857628 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:-137.71, Z:0.27 [[ 6.80188810e-01 7.32995905e-01 7.75797710e-03 2.44636626e+02] [-7.32950183e-01 6.80233040e-01 -8.18782560e-03 -1.37708696e+02] [-1.12788750e-02 -1.16943383e-04 9.99936385e-01 2.70650368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.917628 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:244.68, Y:-137.76, Z:0.27 [[ 6.78600665e-01 7.34466465e-01 7.75558475e-03 2.44677370e+02] [-7.34420813e-01 6.78644968e-01 -8.19009104e-03 -1.37755429e+02] [-1.12786358e-02 -1.38061629e-04 9.99936385e-01 2.70834308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.977628 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:-137.80, Z:0.27 [[ 6.76910268e-01 7.36024702e-01 7.75411126e-03 2.44718547e+02] [-7.35979136e-01 6.76954660e-01 -8.19148584e-03 -1.37802963e+02] [-1.12783177e-02 -1.61963225e-04 9.99936385e-01 2.70314881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:-137.85, Z:0.27 [[ 6.75501633e-01 7.37317742e-01 7.75178796e-03 2.44758854e+02] [-7.37272236e-01 6.75546086e-01 -8.19368385e-03 -1.37850954e+02] [-1.12780385e-02 -1.80331216e-04 9.99936385e-01 2.70586664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.80, Y:-137.90, Z:0.27 [[ 6.76144823e-01 7.36727985e-01 7.74942239e-03 2.44798755e+02] [-7.36682414e-01 6.76189210e-01 -8.19592055e-03 -1.37900100e+02] [-1.12782398e-02 -1.67233942e-04 9.99936385e-01 2.66791063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:-137.95, Z:0.26 [[ 6.80096137e-01 7.33082006e-01 7.74708517e-03 2.44837488e+02] [-7.33036171e-01 6.80140252e-01 -8.19812918e-03 -1.37947902e+02] [-1.12790054e-02 -1.03377658e-04 9.99936385e-01 2.61149519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:-138.00, Z:0.26 [[ 6.84446388e-01 7.29022053e-01 7.74521647e-03 2.44875925e+02] [-7.28975937e-01 6.84490208e-01 -8.19989426e-03 -1.37998138e+02] [-1.12794286e-02 -3.36884311e-05 9.99936385e-01 2.61112760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.277628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:244.91, Y:-138.05, Z:0.26 [[ 6.92261888e-01 7.21604826e-01 7.74293819e-03 2.44912334e+02] [-7.21558216e-01 6.92305183e-01 -8.20204501e-03 -1.38049224e+02] [-1.12791115e-02 9.09824979e-05 9.99936385e-01 2.61020080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:-138.10, Z:0.26 [[ 6.95682179e-01 7.18307994e-01 7.74153580e-03 2.44951828e+02] [-7.18261165e-01 6.95725236e-01 -8.20336845e-03 -1.38096863e+02] [-1.12785270e-02 1.46492720e-04 9.99936385e-01 2.62434045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:-138.15, Z:0.26 [[ 6.99087847e-01 7.14993902e-01 7.73960746e-03 2.44989014e+02] [-7.14946849e-01 6.99130659e-01 -8.20518737e-03 -1.38148419e+02] [-1.12776558e-02 2.02738808e-04 9.99936385e-01 2.61169732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:-138.20, Z:0.26 [[ 6.99694561e-01 7.14400205e-01 7.73742610e-03 2.45027706e+02] [-7.14353093e-01 6.99737308e-01 -8.20724386e-03 -1.38196599e+02] [-1.12774224e-02 2.15309626e-04 9.99936385e-01 2.58288137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:-138.24, Z:0.26 [[ 6.91140793e-01 7.22678745e-01 7.73541241e-03 2.45071780e+02] [-7.22632123e-01 6.91184074e-01 -8.20914135e-03 -1.38239771e+02] [-1.12791658e-02 8.38149704e-05 9.99936385e-01 2.55457289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.12, Y:-138.28, Z:0.25 [[ 6.86383457e-01 7.27198697e-01 7.73339922e-03 2.45115046e+02] [-7.27152338e-01 6.86427021e-01 -8.21103743e-03 -1.38284463e+02] [-1.12794699e-02 1.25609333e-05 9.99936385e-01 2.52088611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:245.16, Y:-138.33, Z:0.25 [[ 6.83622006e-01 7.29795299e-01 7.73141084e-03 2.45158083e+02] [-7.29749085e-01 6.83665723e-01 -8.21290924e-03 -1.38328672e+02] [-1.12794431e-02 -2.74644960e-05 9.99936385e-01 2.49497642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.20, Y:-138.37, Z:0.25 [[ 6.83263469e-01 7.30131008e-01 7.72935031e-03 2.45201424e+02] [-7.30084794e-01 6.83307186e-01 -8.21484799e-03 -1.38373620e+02] [-1.12794359e-02 -3.01755867e-05 9.99936385e-01 2.52752362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:245.24, Y:-138.42, Z:0.25 [[ 6.87280285e-01 7.26351223e-01 7.72728458e-03 2.45243740e+02] [-7.26304746e-01 6.87323723e-01 -8.21679066e-03 -1.38419223e+02] [-1.12794219e-02 3.48747674e-05 9.99936385e-01 2.53227584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:-138.47, Z:0.26 [[ 6.92508649e-01 7.21368208e-01 7.72523663e-03 2.45284419e+02] [-7.21321397e-01 6.92551727e-01 -8.21871564e-03 -1.38466160e+02] [-1.12788461e-02 1.19153189e-04 9.99936385e-01 2.57803554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.33, Y:-138.51, Z:0.26 [[ 6.96016410e-01 7.17984338e-01 7.72317700e-03 2.45326042e+02] [-7.17937297e-01 6.96059235e-01 -8.22065064e-03 -1.38510780e+02] [-1.12780871e-02 1.76950930e-04 9.99936385e-01 2.59269668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:-138.56, Z:0.26 [[ 6.96319365e-01 7.17690549e-01 7.72130317e-03 2.45369465e+02] [-7.17643470e-01 6.96362149e-01 -8.22241027e-03 -1.38556297e+02] [-1.12779694e-02 1.84280691e-04 9.99936385e-01 2.57904976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.41, Y:-138.60, Z:0.25 [[ 6.95277796e-01 7.18699662e-01 7.71898933e-03 2.45413225e+02] [-7.18652621e-01 6.95320622e-01 -8.22458187e-03 -1.38600628e+02] [-1.12781767e-02 1.71097244e-04 9.99936385e-01 2.53058440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:-138.64, Z:0.25 [[ 6.93075509e-01 7.20823687e-01 7.71696240e-03 2.45456702e+02] [-7.20776756e-01 6.93118455e-01 -8.22648325e-03 -1.38644786e+02] [-1.12786130e-02 1.39366935e-04 9.99936385e-01 2.49314275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.50, Y:-138.69, Z:0.25 [[ 6.92422927e-01 7.21450601e-01 7.71487993e-03 2.45500456e+02] [-7.21403688e-01 6.92465893e-01 -8.22843575e-03 -1.38688479e+02] [-1.12787011e-02 1.32014737e-04 9.99936385e-01 2.46407487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17762799999997 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:245.54, Y:-138.73, Z:0.24 [[ 6.93729055e-01 7.20194772e-01 7.71283187e-03 2.45544056e+02] [-7.20147759e-01 6.93771912e-01 -8.23035503e-03 -1.38732143e+02] [-1.12784048e-02 1.55257835e-04 9.99936385e-01 2.42625445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.237628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:245.58, Y:-138.78, Z:0.24 [[ 6.96256930e-01 7.17751232e-01 7.71077867e-03 2.45584893e+02] [-7.17704048e-01 6.96299598e-01 -8.23227816e-03 -1.38778491e+02] [-1.12777399e-02 1.97723654e-04 9.99936385e-01 2.42108657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.297628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:245.63, Y:-138.83, Z:0.24 [[ 6.97640023e-01 7.16406990e-01 7.70860893e-03 2.45627160e+02] [-7.16359701e-01 6.97682574e-01 -8.23430938e-03 -1.38825660e+02] [-1.12772789e-02 2.22446992e-04 9.99936385e-01 2.42016996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.67, Y:-138.87, Z:0.24 [[ 6.97380309e-01 7.16659834e-01 7.70631806e-03 2.45668944e+02] [-7.16612537e-01 6.97422851e-01 -8.23645280e-03 -1.38871461e+02] [-1.12772972e-02 2.21495868e-04 9.99936385e-01 2.43687144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:-138.92, Z:0.25 [[ 6.93548880e-01 7.20368374e-01 7.70431249e-03 2.45710333e+02] [-7.20321283e-01 6.93591651e-01 -8.23832837e-03 -1.38917172e+02] [-1.12782780e-02 1.64103162e-04 9.99936385e-01 2.46665239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:-138.96, Z:0.25 [[ 6.87061097e-01 7.26558822e-01 7.70238559e-03 2.45751752e+02] [-7.26512097e-01 6.87104267e-01 -8.24012952e-03 -1.38963953e+02] [-1.12792808e-02 6.55961233e-05 9.99936385e-01 2.48322227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.537628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:245.80, Y:-139.01, Z:0.25 [[ 6.82378503e-01 7.30958472e-01 7.70004417e-03 2.45795393e+02] [-7.30912000e-01 6.82421946e-01 -8.24231690e-03 -1.39008966e+02] [-1.12794705e-02 -3.67481844e-06 9.99936385e-01 2.45029752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:-139.05, Z:0.24 [[ 6.77342826e-01 7.35627244e-01 7.69770703e-03 2.45838181e+02] [-7.35581047e-01 6.77386560e-01 -8.24449903e-03 -1.39053018e+02] [-1.12792014e-02 -7.79351284e-05 9.99936385e-01 2.44719937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:-139.10, Z:0.25 [[ 6.78527165e-01 7.34534997e-01 7.69583989e-03 2.45877991e+02] [-7.34488709e-01 6.78570804e-01 -8.24624155e-03 -1.39102465e+02] [-1.12793253e-02 -5.72086125e-05 9.99936385e-01 2.46397200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:-139.15, Z:0.25 [[ 6.79726103e-01 7.33425685e-01 7.69351367e-03 2.45919201e+02] [-7.33379301e-01 6.79769640e-01 -8.24841128e-03 -1.39149518e+02] [-1.12794137e-02 -3.56032229e-05 9.99936385e-01 2.46926750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.96, Y:-139.20, Z:0.25 [[ 6.83964932e-01 7.29474344e-01 7.69114536e-03 2.45957638e+02] [-7.29427684e-01 6.84008173e-01 -8.25061899e-03 -1.39198352e+02] [-1.12794212e-02 3.29997034e-05 9.99936385e-01 2.47593081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:-139.25, Z:0.25 [[ 6.85791939e-01 7.27757031e-01 7.68895905e-03 2.45999918e+02] [-7.27710241e-01 6.85835038e-01 -8.25265597e-03 -1.39245432e+02] [-1.12792859e-02 6.42706927e-05 9.99936385e-01 2.46943875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.04, Y:-139.29, Z:0.25 [[ 6.85832877e-01 7.27718476e-01 7.68662041e-03 2.46044797e+02] [-7.27671659e-01 6.85875947e-01 -8.25483363e-03 -1.39290182e+02] [-1.12792630e-02 6.81004672e-05 9.99936385e-01 2.45213459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:-139.34, Z:0.24 [[ 6.85572055e-01 7.27964222e-01 7.68428490e-03 2.46088645e+02] [-7.27917396e-01 6.85615116e-01 -8.25700715e-03 -1.39335493e+02] [-1.12792677e-02 6.72487095e-05 9.99936385e-01 2.43141460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.13, Y:-139.38, Z:0.24 [[ 6.86225018e-01 7.27348756e-01 7.68193229e-03 2.46132047e+02] [-7.27301866e-01 6.86268010e-01 -8.25919532e-03 -1.39379899e+02] [-1.12791798e-02 8.05827632e-05 9.99936385e-01 2.42458632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:-139.42, Z:0.24 [[ 6.86445854e-01 7.27140366e-01 7.67976129e-03 2.46176485e+02] [-7.27093440e-01 6.86488806e-01 -8.26121352e-03 -1.39424582e+02] [-1.12791320e-02 8.69717088e-05 9.99936385e-01 2.42306079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.22, Y:-139.47, Z:0.24 [[ 6.84982698e-01 7.28518882e-01 7.67737891e-03 2.46219103e+02] [-7.28472018e-01 6.85025718e-01 -8.26342694e-03 -1.39468829e+02] [-1.12792646e-02 6.75487674e-05 9.99936385e-01 2.39764327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.26, Y:-139.51, Z:0.24 [[ 6.84201563e-01 7.29252563e-01 7.67591240e-03 2.46262665e+02] [-7.29205731e-01 6.84244617e-01 -8.26478896e-03 -1.39514858e+02] [-1.12793203e-02 5.74622168e-05 9.99936385e-01 2.37270156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:246.31, Y:-139.56, Z:0.23 [[ 6.84898673e-01 7.28597916e-01 7.67358293e-03 2.46305367e+02] [-7.28551018e-01 6.84941656e-01 -8.26695123e-03 -1.39561594e+02] [-1.12792400e-02 7.14272705e-05 9.99936385e-01 2.32228973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.35, Y:-139.61, Z:0.23 [[ 6.86156526e-01 7.27413482e-01 7.67126280e-03 2.46346858e+02] [-7.27366486e-01 6.86199400e-01 -8.26910362e-03 -1.39609335e+02] [-1.12790734e-02 9.40799492e-05 9.99936385e-01 2.34252356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.39, Y:-139.66, Z:0.23 [[ 6.85932824e-01 7.27624456e-01 7.66893951e-03 2.46387953e+02] [-7.27577448e-01 6.85975687e-01 -8.27125772e-03 -1.39657373e+02] [-1.12790754e-02 9.37797237e-05 9.99936385e-01 2.34846184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.43, Y:-139.70, Z:0.23 [[ 6.84701667e-01 7.28783130e-01 7.66662128e-03 2.46430522e+02] [-7.28736171e-01 6.84744583e-01 -8.27340594e-03 -1.39703283e+02] [-1.12791961e-02 7.78706042e-05 9.99936385e-01 2.34068686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.47, Y:-139.75, Z:0.23 [[ 6.84222991e-01 7.29232581e-01 7.66428938e-03 2.46474047e+02] [-7.29185626e-01 6.84265912e-01 -8.27556558e-03 -1.39747488e+02] [-1.12792240e-02 7.36425891e-05 9.99936385e-01 2.32840724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.52, Y:-139.79, Z:0.23 [[ 6.85419019e-01 7.28108549e-01 7.66213427e-03 2.46516367e+02] [-7.28061502e-01 6.85461838e-01 -8.27756046e-03 -1.39793559e+02] [-1.12790632e-02 9.50923870e-05 9.99936385e-01 2.33213087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.56, Y:-139.84, Z:0.23 [[ 6.89433253e-01 7.24308717e-01 7.65983331e-03 2.46559829e+02] [-7.24261410e-01 6.89475784e-01 -8.27968917e-03 -1.39839589e+02] [-1.12783206e-02 1.60571365e-04 9.99936385e-01 2.32507918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.60, Y:-139.89, Z:0.23 [[ 6.92913980e-01 7.20979596e-01 7.65750080e-03 2.46602848e+02] [-7.20932061e-01 6.92956257e-01 -8.28184584e-03 -1.39885577e+02] [-1.12773550e-02 2.18068933e-04 9.99936385e-01 2.30092250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.65, Y:-139.93, Z:0.22 [[ 6.96020400e-01 7.17981199e-01 7.65511368e-03 2.46645920e+02] [-7.17933458e-01 6.96062443e-01 -8.28405172e-03 -1.39930299e+02] [-1.12762305e-02 2.70006761e-04 9.99936385e-01 2.24442685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.797628 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:246.69, Y:-139.98, Z:0.22 [[ 6.96658156e-01 7.17362424e-01 7.65291309e-03 2.46689261e+02] [-7.17314623e-01 6.96700131e-01 -8.28608416e-03 -1.39975165e+02] [-1.12759110e-02 2.83021642e-04 9.99936385e-01 2.18600875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.73, Y:-140.02, Z:0.22 [[ 6.92825921e-01 7.21064288e-01 7.65084083e-03 2.46732413e+02] [-7.21016690e-01 6.92868127e-01 -8.28799711e-03 -1.40020027e+02] [-1.12772025e-02 2.25755305e-04 9.99936385e-01 2.20386032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.78, Y:-140.06, Z:0.22 [[ 6.84681545e-01 7.28802223e-01 7.64865347e-03 2.46777482e+02] [-7.28755079e-01 6.84724258e-01 -8.29001524e-03 -1.40063967e+02] [-1.12790001e-02 1.02025377e-04 9.99936385e-01 2.20400547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.82, Y:-140.11, Z:0.22 [[ 6.75787698e-01 7.37056661e-01 7.64633365e-03 2.46821566e+02] [-7.37010015e-01 6.75830954e-01 -8.29215438e-03 -1.40108989e+02] [-1.12794166e-02 -3.16885581e-05 9.99936385e-01 2.22058821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.86, Y:-140.15, Z:0.22 [[ 6.71736695e-01 7.40750553e-01 7.64401520e-03 2.46864204e+02] [-7.40704120e-01 6.71780180e-01 -8.29429107e-03 -1.40154597e+02] [-1.12790986e-02 -9.03738786e-05 9.99936385e-01 2.21016038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.91, Y:-140.20, Z:0.22 [[ 6.69768523e-01 7.42530626e-01 7.64164553e-03 2.46905297e+02] [-7.42484285e-01 6.69812105e-01 -8.29647370e-03 -1.40202671e+02] [-1.12788525e-02 -1.17084776e-04 9.99936385e-01 2.19531599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.94, Y:-140.25, Z:0.22 [[ 6.72635928e-01 7.39934152e-01 7.63927524e-03 2.46943342e+02] [-7.39887618e-01 6.72679304e-01 -8.29865566e-03 -1.40251837e+02] [-1.12792411e-02 -7.02312078e-05 9.99936385e-01 2.17722479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.98, Y:-140.30, Z:0.22 [[ 6.77263525e-01 7.35700878e-01 7.63781436e-03 2.46982750e+02] [-7.35654057e-01 6.77306591e-01 -8.29999999e-03 -1.40301232e+02] [-1.12794593e-02 2.49813020e-06 9.99936385e-01 2.15574580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.03, Y:-140.35, Z:0.21 [[ 6.79969722e-01 7.33200435e-01 7.63542261e-03 2.47027078e+02] [-7.33153431e-01 6.80012588e-01 -8.30219964e-03 -1.40345914e+02] [-1.12793599e-02 4.73080992e-05 9.99936385e-01 2.14781467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:-140.39, Z:0.21 [[ 6.82790256e-01 7.30574570e-01 7.63305306e-03 2.47071658e+02] [-7.30527377e-01 6.82832914e-01 -8.30437765e-03 -1.40390983e+02] [-1.12790670e-02 9.39939109e-05 9.99936385e-01 2.13451667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.11, Y:-140.44, Z:0.21 [[ 6.85091204e-01 7.28417336e-01 7.63069977e-03 2.47114508e+02] [-7.28369984e-01 6.85133686e-01 -8.30653946e-03 -1.40436497e+02] [-1.12786768e-02 1.32764449e-04 9.99936385e-01 2.14350778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.16, Y:-140.48, Z:0.21 [[ 6.85839966e-01 7.27712409e-01 7.62834906e-03 2.47160143e+02] [-7.27664990e-01 6.85882372e-01 -8.30869770e-03 -1.40480206e+02] [-1.12784926e-02 1.47554404e-04 9.99936385e-01 2.12740700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:-140.53, Z:0.21 [[ 6.87820904e-01 7.25840374e-01 7.62599630e-03 2.47203356e+02] [-7.25792816e-01 6.87863154e-01 -8.31085657e-03 -1.40525897e+02] [-1.12779971e-02 1.81487554e-04 9.99936385e-01 2.13312590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:-140.57, Z:0.21 [[ 6.92438269e-01 7.21436847e-01 7.62362308e-03 2.47246467e+02] [-7.21388996e-01 6.92480188e-01 -8.31303297e-03 -1.40570867e+02] [-1.12765362e-02 2.56664364e-04 9.99936385e-01 2.13871545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:-140.62, Z:0.21 [[ 6.94611759e-01 7.19344436e-01 7.62143603e-03 2.47289611e+02] [-7.19296437e-01 6.94653508e-01 -8.31503759e-03 -1.40616448e+02] [-1.12756333e-02 2.93651105e-04 9.99936385e-01 2.13386890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.33, Y:-140.66, Z:0.21 [[ 6.95808853e-01 7.18186598e-01 7.61908349e-03 2.47334008e+02] [-7.18138506e-01 6.95850494e-01 -8.31719267e-03 -1.40661238e+02] [-1.12750393e-02 3.15619051e-04 9.99936385e-01 2.11877235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.38, Y:-140.70, Z:0.21 [[ 6.96614063e-01 7.17405626e-01 7.61674357e-03 2.47379586e+02] [-7.17357464e-01 6.96655624e-01 -8.31933498e-03 -1.40704701e+02] [-1.12745850e-02 3.31437894e-04 9.99936385e-01 2.09124971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.42, Y:-140.75, Z:0.21 [[ 6.94356987e-01 7.19590436e-01 7.61438838e-03 2.47424461e+02] [-7.19542381e-01 6.94398671e-01 -8.32149004e-03 -1.40748750e+02] [-1.12754858e-02 2.99209600e-04 9.99936385e-01 2.08758402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-140.79, Z:0.20 [[ 6.94337600e-01 7.19609168e-01 7.61202764e-03 2.47474017e+02] [-7.19561090e-01 6.94379259e-01 -8.32364895e-03 -1.40787746e+02] [-1.12754082e-02 3.02103534e-04 9.99936385e-01 2.03673018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.51, Y:-140.83, Z:0.21 [[ 6.78528057e-01 7.34535068e-01 7.60985764e-03 2.47513252e+02] [-7.34487885e-01 6.78570726e-01 -8.32563240e-03 -1.40834851e+02] [-1.12792956e-02 5.98269339e-05 9.99936385e-01 2.10167872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.56, Y:-140.88, Z:0.21 [[ 6.67966071e-01 7.44152839e-01 7.60788467e-03 2.47558223e+02] [-7.44106250e-01 6.68009388e-01 -8.32743489e-03 -1.40878826e+02] [-1.12790227e-02 -9.86305681e-05 9.99936385e-01 2.07382760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:247.60, Y:-140.93, Z:0.20 [[ 6.62108313e-01 7.49369560e-01 7.60554443e-03 2.47599744e+02] [-7.49323288e-01 6.62151968e-01 -8.32957171e-03 -1.40925529e+02] [-1.12779537e-02 -1.83932890e-04 9.99936385e-01 2.02597490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.64, Y:-140.97, Z:0.20 [[ 6.60390926e-01 7.50883491e-01 7.60320044e-03 2.47640236e+02] [-7.50837294e-01 6.60434661e-01 -8.33171073e-03 -1.40974230e+02] [-1.12775611e-02 -2.06580280e-04 9.99936385e-01 2.02826307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.68, Y:-141.02, Z:0.20 [[ 6.61214638e-01 7.50158270e-01 7.60080884e-03 2.47676726e+02] [-7.50112000e-01 6.61258296e-01 -8.33389197e-03 -1.41024062e+02] [-1.12778359e-02 -1.90966557e-04 9.99936385e-01 1.99332299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.71, Y:-141.07, Z:0.19 [[ 6.64379941e-01 7.47356378e-01 7.59860293e-03 2.47713309e+02] [-7.47309901e-01 6.64423378e-01 -8.33590277e-03 -1.41074093e+02] [-1.12785795e-02 -1.40304612e-04 9.99936385e-01 1.94309714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.297628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:247.75, Y:-141.12, Z:0.19 [[ 6.67334433e-01 7.44719442e-01 7.59645258e-03 2.47751466e+02] [-7.44672772e-01 6.67377662e-01 -8.33786191e-03 -1.41124404e+02] [-1.12790706e-02 -9.27290409e-05 9.99936385e-01 1.88538313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.79, Y:-141.18, Z:0.19 [[ 6.69801786e-01 7.42501109e-01 7.59411740e-03 2.47788474e+02] [-7.42454271e-01 6.69844833e-01 -8.33998824e-03 -1.41176443e+02] [-1.12793308e-02 -5.21458712e-05 9.99936385e-01 1.93437333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.83, Y:-141.22, Z:0.19 [[ 6.69231156e-01 7.43015495e-01 7.59173262e-03 2.47832883e+02] [-7.42968665e-01 6.69274213e-01 -8.34215850e-03 -1.41219412e+02] [-1.12793039e-02 -5.75870746e-05 9.99936385e-01 1.94644315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.88, Y:-141.26, Z:0.19 [[ 6.68903586e-01 7.43310428e-01 7.58953046e-03 2.47878023e+02] [-7.43263594e-01 6.68946638e-01 -8.34416150e-03 -1.41263307e+02] [-1.12792931e-02 -5.95821415e-05 9.99936385e-01 1.93121090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.92, Y:-141.31, Z:0.19 [[ 6.69814321e-01 7.42489873e-01 7.58713408e-03 2.47918709e+02] [-7.42442962e-01 6.69857289e-01 -8.34633990e-03 -1.41309578e+02] [-1.12793699e-02 -4.25163051e-05 9.99936385e-01 1.91882665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.597628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-141.36, Z:0.19 [[ 6.73437852e-01 7.39204930e-01 7.58492294e-03 2.47957907e+02] [-7.39157787e-01 6.73480565e-01 -8.34834884e-03 -1.41358285e+02] [-1.12794388e-02 1.56392554e-05 9.99936385e-01 1.87267190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.00, Y:-141.41, Z:0.19 [[ 6.73102570e-01 7.39510267e-01 7.58255575e-03 2.47999438e+02] [-7.39463119e-01 6.73145277e-01 -8.35049833e-03 -1.41405092e+02] [-1.12794408e-02 1.37215508e-05 9.99936385e-01 1.86352439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.04, Y:-141.45, Z:0.19 [[ 6.71230915e-01 7.41209552e-01 7.58020330e-03 2.48042939e+02] [-7.41162488e-01 6.71273715e-01 -8.35263323e-03 -1.41450734e+02] [-1.12794428e-02 -1.16166940e-05 9.99936385e-01 1.87418329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.09, Y:-141.49, Z:0.19 [[ 6.69621317e-01 7.42664035e-01 7.57782671e-03 2.48087528e+02] [-7.42617039e-01 6.69664193e-01 -8.35478881e-03 -1.41494882e+02] [-1.12794004e-02 -3.28785412e-05 9.99936385e-01 1.89416100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.13, Y:-141.54, Z:0.19 [[ 6.70727153e-01 7.41665490e-01 7.57543443e-03 2.48128516e+02] [-7.41618406e-01 6.70769931e-01 -8.35695737e-03 -1.41541011e+02] [-1.12794405e-02 -1.28433904e-05 9.99936385e-01 1.91265501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.17, Y:-141.59, Z:0.19 [[ 6.75467601e-01 7.37350776e-01 7.57322294e-03 2.48169091e+02] [-7.37303396e-01 6.75510051e-01 -8.35896098e-03 -1.41588814e+02] [-1.12792746e-02 6.24443198e-05 9.99936385e-01 1.92667771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.21, Y:-141.63, Z:0.19 [[ 6.77245403e-01 7.35718235e-01 7.57248555e-03 2.48210417e+02] [-7.35670746e-01 6.77287730e-01 -8.35962893e-03 -1.41634939e+02] [-1.12790830e-02 9.06641667e-05 9.99936385e-01 1.92358517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:-141.68, Z:0.19 [[ 6.75788485e-01 7.37056723e-01 7.57043319e-03 2.48252262e+02] [-7.37009296e-01 6.75830883e-01 -8.36148713e-03 -1.41681398e+02] [-1.12792228e-02 7.11170824e-05 9.99936385e-01 1.91102437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.30, Y:-141.73, Z:0.19 [[ 6.73872251e-01 7.38809119e-01 7.56805966e-03 2.48296027e+02] [-7.38761779e-01 6.73914745e-01 -8.36363488e-03 -1.41725363e+02] [-1.12793567e-02 4.50282518e-05 9.99936385e-01 1.86671869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.34, Y:-141.77, Z:0.18 [[ 6.72617923e-01 7.39951272e-01 7.56600768e-03 2.48338938e+02] [-7.39903983e-01 6.72660475e-01 -8.36549076e-03 -1.41771536e+02] [-1.12794098e-02 2.86598022e-05 9.99936385e-01 1.83074288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.38, Y:-141.82, Z:0.18 [[ 6.71514168e-01 7.40953112e-01 7.56361294e-03 2.48381341e+02] [-7.40905862e-01 6.71556763e-01 -8.36765538e-03 -1.41818128e+02] [-1.12794357e-02 1.50739776e-05 9.99936385e-01 1.80255553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.42, Y:-141.86, Z:0.18 [[ 6.71198165e-01 7.41239402e-01 7.56123207e-03 2.48423498e+02] [-7.41192146e-01 6.71240753e-01 -8.36980625e-03 -1.41863420e+02] [-1.12794373e-02 1.34727677e-05 9.99936385e-01 1.78123956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.47, Y:-141.91, Z:0.18 [[ 6.71092181e-01 7.41335372e-01 7.55976459e-03 2.48465168e+02] [-7.41288108e-01 6.71134759e-01 -8.37113150e-03 -1.41910866e+02] [-1.12794367e-02 1.38373047e-05 9.99936385e-01 1.77781399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.51, Y:-141.96, Z:0.18 [[ 6.70387513e-01 7.41972686e-01 7.55743706e-03 2.48506442e+02] [-7.41925438e-01 6.70430110e-01 -8.37323225e-03 -1.41958399e+02] [-1.12794430e-02 6.25554295e-06 9.99936385e-01 1.78836583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:248.55, Y:-142.00, Z:0.18 [[ 6.68048889e-01 7.44079029e-01 7.55512902e-03 2.48548050e+02] [-7.44031892e-01 6.68091608e-01 -8.37531427e-03 -1.42003713e+02] [-1.12794140e-02 -2.61375513e-05 9.99936385e-01 1.75160544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49762799999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:248.59, Y:-142.05, Z:0.17 [[ 6.67195181e-01 7.44844637e-01 7.55370446e-03 2.48590113e+02] [-7.44797534e-01 6.67237938e-01 -8.37659889e-03 -1.42049671e+02] [-1.12793829e-02 -3.71540477e-05 9.99936385e-01 1.70829953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.63, Y:-142.10, Z:0.17 [[ 6.66887062e-01 7.45120533e-01 7.55230335e-03 2.48631447e+02] [-7.45073434e-01 6.66929824e-01 -8.37786193e-03 -1.42097156e+02] [-1.12793733e-02 -3.99328550e-05 9.99936385e-01 1.72064122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.67, Y:-142.14, Z:0.17 [[ 6.66160177e-01 7.45770486e-01 7.54990655e-03 2.48672356e+02] [-7.45723404e-01 6.66202957e-01 -8.38002131e-03 -1.42143665e+02] [-1.12793426e-02 -4.77055374e-05 9.99936385e-01 1.69000718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67762799999997 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:248.71, Y:-142.19, Z:0.16 [[ 6.64619136e-01 7.47144186e-01 7.54780747e-03 2.48714974e+02] [-7.47097171e-01 6.64661989e-01 -8.38191151e-03 -1.42188023e+02] [-1.12792372e-02 -6.81668282e-05 9.99936385e-01 1.62718141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.737628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:248.76, Y:-142.23, Z:0.16 [[ 6.66036910e-01 7.45880618e-01 7.54573993e-03 2.48758478e+02] [-7.45833501e-01 6.66079651e-01 -8.38377237e-03 -1.42232844e+02] [-1.12793571e-02 -4.39637830e-05 9.99936385e-01 1.60718799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.797628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:248.80, Y:-142.28, Z:0.16 [[ 6.71749255e-01 7.40740192e-01 7.54365086e-03 2.48799697e+02] [-7.40692726e-01 6.71791609e-01 -8.38565168e-03 -1.42278713e+02] [-1.12793506e-02 4.55279546e-05 9.99936385e-01 1.61239701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.84, Y:-142.33, Z:0.17 [[ 6.80821110e-01 7.32410911e-01 7.54144419e-03 2.48840661e+02] [-7.32362906e-01 6.80862851e-01 -8.38763573e-03 -1.42325288e+02] [-1.12778851e-02 1.87405480e-04 9.99936385e-01 1.67479615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.88, Y:-142.37, Z:0.17 [[ 6.87503463e-01 7.26141960e-01 7.53940634e-03 2.48883485e+02] [-7.26093554e-01 6.87544739e-01 -8.38946709e-03 -1.42371261e+02] [-1.12756232e-02 2.93473336e-04 9.99936385e-01 1.66739275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.92, Y:-142.42, Z:0.17 [[ 6.92946851e-01 7.20949272e-01 7.53709383e-03 2.48924657e+02] [-7.20900535e-01 6.92987735e-01 -8.39154414e-03 -1.42417649e+02] [-1.12729912e-02 3.81399118e-04 9.99936385e-01 1.66055238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.97, Y:-142.46, Z:0.17 [[ 6.90705571e-01 7.23096839e-01 7.53496045e-03 2.48965991e+02] [-7.23048207e-01 6.90746582e-01 -8.39345931e-03 -1.42464902e+02] [-1.12740321e-02 3.49269462e-04 9.99936385e-01 1.66125011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.01, Y:-142.51, Z:0.16 [[ 6.82288199e-01 7.31044507e-01 7.53272623e-03 2.49010138e+02] [-7.30996332e-01 6.82329744e-01 -8.39546394e-03 -1.42507232e+02] [-1.12772610e-02 2.21730728e-04 9.99936385e-01 1.62071309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.05, Y:-142.55, Z:0.16 [[ 6.69565035e-01 7.42715255e-01 7.53093943e-03 2.49053623e+02] [-7.42667785e-01 6.69607385e-01 -8.39706644e-03 -1.42553043e+02] [-1.12794020e-02 2.93959726e-05 9.99936385e-01 1.63825817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.10, Y:-142.60, Z:0.17 [[ 6.61840495e-01 7.49606883e-01 7.52864186e-03 2.49096851e+02] [-7.49559831e-01 6.61883309e-01 -8.39912589e-03 -1.42598803e+02] [-1.12791250e-02 -8.42858786e-05 9.99936385e-01 1.65165043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.14, Y:-142.64, Z:0.17 [[ 6.55094166e-01 7.55509755e-01 7.52625528e-03 2.49139917e+02] [-7.55463064e-01 6.55137373e-01 -8.40126390e-03 -1.42643483e+02] [-1.12779679e-02 -1.82188906e-04 9.99936385e-01 1.66060360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.18, Y:-142.69, Z:0.17 [[ 6.55389363e-01 7.55253712e-01 7.52418205e-03 2.49179759e+02] [-7.55206984e-01 6.55432528e-01 -8.40312028e-03 -1.42691182e+02] [-1.12780815e-02 -1.74999185e-04 9.99936385e-01 1.67524965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:-142.74, Z:0.17 [[ 6.58375029e-01 7.52652469e-01 7.52210322e-03 2.49218864e+02] [-7.52605549e-01 6.58417986e-01 -8.40498074e-03 -1.42740463e+02] [-1.12787176e-02 -1.27547186e-04 9.99936385e-01 1.66609184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.26, Y:-142.79, Z:0.16 [[ 6.60090948e-01 7.51148050e-01 7.51975010e-03 2.49259091e+02] [-7.51101008e-01 6.60133772e-01 -8.40708550e-03 -1.42787719e+02] [-1.12790069e-02 -9.86508398e-05 9.99936385e-01 1.60150766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:-142.84, Z:0.16 [[ 6.61896708e-01 7.49557357e-01 7.51770118e-03 2.49299025e+02] [-7.49510191e-01 6.61939395e-01 -8.40891727e-03 -1.42835687e+02] [-1.12792284e-02 -6.87589921e-05 9.99936385e-01 1.57298211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:-142.88, Z:0.16 [[ 6.67140088e-01 7.44894367e-01 7.51565091e-03 2.49339686e+02] [-7.44846882e-01 6.67182420e-01 -8.41074934e-03 -1.42884316e+02] [-1.12794300e-02 1.31389061e-05 9.99936385e-01 1.57332914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.38, Y:-142.93, Z:0.16 [[ 6.72069670e-01 7.40449802e-01 7.51327452e-03 2.49379541e+02] [-7.40402013e-01 6.72111660e-01 -8.41287162e-03 -1.42931398e+02] [-1.12790685e-02 9.11922841e-05 9.99936385e-01 1.59796548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:-142.98, Z:0.16 [[ 6.74499463e-01 7.38237126e-01 7.51136926e-03 2.49422450e+02] [-7.38189181e-01 6.74541273e-01 -8.41457237e-03 -1.42978069e+02] [-1.12786783e-02 1.30813022e-04 9.99936385e-01 1.60545800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.46, Y:-143.02, Z:0.16 [[ 6.74658353e-01 7.38091947e-01 7.50903778e-03 2.49464500e+02] [-7.38043969e-01 6.74700126e-01 -8.41665244e-03 -1.43024415e+02] [-1.12786121e-02 1.36364819e-04 9.99936385e-01 1.58990179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:249.51, Y:-143.07, Z:0.15 [[ 6.75313909e-01 7.37492219e-01 7.50672579e-03 2.49507271e+02] [-7.37444182e-01 6.75355613e-01 -8.41871397e-03 -1.43069616e+02] [-1.12784455e-02 1.49483379e-04 9.99936385e-01 1.53440594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.55, Y:-143.12, Z:0.15 [[ 6.74634042e-01 7.38114212e-01 7.50465939e-03 2.49550311e+02] [-7.38066192e-01 6.74675767e-01 -8.42055562e-03 -1.43115222e+02] [-1.12785436e-02 1.41858094e-04 9.99936385e-01 1.54475015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.59, Y:-143.16, Z:0.16 [[ 6.73760390e-01 7.38911803e-01 7.50228982e-03 2.49592523e+02] [-7.38863810e-01 6.73802144e-01 -8.42266626e-03 -1.43161693e+02] [-1.12786665e-02 1.31688464e-04 9.99936385e-01 1.55913812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.63, Y:-143.21, Z:0.16 [[ 6.71265752e-01 7.41178818e-01 7.49990861e-03 2.49634287e+02] [-7.41130942e-01 6.71307642e-01 -8.42478605e-03 -1.43206068e+02] [-1.12790189e-02 9.68560132e-05 9.99936385e-01 1.57412131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:-143.25, Z:0.16 [[ 6.66626198e-01 7.45354466e-01 7.49879608e-03 2.49675818e+02] [-7.45306841e-01 6.66668373e-01 -8.42577619e-03 -1.43250263e+02] [-1.12794001e-02 2.79391300e-05 9.99936385e-01 1.57533921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.72, Y:-143.30, Z:0.16 [[ 6.60570084e-01 7.50726945e-01 7.49780474e-03 2.49717285e+02] [-7.50679653e-01 6.60612632e-01 -8.42665825e-03 -1.43297652e+02] [-1.12792639e-02 -6.20511054e-05 9.99936385e-01 1.58126431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.76, Y:-143.34, Z:0.16 [[ 6.57882367e-01 7.53083400e-01 7.49558881e-03 2.49760516e+02] [-7.53036238e-01 6.57925059e-01 -8.42862888e-03 -1.43343816e+02] [-1.12789962e-02 -9.94036813e-05 9.99936385e-01 1.57611866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.80, Y:-143.39, Z:0.16 [[ 6.55380980e-01 7.55261295e-01 7.49318647e-03 2.49802796e+02] [-7.55214250e-01 6.55423801e-01 -8.43076406e-03 -1.43390945e+02] [-1.12786425e-02 -1.33598785e-04 9.99936385e-01 1.56795360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.84, Y:-143.44, Z:0.16 [[ 6.53645101e-01 7.56764144e-01 7.49081461e-03 2.49842480e+02] [-7.56717173e-01 6.53688004e-01 -8.43287095e-03 -1.43439170e+02] [-1.12783500e-02 -1.56323270e-04 9.99936385e-01 1.56242107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.88, Y:-143.49, Z:0.15 [[ 6.53614858e-01 7.56790288e-01 7.48847784e-03 2.49882533e+02] [-7.56743295e-01 6.53657737e-01 -8.43494552e-03 -1.43487253e+02] [-1.12783863e-02 -1.53649676e-04 9.99936385e-01 1.54081632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:-143.53, Z:0.15 [[ 6.55004343e-01 7.55588028e-01 7.48611633e-03 2.49922712e+02] [-7.55540933e-01 6.55047109e-01 -8.43704087e-03 -1.43534832e+02] [-1.12786859e-02 -1.29768903e-04 9.99936385e-01 1.49398559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:-143.58, Z:0.15 [[ 6.59707108e-01 7.51485542e-01 7.48408533e-03 2.49960949e+02] [-7.51438161e-01 6.59749556e-01 -8.43884208e-03 -1.43584386e+02] [-1.12792898e-02 -5.66632094e-05 9.99936385e-01 1.49386629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.00, Y:-143.63, Z:0.15 [[ 6.65786938e-01 7.46104392e-01 7.48263107e-03 2.49999198e+02] [-7.46056653e-01 6.65828983e-01 -8.44013136e-03 -1.43631684e+02] [-1.12793717e-02 3.68625262e-05 9.99936385e-01 1.46765072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.04, Y:-143.68, Z:0.15 [[ 6.67717471e-01 7.44377201e-01 7.48079031e-03 2.50042765e+02] [-7.44329334e-01 6.67759372e-01 -8.44176258e-03 -1.43677186e+02] [-1.12792234e-02 6.85406880e-05 9.99936385e-01 1.47734987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:-143.72, Z:0.15 [[ 6.69054675e-01 7.43175561e-01 7.47840056e-03 2.50086390e+02] [-7.43127596e-01 6.69096463e-01 -8.44387908e-03 -1.43722940e+02] [-1.12790559e-02 9.20109446e-05 9.99936385e-01 1.46815998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.13, Y:-143.77, Z:0.15 [[ 6.72463820e-01 7.40092237e-01 7.47603080e-03 2.50128730e+02] [-7.40044057e-01 6.72505360e-01 -8.44597670e-03 -1.43769631e+02] [-1.12784726e-02 1.47021593e-04 9.99936385e-01 1.46569966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.17, Y:-143.82, Z:0.15 [[ 6.75584791e-01 7.37244420e-01 7.47363535e-03 2.50171714e+02] [-7.37196042e-01 6.75626099e-01 -8.44809584e-03 -1.43815789e+02] [-1.12776946e-02 1.97870660e-04 9.99936385e-01 1.46168813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.22, Y:-143.86, Z:0.14 [[ 6.75557895e-01 7.37269090e-01 7.47124460e-03 2.50215099e+02] [-7.37220689e-01 6.75599178e-01 -8.45020962e-03 -1.43860006e+02] [-1.12776451e-02 2.00649735e-04 9.99936385e-01 1.43191920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.26, Y:-143.91, Z:0.14 [[ 6.74173452e-01 7.38535286e-01 7.46916582e-03 2.50257427e+02] [-7.38486943e-01 6.74214801e-01 -8.45204666e-03 -1.43906844e+02] [-1.12779568e-02 1.82264033e-04 9.99936385e-01 1.43845096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.30, Y:-143.95, Z:0.14 [[ 6.71152246e-01 7.41281937e-01 7.46677513e-03 2.50299811e+02] [-7.41233740e-01 6.71193765e-01 -8.45415813e-03 -1.43950773e+02] [-1.12785676e-02 1.39401558e-04 9.99936385e-01 1.44858662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:-144.00, Z:0.15 [[ 6.65008036e-01 7.46798894e-01 7.46486268e-03 2.50342379e+02] [-7.46751022e-01 6.65049930e-01 -8.45584645e-03 -1.43996274e+02] [-1.12793232e-02 4.88120036e-05 9.99936385e-01 1.46637699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.38, Y:-144.04, Z:0.15 [[ 6.59719438e-01 7.51474930e-01 7.46274751e-03 2.50382395e+02] [-7.51427334e-01 6.59761646e-01 -8.45771280e-03 -1.44042761e+02] [-1.12793937e-02 -2.79949267e-05 9.99936385e-01 1.47528362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.42, Y:-144.09, Z:0.15 [[ 6.56968368e-01 7.53881216e-01 7.46159439e-03 2.50422439e+02] [-7.53833763e-01 6.57010736e-01 -8.45872999e-03 -1.44090940e+02] [-1.12792253e-02 -6.76837409e-05 9.99936385e-01 1.48053428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.46, Y:-144.14, Z:0.15 [[ 6.53582433e-01 7.56818580e-01 7.45922220e-03 2.50461447e+02] [-7.56771294e-01 6.53624987e-01 -8.46082135e-03 -1.44140802e+02] [-1.12788408e-02 -1.15081037e-04 9.99936385e-01 1.46978476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:-144.19, Z:0.14 [[ 6.51698865e-01 7.58441155e-01 7.45682461e-03 2.50499954e+02] [-7.58393950e-01 6.51741509e-01 -8.46293391e-03 -1.44189416e+02] [-1.12785595e-02 -1.39926252e-04 9.99936385e-01 1.43262290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.54, Y:-144.24, Z:0.14 [[ 6.53283981e-01 7.57076263e-01 7.45471868e-03 2.50537570e+02] [-7.57028948e-01 6.53326503e-01 -8.46478854e-03 -1.44237451e+02] [-1.12788558e-02 -1.13527087e-04 9.99936385e-01 1.39859327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:-144.29, Z:0.14 [[ 6.57098481e-01 7.53767897e-01 7.45279399e-03 2.50576624e+02] [-7.53720349e-01 6.57140742e-01 -8.46648279e-03 -1.44286245e+02] [-1.12792975e-02 -5.40095085e-05 9.99936385e-01 1.38181607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.62, Y:-144.33, Z:0.14 [[ 6.59033701e-01 7.52076504e-01 7.45071262e-03 2.50617965e+02] [-7.52028827e-01 6.59075816e-01 -8.46831405e-03 -1.44333864e+02] [-1.12794045e-02 -2.22463237e-05 9.99936385e-01 1.37321436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.66, Y:-144.38, Z:0.14 [[ 6.58661332e-01 7.52402666e-01 7.44836178e-03 2.50661742e+02] [-7.52354986e-01 6.58703444e-01 -8.47038124e-03 -1.44379698e+02] [-1.12793990e-02 -2.46995306e-05 9.99936385e-01 1.37657518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.71, Y:-144.42, Z:0.13 [[ 6.58404609e-01 7.52627350e-01 7.44598835e-03 2.50708669e+02] [-7.52579661e-01 6.58446711e-01 -8.47246713e-03 -1.44420963e+02] [-1.12793970e-02 -2.53879800e-05 9.99936385e-01 1.34403495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.75, Y:-144.47, Z:0.13 [[ 6.53177650e-01 7.57168110e-01 7.44379362e-03 2.50745920e+02] [-7.57120692e-01 6.53220057e-01 -8.47439494e-03 -1.44469235e+02] [-1.12789769e-02 -1.00564802e-04 9.99936385e-01 1.32481555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.79, Y:-144.52, Z:0.13 [[ 6.53079623e-01 7.57252683e-01 7.44179783e-03 2.50787090e+02] [-7.57205250e-01 6.53122013e-01 -8.47614719e-03 -1.44515529e+02] [-1.12789872e-02 -9.93693713e-05 9.99936385e-01 1.29384505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.737628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:250.83, Y:-144.56, Z:0.12 [[ 6.58144819e-01 7.52854600e-01 7.43970095e-03 2.50825938e+02] [-7.52806862e-01 6.58186867e-01 -8.47798727e-03 -1.44563157e+02] [-1.12794052e-02 -2.09145300e-05 9.99936385e-01 1.24468583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:-144.61, Z:0.13 [[ 6.61667241e-01 7.49760724e-01 7.43763888e-03 2.50866196e+02] [-7.49712770e-01 6.61709042e-01 -8.47979591e-03 -1.44612008e+02] [-1.12793708e-02 3.47103270e-05 9.99936385e-01 1.25896615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.90, Y:-144.66, Z:0.13 [[ 6.68644085e-01 7.43545428e-01 7.43532583e-03 2.50904604e+02] [-7.43497063e-01 6.68685409e-01 -8.48182357e-03 -1.44660937e+02] [-1.12785150e-02 1.43178247e-04 9.99936385e-01 1.31712372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.95, Y:-144.71, Z:0.14 [[ 6.74323509e-01 7.38398640e-01 7.43324997e-03 2.50945857e+02] [-7.38349940e-01 6.74364437e-01 -8.48364242e-03 -1.44707487e+02] [-1.12770295e-02 2.32379863e-04 9.99936385e-01 1.35669788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.99, Y:-144.75, Z:0.14 [[ 6.76360082e-01 7.36533650e-01 7.43117505e-03 2.50988362e+02] [-7.36484817e-01 6.76400851e-01 -8.48545953e-03 -1.44753611e+02] [-1.12762796e-02 2.66278507e-04 9.99936385e-01 1.36696951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.03, Y:-144.80, Z:0.14 [[ 6.79019545e-01 7.34082605e-01 7.42877226e-03 2.51032742e+02] [-7.34033601e-01 6.79060110e-01 -8.48756258e-03 -1.44798270e+02] [-1.12751550e-02 3.10252426e-04 9.99936385e-01 1.36035793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:-144.84, Z:0.13 [[ 6.82656609e-01 7.30701583e-01 7.42633989e-03 2.51079206e+02] [-7.30652356e-01 6.82696902e-01 -8.48969029e-03 -1.44839461e+02] [-1.12733694e-02 3.69470453e-04 9.99936385e-01 1.32650133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.12, Y:-144.89, Z:0.13 [[ 6.78917108e-01 7.34177392e-01 7.42412768e-03 2.51118691e+02] [-7.34128350e-01 6.78957626e-01 -8.49162440e-03 -1.44886679e+02] [-1.12750268e-02 3.14846482e-04 9.99936385e-01 1.29723852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:-144.93, Z:0.13 [[ 6.77510479e-01 7.35475673e-01 7.42196769e-03 2.51163429e+02] [-7.35426688e-01 6.77551066e-01 -8.49351189e-03 -1.44930476e+02] [-1.12755335e-02 2.96130191e-04 9.99936385e-01 1.29191781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.21, Y:-144.97, Z:0.13 [[ 6.78490485e-01 7.34571718e-01 7.41971705e-03 2.51209968e+02] [-7.34522658e-01 6.78530981e-01 -8.49547754e-03 -1.44972757e+02] [-1.12750454e-02 3.14150388e-04 9.99936385e-01 1.28832337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.25, Y:-145.02, Z:0.13 [[ 6.71409457e-01 7.41049473e-01 7.41753589e-03 2.51249138e+02] [-7.41000782e-01 6.71450397e-01 -8.49738151e-03 -1.45020384e+02] [-1.12774875e-02 2.08822409e-04 9.99936385e-01 1.31476879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.29, Y:-145.06, Z:0.13 [[ 6.62912853e-01 7.48659845e-01 7.41524661e-03 2.51294538e+02] [-7.48611602e-01 6.62954320e-01 -8.49937879e-03 -1.45062890e+02] [-1.12791134e-02 8.32077980e-05 9.99936385e-01 1.31222827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:-145.11, Z:0.13 [[ 6.55605023e-01 7.55067612e-01 7.41314541e-03 2.51337010e+02] [-7.55019754e-01 6.55646933e-01 -8.50121105e-03 -1.45108954e+02] [-1.12793952e-02 -2.36345560e-05 9.99936385e-01 1.32442265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:251.38, Y:-145.16, Z:0.13 [[ 6.46541982e-01 7.62842412e-01 7.41075957e-03 2.51379889e+02] [-7.62795034e-01 6.46584434e-01 -8.50329036e-03 -1.45155254e+02] [-1.12783523e-02 -1.55156396e-04 9.99936385e-01 1.30932674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:-145.20, Z:0.13 [[ 6.42030583e-01 7.66643233e-01 7.40831539e-03 2.51420236e+02] [-7.66596082e-01 6.42073286e-01 -8.50541927e-03 -1.45201805e+02] [-1.12773035e-02 -2.18446259e-04 9.99936385e-01 1.28266970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.46, Y:-145.25, Z:0.12 [[ 6.42328605e-01 7.66393576e-01 7.40605350e-03 2.51459450e+02] [-7.66346385e-01 6.42371265e-01 -8.50738834e-03 -1.45250241e+02] [-1.12774437e-02 -2.11063445e-04 9.99936385e-01 1.22988279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.50, Y:-145.30, Z:0.12 [[ 6.47166984e-01 7.62312322e-01 7.40392738e-03 2.51496307e+02] [-7.62264841e-01 6.47209321e-01 -8.50923829e-03 -1.45299840e+02] [-1.12785880e-02 -1.36855452e-04 9.99936385e-01 1.18472992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.53, Y:-145.35, Z:0.12 [[ 6.52978551e-01 7.57340231e-01 7.40182515e-03 2.51533550e+02] [-7.57292407e-01 6.53020499e-01 -8.51106653e-03 -1.45349276e+02] [-1.12793166e-02 -4.78021025e-05 9.99936385e-01 1.17216991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.57, Y:-145.40, Z:0.12 [[ 6.62749092e-01 7.48804965e-01 7.40034481e-03 2.51568643e+02] [-7.48756587e-01 6.62790400e-01 -8.51235349e-03 -1.45401409e+02] [-1.12789701e-02 1.00497622e-04 9.99936385e-01 1.19615803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:-145.45, Z:0.12 [[ 6.70165368e-01 7.42174943e-01 7.39829569e-03 2.51602513e+02] [-7.42126136e-01 6.70206168e-01 -8.51413405e-03 -1.45453905e+02] [-1.12773604e-02 2.15409186e-04 9.99936385e-01 1.24969397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:-145.50, Z:0.13 [[ 6.74169485e-01 7.38539640e-01 7.39627795e-03 2.51641553e+02] [-7.38490594e-01 6.74209998e-01 -8.51588652e-03 -1.45502959e+02] [-1.12759643e-02 2.79069133e-04 9.99936385e-01 1.25625528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.68, Y:-145.55, Z:0.12 [[ 6.75436087e-01 7.37381462e-01 7.39400248e-03 2.51682492e+02] [-7.37332325e-01 6.75476490e-01 -8.51786176e-03 -1.45550651e+02] [-1.12753882e-02 3.01434171e-04 9.99936385e-01 1.22017028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.72, Y:-145.60, Z:0.12 [[ 6.75716106e-01 7.37124893e-01 7.39164612e-03 2.51723353e+02] [-7.37075718e-01 6.75756463e-01 -8.51990607e-03 -1.45597635e+02] [-1.12751875e-02 3.08834880e-04 9.99936385e-01 1.20315836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.77, Y:-145.64, Z:0.12 [[ 6.75414226e-01 7.37401524e-01 7.39019509e-03 2.51765951e+02] [-7.37352352e-01 6.75454587e-01 -8.52116452e-03 -1.45642875e+02] [-1.12752609e-02 3.06138009e-04 9.99936385e-01 1.18171310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.81, Y:-145.69, Z:0.12 [[ 6.73449836e-01 7.39196006e-01 7.38809605e-03 2.51809857e+02] [-7.39146922e-01 6.73490302e-01 -8.52298406e-03 -1.45687683e+02] [-1.12759668e-02 2.78913761e-04 9.99936385e-01 1.17106839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.85, Y:-145.73, Z:0.12 [[ 6.68445246e-01 7.43724671e-01 7.38694837e-03 2.51851931e+02] [-7.43675850e-01 6.68486030e-01 -8.52397865e-03 -1.45731754e+02] [-1.12775650e-02 2.04317896e-04 9.99936385e-01 1.17757937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.90, Y:-145.78, Z:0.12 [[ 6.59319644e-01 7.51826489e-01 7.38501281e-03 2.51895346e+02] [-7.51778150e-01 6.59360998e-01 -8.52565525e-03 -1.45775785e+02] [-1.12792029e-02 6.92407147e-05 9.99936385e-01 1.21738329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.94, Y:-145.82, Z:0.12 [[ 6.51830257e-01 7.58328958e-01 7.38293409e-03 2.51938470e+02] [-7.58281012e-01 6.51872065e-01 -8.52745497e-03 -1.45821038e+02] [-1.12793445e-02 -3.98855667e-05 9.99936385e-01 1.22107165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.98, Y:-145.87, Z:0.12 [[ 6.43144974e-01 7.65708866e-01 7.38070403e-03 2.51979629e+02] [-7.65661377e-01 6.43187301e-01 -8.52938470e-03 -1.45868522e+02] [-1.12782006e-02 -1.65489111e-04 9.99936385e-01 1.22935944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.02, Y:-145.92, Z:0.12 [[ 6.40176798e-01 7.68192182e-01 7.37828046e-03 2.52020242e+02] [-7.68144833e-01 6.40219282e-01 -8.53148068e-03 -1.45915957e+02] [-1.12775342e-02 -2.05932029e-04 9.99936385e-01 1.21847096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.06, Y:-145.96, Z:0.12 [[ 6.42736826e-01 7.66051545e-01 7.37585212e-03 2.52060119e+02] [-7.66004031e-01 6.42779125e-01 -8.53357957e-03 -1.45964766e+02] [-1.12782056e-02 -1.65086604e-04 9.99936385e-01 1.18331963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.10, Y:-146.01, Z:0.12 [[ 6.45810497e-01 7.63462136e-01 7.37345720e-03 2.52099369e+02] [-7.63414429e-01 6.45852578e-01 -8.53564841e-03 -1.46013934e+02] [-1.12788107e-02 -1.16592269e-04 9.99936385e-01 1.17201888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.14, Y:-146.07, Z:0.12 [[ 6.50845252e-01 7.59174635e-01 7.37102436e-03 2.52137025e+02] [-7.59126626e-01 6.50886989e-01 -8.53774878e-03 -1.46065043e+02] [-1.12793462e-02 -3.87875984e-05 9.99936385e-01 1.15907602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.18, Y:-146.11, Z:0.11 [[ 6.54050112e-01 7.56415332e-01 7.36859633e-03 2.52176098e+02] [-7.56367124e-01 6.54091618e-01 -8.53984381e-03 -1.46114841e+02] [-1.12794059e-02 1.21217820e-05 9.99936385e-01 1.13963196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.21, Y:-146.17, Z:0.11 [[ 6.55736884e-01 7.54953560e-01 7.36620866e-03 2.52214847e+02] [-7.54905236e-01 6.55778256e-01 -8.54190284e-03 -1.46165095e+02] [-1.12793394e-02 4.04512674e-05 9.99936385e-01 1.13523544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.25, Y:-146.22, Z:0.12 [[ 6.55032998e-01 7.55564389e-01 7.36378395e-03 2.52253442e+02] [-7.55516080e-01 6.55074387e-01 -8.54399262e-03 -1.46215492e+02] [-1.12793628e-02 3.31399165e-05 9.99936385e-01 1.15497782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.29, Y:-146.26, Z:0.11 [[ 6.52804158e-01 7.57490952e-01 7.36131390e-03 2.52293935e+02] [-7.57442742e-01 6.52845661e-01 -8.54612024e-03 -1.46261018e+02] [-1.12794106e-02 3.16904479e-06 9.99936385e-01 1.11984168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.33, Y:-146.31, Z:0.11 [[ 6.51597787e-01 7.58528940e-01 7.36011650e-03 2.52333869e+02] [-7.58480783e-01 6.51639354e-01 -8.54715134e-03 -1.46308983e+02] [-1.12794032e-02 -1.32020350e-05 9.99936385e-01 1.09087906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.38, Y:-146.35, Z:0.11 [[ 6.51310495e-01 7.58775657e-01 7.35802791e-03 2.52375733e+02] [-7.58727496e-01 6.51352057e-01 -8.54894898e-03 -1.46354963e+02] [-1.12794010e-02 -1.47179024e-05 9.99936385e-01 1.06055916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.42, Y:-146.40, Z:0.10 [[ 6.51763556e-01 7.58386549e-01 7.35588897e-03 2.52417890e+02] [-7.58338342e-01 6.51805065e-01 -8.55078901e-03 -1.46399794e+02] [-1.12794091e-02 -5.15999176e-06 9.99936385e-01 1.04078862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:-146.45, Z:0.11 [[ 6.56339151e-01 7.54430141e-01 7.35393469e-03 2.52460608e+02] [-7.54381666e-01 6.56380345e-01 -8.55246942e-03 -1.46445344e+02] [-1.12792189e-02 6.56470220e-05 9.99936385e-01 1.06730815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:-146.49, Z:0.11 [[ 6.64587747e-01 7.47174061e-01 7.35185451e-03 2.52500658e+02] [-7.47125116e-01 6.64628382e-01 -8.55425721e-03 -1.46492889e+02] [-1.12777703e-02 1.92299367e-04 9.99936385e-01 1.10055418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.54, Y:-146.54, Z:0.11 [[ 6.67224957e-01 7.44820004e-01 7.34975813e-03 2.52541520e+02] [-7.44770896e-01 6.67265395e-01 -8.55605803e-03 -1.46540213e+02] [-1.12769624e-02 2.34929500e-04 9.99936385e-01 1.09787136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.58, Y:-146.59, Z:0.11 [[ 6.73245916e-01 7.39382142e-01 7.34737605e-03 2.52583829e+02] [-7.39332686e-01 6.73285927e-01 -8.55810311e-03 -1.46586125e+02] [-1.12745935e-02 3.29552697e-04 9.99936385e-01 1.10255486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.63, Y:-146.63, Z:0.11 [[ 6.74078741e-01 7.38622974e-01 7.34524308e-03 2.52625650e+02] [-7.38573452e-01 6.74118671e-01 -8.55993340e-03 -1.46631845e+02] [-1.12741290e-02 3.45067592e-04 9.99936385e-01 1.11573679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.66, Y:-146.68, Z:0.11 [[ 6.68679382e-01 7.43514604e-01 7.34295510e-03 2.52664017e+02] [-7.43465353e-01 6.68719645e-01 -8.56189565e-03 -1.46678933e+02] [-1.12762728e-02 2.65930386e-04 9.99936385e-01 1.10015160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.71, Y:-146.72, Z:0.11 [[ 6.61638760e-01 7.49786812e-01 7.34086644e-03 2.52711338e+02] [-7.49737923e-01 6.61679462e-01 -8.56368607e-03 -1.46721802e+02] [-1.12782394e-02 1.62340677e-04 9.99936385e-01 1.06327442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.75, Y:-146.77, Z:0.10 [[ 6.51172654e-01 7.58894145e-01 7.33834321e-03 2.52749357e+02] [-7.58845801e-01 6.51214002e-01 -8.56584771e-03 -1.46770209e+02] [-1.12794035e-02 9.17486057e-06 9.99936385e-01 1.01761578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.79, Y:-146.82, Z:0.10 [[ 6.47012911e-01 7.62443751e-01 7.33618085e-03 2.52786927e+02] [-7.62395613e-01 6.47054499e-01 -8.56769926e-03 -1.46819191e+02] [-1.12792976e-02 -4.96600501e-05 9.99936385e-01 1.04420513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.83, Y:-146.87, Z:0.11 [[ 6.46370395e-01 7.62988539e-01 7.33499840e-03 2.52827483e+02] [-7.62940424e-01 6.46412010e-01 -8.56871145e-03 -1.46866685e+02] [-1.12792597e-02 -5.76053835e-05 9.99936385e-01 1.05134657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.87, Y:-146.92, Z:0.11 [[ 6.49530412e-01 7.60300252e-01 7.33286423e-03 2.52865177e+02] [-7.60251945e-01 6.49571803e-01 -8.57053743e-03 -1.46917482e+02] [-1.12794036e-02 -7.99958649e-06 9.99936385e-01 1.06380269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:-146.97, Z:0.11 [[ 6.57071419e-01 7.53792688e-01 7.33041083e-03 2.52900137e+02] [-7.53743947e-01 6.57112298e-01 -8.57263532e-03 -1.46969851e+02] [-1.12788929e-02 1.07580852e-04 9.99936385e-01 1.06381179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.94, Y:-147.02, Z:0.10 [[ 6.60341129e-01 7.50930020e-01 7.32796414e-03 2.52940013e+02] [-7.50881079e-01 6.60381768e-01 -8.57472626e-03 -1.47018489e+02] [-1.12782733e-02 1.59814804e-04 9.99936385e-01 1.03447793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.98, Y:-147.06, Z:0.10 [[ 6.62170069e-01 7.49317780e-01 7.32553817e-03 2.52981794e+02] [-7.49268717e-01 6.62210562e-01 -8.57679831e-03 -1.47064921e+02] [-1.12777962e-02 1.90502547e-04 9.99936385e-01 1.01251365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.02, Y:-147.11, Z:0.10 [[ 6.62298342e-01 7.49204428e-01 7.32340054e-03 2.53023264e+02] [-7.49155338e-01 6.62338801e-01 -8.57862316e-03 -1.47110420e+02] [-1.12777148e-02 1.95243291e-04 9.99936385e-01 9.79890792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.037628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:-147.16, Z:0.09 [[ 6.62768875e-01 7.48788232e-01 7.32130006e-03 2.53063548e+02] [-7.48739097e-01 6.62809280e-01 -8.58041541e-03 -1.47157112e+02] [-1.12775397e-02 2.05088674e-04 9.99936385e-01 9.31813714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:-147.20, Z:0.09 [[ 6.63057599e-01 7.48532598e-01 7.31918927e-03 2.53106191e+02] [-7.48483427e-01 6.63097960e-01 -8.58221556e-03 -1.47203900e+02] [-1.12774076e-02 2.12211368e-04 9.99936386e-01 9.42684751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.15, Y:-147.25, Z:0.09 [[ 6.62625668e-01 7.48915008e-01 7.31675642e-03 2.53148971e+02] [-7.48865838e-01 6.62666029e-01 -8.58428918e-03 -1.47248655e+02] [-1.12774689e-02 2.08901424e-04 9.99936386e-01 9.43771923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:-147.29, Z:0.09 [[ 6.59565352e-01 7.51611630e-01 7.31463185e-03 2.53191850e+02] [-7.51562605e-01 6.59605890e-01 -8.58609914e-03 -1.47293306e+02] [-1.12781862e-02 1.65689736e-04 9.99936386e-01 9.43821293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.23, Y:-147.34, Z:0.10 [[ 6.55429860e-01 7.55220647e-01 7.31248655e-03 2.53233795e+02] [-7.55171825e-01 6.55470642e-01 -8.58792583e-03 -1.47339575e+02] [-1.12788992e-02 1.06599209e-04 9.99936386e-01 9.52901469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:-147.38, Z:0.10 [[ 6.53966568e-01 7.56488127e-01 7.31034323e-03 2.53276583e+02] [-7.56439364e-01 6.54007420e-01 -8.58974991e-03 -1.47384200e+02] [-1.12790625e-02 8.75778838e-05 9.99936386e-01 9.54461271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.31, Y:-147.43, Z:0.10 [[ 6.47128169e-01 7.62346197e-01 7.30815829e-03 2.53313736e+02] [-7.62297782e-01 6.47169434e-01 -8.59160845e-03 -1.47434565e+02] [-1.12793967e-02 -1.11210168e-05 9.99936386e-01 9.54749649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.35, Y:-147.48, Z:0.09 [[ 6.42329346e-01 7.66393909e-01 7.30662105e-03 2.53351208e+02] [-7.66345740e-01 6.42370897e-01 -8.59291558e-03 -1.47484856e+02] [-1.12791189e-02 -7.99160689e-05 9.99936386e-01 9.20453445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:-147.53, Z:0.09 [[ 6.39822707e-01 7.68487819e-01 7.30586090e-03 2.53389654e+02] [-7.68439778e-01 6.39864407e-01 -8.59356183e-03 -1.47533524e+02] [-1.12788079e-02 -1.15758135e-04 9.99936386e-01 8.87302348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:-147.58, Z:0.08 [[ 6.41079880e-01 7.67439407e-01 7.30374403e-03 2.53426893e+02] [-7.67391277e-01 6.41121477e-01 -8.59536059e-03 -1.47582731e+02] [-1.12790056e-02 -9.45167213e-05 9.99936386e-01 8.39479251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.46, Y:-147.63, Z:0.09 [[ 6.47053560e-01 7.62409586e-01 7.30162054e-03 2.53462721e+02] [-7.62361112e-01 6.47094756e-01 -8.59716408e-03 -1.47632914e+02] [-1.12794007e-02 -3.64593579e-06 9.99936386e-01 8.86355808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.50, Y:-147.68, Z:0.09 [[ 6.51862684e-01 7.58301881e-01 7.30050643e-03 2.53502871e+02] [-7.58253138e-01 6.51903560e-01 -8.59811006e-03 -1.47680420e+02] [-1.12791892e-02 6.91551950e-05 9.99936386e-01 9.36070407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:-147.73, Z:0.10 [[ 6.57327239e-01 7.53569926e-01 7.29839695e-03 2.53544938e+02] [-7.53520868e-01 6.57367738e-01 -8.59990029e-03 -1.47725757e+02] [-1.12783569e-02 1.53454306e-04 9.99936386e-01 9.52664663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.59, Y:-147.77, Z:0.09 [[ 6.60827714e-01 7.50502163e-01 7.29628280e-03 2.53585801e+02] [-7.50452897e-01 6.60867959e-01 -8.60169360e-03 -1.47773719e+02] [-1.12774692e-02 2.08720950e-04 9.99936386e-01 9.43700531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:-147.82, Z:0.09 [[ 6.65527719e-01 7.46337494e-01 7.29384261e-03 2.53627186e+02] [-7.46287954e-01 6.65567627e-01 -8.60376227e-03 -1.47819667e+02] [-1.12758559e-02 2.82735405e-04 9.99936386e-01 9.12107573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:-147.86, Z:0.09 [[ 6.67662044e-01 7.44428791e-01 7.29173645e-03 2.53669787e+02] [-7.44379118e-01 6.67701785e-01 -8.60554688e-03 -1.47864458e+02] [-1.12749223e-02 3.17780677e-04 9.99936386e-01 8.88308607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99762799999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:253.71, Y:-147.91, Z:0.09 [[ 6.68226287e-01 7.43922369e-01 7.28957004e-03 2.53710319e+02] [-7.43872646e-01 6.68265965e-01 -8.60738161e-03 -1.47910855e+02] [-1.12745953e-02 3.29166900e-04 9.99936386e-01 8.66333629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.75, Y:-147.96, Z:0.09 [[ 6.65715464e-01 7.46170099e-01 7.28728253e-03 2.53752390e+02] [-7.46120488e-01 6.65755283e-01 -8.60931785e-03 -1.47956678e+02] [-1.12755624e-02 2.94165232e-04 9.99936386e-01 9.08365297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.80, Y:-148.00, Z:0.09 [[ 6.60850158e-01 7.50482508e-01 7.28511219e-03 2.53795794e+02] [-7.50433137e-01 6.60890274e-01 -8.61115398e-03 -1.47999453e+02] [-1.12771802e-02 2.23692876e-04 9.99936386e-01 9.06366901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:-148.04, Z:0.09 [[ 6.55753001e-01 7.54940367e-01 7.28312772e-03 2.53838834e+02] [-7.54891250e-01 6.55793427e-01 -8.61283207e-03 -1.48044897e+02] [-1.12784019e-02 1.49921088e-04 9.99936386e-01 9.04412621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:253.88, Y:-148.09, Z:0.09 [[ 6.50858864e-01 7.59163836e-01 7.28071056e-03 2.53880111e+02] [-7.59114959e-01 6.50899580e-01 -8.61487489e-03 -1.48091900e+02] [-1.12791129e-02 8.01713879e-05 9.99936386e-01 8.93233508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.92, Y:-148.14, Z:0.09 [[ 6.44202283e-01 7.64820531e-01 7.27831531e-03 2.53921821e+02] [-7.64771988e-01 6.44243397e-01 -8.61689806e-03 -1.48138704e+02] [-1.12793871e-02 -1.52262668e-05 9.99936386e-01 9.19270166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.96, Y:-148.19, Z:0.09 [[ 6.42078886e-01 7.66604048e-01 7.27588518e-03 2.53963240e+02] [-7.66555596e-01 6.42120108e-01 -8.61894950e-03 -1.48186702e+02] [-1.12793137e-02 -4.33250022e-05 9.99936386e-01 9.03774161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.00, Y:-148.24, Z:0.09 [[ 6.41697333e-01 7.66923484e-01 7.27347862e-03 2.54002617e+02] [-7.66875029e-01 6.41738551e-01 -8.62097991e-03 -1.48236378e+02] [-1.12793036e-02 -4.57893200e-05 9.99936386e-01 8.85429695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.04, Y:-148.28, Z:0.08 [[ 6.43241159e-01 7.65629115e-01 7.27109919e-03 2.54041016e+02] [-7.65580555e-01 6.43282253e-01 -8.62298629e-03 -1.48284795e+02] [-1.12793784e-02 -1.99524604e-05 9.99936386e-01 8.25921962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.537628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:254.08, Y:-148.33, Z:0.07 [[ 6.45521947e-01 7.63707129e-01 7.26892442e-03 2.54079259e+02] [-7.63658426e-01 6.45562871e-01 -8.62481917e-03 -1.48332852e+02] [-1.12793836e-02 1.65346836e-05 9.99936386e-01 7.43804997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.11, Y:-148.38, Z:0.07 [[ 6.50514356e-01 7.59459185e-01 7.26769683e-03 2.54114021e+02] [-7.59410203e-01 6.50554947e-01 -8.62585348e-03 -1.48384065e+02] [-1.12790198e-02 9.20784009e-05 9.99936386e-01 7.37746341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.657628 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:-148.44, Z:0.07 [[ 6.56351104e-01 7.54420600e-01 7.26547172e-03 2.54148182e+02] [-7.54371286e-01 6.56391290e-01 -8.62772726e-03 -1.48438094e+02] [-1.12779275e-02 1.81955064e-04 9.99936386e-01 7.44230178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.19, Y:-148.49, Z:0.08 [[ 6.57284595e-01 7.53607463e-01 7.26305804e-03 2.54185814e+02] [-7.53558077e-01 6.57324693e-01 -8.62975868e-03 -1.48488695e+02] [-1.12776379e-02 1.99071390e-04 9.99936386e-01 7.70788282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.777628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:254.23, Y:-148.54, Z:0.07 [[ 6.54425187e-01 7.56091898e-01 7.26062259e-03 2.54228001e+02] [-7.56042641e-01 6.54465443e-01 -8.63180725e-03 -1.48535114e+02] [-1.12782661e-02 1.59531793e-04 9.99936386e-01 7.34889403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.837628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:-148.58, Z:0.07 [[ 6.49196311e-01 7.60586266e-01 7.25820778e-03 2.54269027e+02] [-7.60537265e-01 6.49236879e-01 -8.63383732e-03 -1.48580738e+02] [-1.12790742e-02 8.49178487e-05 9.99936386e-01 7.19211623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:-148.63, Z:0.06 [[ 6.43995697e-01 7.64994691e-01 7.25703031e-03 2.54311177e+02] [-7.64945957e-01 6.44036585e-01 -8.63482690e-03 -1.48626682e+02] [-1.12793898e-02 9.55537717e-06 9.99936386e-01 6.47557029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.35, Y:-148.67, Z:0.06 [[ 6.42971780e-01 7.65855506e-01 7.25497334e-03 2.54351454e+02] [-7.65806807e-01 6.43012709e-01 -8.63655482e-03 -1.48673657e+02] [-1.12793931e-02 -2.84694409e-06 9.99936386e-01 6.34743251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.39, Y:-148.72, Z:0.07 [[ 6.43873046e-01 7.65097965e-01 7.25294279e-03 2.54390396e+02] [-7.65049199e-01 6.43913895e-01 -8.63825973e-03 -1.48722627e+02] [-1.12793856e-02 1.30845372e-05 9.99936386e-01 6.74780443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.43, Y:-148.77, Z:0.07 [[ 6.43179405e-01 7.65681185e-01 7.25083429e-03 2.54427467e+02] [-7.65632436e-01 6.43220275e-01 -8.64002922e-03 -1.48773021e+02] [-1.12793914e-02 5.61493170e-06 9.99936386e-01 7.12489008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.47, Y:-148.82, Z:0.07 [[ 6.40273865e-01 7.68112514e-01 7.24872957e-03 2.54465020e+02] [-7.68063900e-01 6.40314895e-01 -8.64179465e-03 -1.48822519e+02] [-1.12793401e-02 -3.43722386e-05 9.99936386e-01 7.46582965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.50, Y:-148.87, Z:0.08 [[ 6.39653684e-01 7.68629073e-01 7.24659796e-03 2.54504557e+02] [-7.68580472e-01 6.39694729e-01 -8.64358175e-03 -1.48871550e+02] [-1.12793187e-02 -4.06947766e-05 9.99936386e-01 7.60055961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.55, Y:-148.92, Z:0.07 [[ 6.42128517e-01 7.66562776e-01 7.24415192e-03 2.54545113e+02] [-7.66514020e-01 6.42169378e-01 -8.64563128e-03 -1.48918387e+02] [-1.12793917e-02 -1.13761837e-06 9.99936386e-01 7.36515916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.59, Y:-148.97, Z:0.07 [[ 6.47900362e-01 7.61690670e-01 7.24189255e-03 2.54586124e+02] [-7.61641585e-01 6.47940827e-01 -8.64752340e-03 -1.48966371e+02] [-1.12790557e-02 8.70070158e-05 9.99936386e-01 7.22569165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.63, Y:-149.01, Z:0.07 [[ 6.53529958e-01 7.56866028e-01 7.23940631e-03 2.54627803e+02] [-7.56816622e-01 6.53570031e-01 -8.64960429e-03 -1.49012879e+02] [-1.12780506e-02 1.73872502e-04 9.99936386e-01 7.24776073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:254.67, Y:-149.06, Z:0.07 [[ 6.56358792e-01 7.54414185e-01 7.23693856e-03 2.54669009e+02] [-7.54364606e-01 6.56398651e-01 -8.65166852e-03 -1.49059611e+02] [-1.12772582e-02 2.19308394e-04 9.99936386e-01 6.75652578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49762799999996 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:254.71, Y:-149.11, Z:0.06 [[ 6.54253559e-01 7.56240663e-01 7.23466193e-03 2.54710299e+02] [-7.56191175e-01 6.54293530e-01 -8.65357185e-03 -1.49107443e+02] [-1.12777754e-02 1.90842675e-04 9.99936386e-01 6.49349344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.75, Y:-149.15, Z:0.06 [[ 6.52597612e-01 7.57670147e-01 7.23225533e-03 2.54753380e+02] [-7.57620724e-01 6.52637663e-01 -8.65558270e-03 -1.49152993e+02] [-1.12781188e-02 1.69306082e-04 9.99936386e-01 6.48496291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.79, Y:-149.20, Z:0.07 [[ 6.44979151e-01 7.64165968e-01 7.22961381e-03 2.54791214e+02] [-7.64116924e-01 6.45019666e-01 -8.65778848e-03 -1.49201646e+02] [-1.12792304e-02 5.98227979e-05 9.99936386e-01 6.60765744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:-149.25, Z:0.07 [[ 6.39282605e-01 7.68937916e-01 7.22717772e-03 2.54832821e+02] [-7.68889151e-01 6.39323456e-01 -8.65982155e-03 -1.49249141e+02] [-1.12793694e-02 -2.08252593e-05 9.99936386e-01 6.66157870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.87, Y:-149.30, Z:0.07 [[ 6.37164066e-01 7.70694334e-01 7.22472228e-03 2.54872386e+02] [-7.70645658e-01 6.37205023e-01 -8.66186960e-03 -1.49297917e+02] [-1.12792831e-02 -4.86687971e-05 9.99936386e-01 6.51981522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.91, Y:-149.35, Z:0.06 [[ 6.36902067e-01 7.70910887e-01 7.22224827e-03 2.54911268e+02] [-7.70862202e-01 6.36943013e-01 -8.66393193e-03 -1.49347916e+02] [-1.12792800e-02 -4.92820483e-05 9.99936386e-01 6.27196056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.95, Y:-149.40, Z:0.06 [[ 6.37580403e-01 7.70349988e-01 7.21977890e-03 2.54950045e+02] [-7.70301244e-01 6.37621278e-01 -8.66598921e-03 -1.49396957e+02] [-1.12793293e-02 -3.61397739e-05 9.99936386e-01 6.03208927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.917628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:254.99, Y:-149.44, Z:0.06 [[ 6.38387719e-01 7.69681120e-01 7.21765373e-03 2.54991460e+02] [-7.69632313e-01 6.38428519e-01 -8.66775884e-03 -1.49443254e+02] [-1.12793663e-02 -2.15487464e-05 9.99936386e-01 5.50065561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.04, Y:-149.49, Z:0.06 [[ 6.41480986e-01 7.67105000e-01 7.21549979e-03 2.55035070e+02] [-7.67056009e-01 6.41521565e-01 -8.66955152e-03 -1.49487439e+02] [-1.12793550e-02 2.66599872e-05 9.99936386e-01 5.68473209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:-149.54, Z:0.06 [[ 6.40008455e-01 7.68334007e-01 7.21325826e-03 2.55072121e+02] [-7.68285073e-01 6.40049102e-01 -8.67141612e-03 -1.49536336e+02] [-1.12793834e-02 7.94098416e-06 9.99936386e-01 5.76036536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.11, Y:-149.58, Z:0.06 [[ 6.45857635e-01 7.63423803e-01 7.21201627e-03 2.55111381e+02] [-7.63374548e-01 6.45897893e-01 -8.67244896e-03 -1.49583938e+02] [-1.12789801e-02 9.56977119e-05 9.99936386e-01 5.83198217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.157628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:255.15, Y:-149.63, Z:0.06 [[ 6.56096953e-01 7.54642171e-01 7.20987133e-03 2.55149790e+02] [-7.54592358e-01 6.56136518e-01 -8.67423180e-03 -1.49634363e+02] [-1.12766010e-02 2.50623237e-04 9.99936386e-01 5.56025560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.19, Y:-149.68, Z:0.06 [[ 6.64519776e-01 7.47235920e-01 7.20743162e-03 2.55194159e+02] [-7.47185645e-01 6.64558752e-01 -8.67625849e-03 -1.49678640e+02] [-1.12729738e-02 3.80255903e-04 9.99936386e-01 5.58214649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.277628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:255.23, Y:-149.73, Z:0.05 [[ 6.61786494e-01 7.49657737e-01 7.20518994e-03 2.55232429e+02] [-7.49607584e-01 6.61825627e-01 -8.67811968e-03 -1.49726394e+02] [-1.12741989e-02 3.41997372e-04 9.99936386e-01 5.39065855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.28, Y:-149.77, Z:0.06 [[ 6.57640752e-01 7.53297256e-01 7.20314052e-03 2.55277037e+02] [-7.53247301e-01 6.57680138e-01 -8.67982044e-03 -1.49771057e+02] [-1.12758474e-02 2.82457494e-04 9.99936386e-01 5.54118604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:255.32, Y:-149.82, Z:0.05 [[ 6.54713264e-01 7.55843034e-01 7.20065801e-03 2.55318601e+02] [-7.55793209e-01 6.54752816e-01 -8.68187941e-03 -1.49816649e+02] [-1.12767892e-02 2.41933189e-04 9.99936386e-01 5.17164381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:-149.86, Z:0.05 [[ 6.50669211e-01 7.59327176e-01 7.19836313e-03 2.55362124e+02] [-7.59277543e-01 6.50709002e-01 -8.68378174e-03 -1.49860805e+02] [-1.12778712e-02 1.84713947e-04 9.99936386e-01 5.43896246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.41, Y:-149.90, Z:0.05 [[ 6.50605860e-01 7.59381478e-01 7.19620080e-03 2.55408011e+02] [-7.59331828e-01 6.50645630e-01 -8.68557328e-03 -1.49903015e+02] [-1.12778401e-02 1.86580567e-04 9.99936386e-01 5.05093259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.44, Y:-149.95, Z:0.05 [[ 6.45454258e-01 7.63765047e-01 7.19395408e-03 2.55443351e+02] [-7.63715647e-01 6.45494337e-01 -8.68743376e-03 -1.49953767e+02] [-1.12788149e-02 1.13205823e-04 9.99936386e-01 5.21538509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:-150.00, Z:0.05 [[ 6.48178520e-01 7.61454453e-01 7.19175397e-03 2.55486386e+02] [-7.61404890e-01 6.48218398e-01 -8.68925470e-03 -1.49999946e+02] [-1.12782989e-02 1.56351614e-04 9.99936386e-01 4.66958711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:-150.05, Z:0.05 [[ 6.43235250e-01 7.65634854e-01 7.18917661e-03 2.55519514e+02] [-7.65585525e-01 6.43275418e-01 -8.69138659e-03 -1.50051545e+02] [-1.12790491e-02 8.66766727e-05 9.99936386e-01 4.88419246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:255.56, Y:-150.10, Z:0.05 [[ 6.42650077e-01 7.66126114e-01 7.18712973e-03 2.55557206e+02] [-7.66076798e-01 6.42690260e-01 -8.69307888e-03 -1.50102242e+02] [-1.12790930e-02 8.07144837e-05 9.99936386e-01 4.84666169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.60, Y:-150.15, Z:0.05 [[ 6.43982734e-01 7.65006286e-01 7.18477277e-03 2.55595761e+02] [-7.64956878e-01 6.44022804e-01 -8.69502646e-03 -1.50152040e+02] [-1.12789074e-02 1.03405569e-04 9.99936386e-01 4.87121880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.63, Y:-150.21, Z:0.05 [[ 6.40020287e-01 7.68324442e-01 7.18221182e-03 2.55626803e+02] [-7.68275218e-01 6.40060583e-01 -8.69714132e-03 -1.50205774e+02] [-1.12792769e-02 4.84315304e-05 9.99936386e-01 4.82764686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.66, Y:-150.26, Z:0.05 [[ 6.40250628e-01 7.68132527e-01 7.18018003e-03 2.55661668e+02] [-7.68083272e-01 6.40290886e-01 -8.69881840e-03 -1.50258900e+02] [-1.12792492e-02 5.44477726e-05 9.99936386e-01 4.93706930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.70, Y:-150.31, Z:0.05 [[ 6.39741543e-01 7.68556594e-01 7.17770010e-03 2.55701100e+02] [-7.68507343e-01 6.39781806e-01 -8.70086420e-03 -1.50306150e+02] [-1.12792685e-02 5.01890553e-05 9.99936386e-01 5.07108939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.74, Y:-150.35, Z:0.05 [[ 6.41191410e-01 7.67347427e-01 7.17653369e-03 2.55742301e+02] [-7.67298089e-01 6.41231566e-01 -8.70182616e-03 -1.50353297e+02] [-1.12791438e-02 7.29956009e-05 9.99936386e-01 4.97136002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.79, Y:-150.40, Z:0.05 [[ 6.47855300e-01 7.61729639e-01 7.17406573e-03 2.55788718e+02] [-7.61679931e-01 6.47894996e-01 -8.70386035e-03 -1.50396995e+02] [-1.12780297e-02 1.74500173e-04 9.99936386e-01 4.64263709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.82, Y:-150.45, Z:0.05 [[ 6.46999303e-01 7.62456865e-01 7.17148171e-03 2.55824034e+02] [-7.62407178e-01 6.47039026e-01 -8.70598891e-03 -1.50447297e+02] [-1.12781696e-02 1.65179627e-04 9.99936386e-01 4.57870596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.87, Y:-150.49, Z:0.04 [[ 6.53342421e-01 7.57028586e-01 7.16943900e-03 2.55869926e+02] [-7.56978550e-01 6.53381704e-01 -8.70767077e-03 -1.50489320e+02] [-1.12763360e-02 2.61979161e-04 9.99936386e-01 3.98306264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:-150.54, Z:0.04 [[ 6.49096588e-01 7.60672237e-01 7.16713175e-03 2.55904771e+02] [-7.60622401e-01 6.49136124e-01 -8.70956942e-03 -1.50539542e+02] [-1.12775718e-02 2.01870835e-04 9.99936386e-01 4.03607728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.95, Y:-150.58, Z:0.04 [[ 6.49052394e-01 7.60709966e-01 7.16504006e-03 2.55950070e+02] [-7.60660113e-01 6.49091909e-01 -8.71128983e-03 -1.50582144e+02] [-1.12775345e-02 2.03923335e-04 9.99936386e-01 3.82478610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.98, Y:-150.63, Z:0.04 [[ 6.39405341e-01 7.68836460e-01 7.16295542e-03 2.55983791e+02] [-7.68787090e-01 6.39445458e-01 -8.71300361e-03 -1.50633052e+02] [-1.12791942e-02 6.43533814e-05 9.99936386e-01 4.32536875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.02, Y:-150.68, Z:0.05 [[ 6.34737150e-01 7.72694940e-01 7.16091906e-03 2.56021261e+02] [-7.72645796e-01 6.34777543e-01 -8.71467690e-03 -1.50681362e+02] [-1.12793774e-02 -1.32481798e-06 9.99936386e-01 4.54108634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.06, Y:-150.73, Z:0.05 [[ 6.32115823e-01 7.74840846e-01 7.15897141e-03 2.56059136e+02] [-7.74791820e-01 6.32156359e-01 -8.71627658e-03 -1.50731529e+02] [-1.12793164e-02 -3.70161454e-05 9.99936386e-01 4.66967730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.10, Y:-150.78, Z:0.05 [[ 6.28502279e-01 7.77774820e-01 7.15649812e-03 2.56095193e+02] [-7.77725960e-01 6.28543016e-01 -8.71830680e-03 -1.50783675e+02] [-1.12790464e-02 -8.63186779e-05 9.99936386e-01 4.54187849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:-150.83, Z:0.04 [[ 6.30683497e-01 7.76007182e-01 7.15399435e-03 2.56135419e+02] [-7.75958185e-01 6.30724069e-01 -8.72036084e-03 -1.50832597e+02] [-1.12792591e-02 -5.14127980e-05 9.99936386e-01 4.19507090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:-150.88, Z:0.04 [[ 6.27468302e-01 7.78609265e-01 7.15136064e-03 2.56173315e+02] [-7.78560411e-01 6.27509047e-01 -8.72252014e-03 -1.50880208e+02] [-1.12789785e-02 -9.46613747e-05 9.99936386e-01 4.12448137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.22, Y:-150.92, Z:0.04 [[ 6.29263210e-01 7.77159371e-01 7.15007290e-03 2.56217362e+02] [-7.77110412e-01 6.29303827e-01 -8.72357561e-03 -1.50924806e+02] [-1.12791768e-02 -6.69709035e-05 9.99936386e-01 3.99862216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.26, Y:-150.97, Z:0.04 [[ 6.32471851e-01 7.74550364e-01 7.14777936e-03 2.56255353e+02] [-7.74501216e-01 6.32512240e-01 -8.72545445e-03 -1.50974247e+02] [-1.12793619e-02 -1.73594746e-05 9.99936386e-01 4.26949917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:-151.02, Z:0.04 [[ 6.36125265e-01 7.71552712e-01 7.14559478e-03 2.56292747e+02] [-7.71503353e-01 6.36165396e-01 -8.72724311e-03 -1.51024241e+02] [-1.12793082e-02 3.87695027e-05 9.99936386e-01 4.04246146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.33, Y:-151.07, Z:0.04 [[ 6.39059477e-01 7.69124143e-01 7.14405434e-03 2.56331131e+02] [-7.69074618e-01 6.39099402e-01 -8.72850392e-03 -1.51073807e+02] [-1.12790640e-02 8.37222899e-05 9.99936386e-01 3.93399149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.37, Y:-151.12, Z:0.04 [[ 6.40731355e-01 7.67731936e-01 7.14170958e-03 2.56371192e+02] [-7.67682303e-01 6.40771146e-01 -8.73042200e-03 -1.51121446e+02] [-1.12788252e-02 1.11291066e-04 9.99936386e-01 3.59086279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.41, Y:-151.17, Z:0.03 [[ 6.40447582e-01 7.67968698e-01 7.13959176e-03 2.56411180e+02] [-7.67919060e-01 6.40487367e-01 -8.73215357e-03 -1.51168869e+02] [-1.12788389e-02 1.09858053e-04 9.99936386e-01 3.47190698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:256.45, Y:-151.22, Z:0.03 [[ 6.38607119e-01 7.69499840e-01 7.13746508e-03 2.56451588e+02] [-7.69450278e-01 6.38646999e-01 -8.73389153e-03 -1.51216578e+02] [-1.12790488e-02 8.56008206e-05 9.99936386e-01 3.23374222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.49, Y:-151.26, Z:0.03 [[ 6.35642530e-01 7.71950556e-01 7.13532183e-03 2.56492393e+02] [-7.71901128e-01 6.35682576e-01 -8.73564215e-03 -1.51263348e+02] [-1.12792836e-02 4.49827142e-05 9.99936386e-01 3.48834847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.53, Y:-151.31, Z:0.04 [[ 6.33614874e-01 7.73615737e-01 7.13318531e-03 2.56533452e+02] [-7.73566395e-01 6.33655025e-01 -8.73738640e-03 -1.51309877e+02] [-1.12793583e-02 1.81455376e-05 9.99936386e-01 3.50689532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.57, Y:-151.36, Z:0.03 [[ 6.34841553e-01 7.72609443e-01 7.13104883e-03 2.56572066e+02] [-7.72560017e-01 6.34881601e-01 -8.73912974e-03 -1.51359848e+02] [-1.12793059e-02 3.87994868e-05 9.99936386e-01 3.42824853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:-151.41, Z:0.03 [[ 6.37034724e-01 7.70802143e-01 7.12863507e-03 2.56612706e+02] [-7.70752582e-01 6.37074604e-01 -8.74109824e-03 -1.51408455e+02] [-1.12791296e-02 7.39692216e-05 9.99936386e-01 3.36668968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.65, Y:-151.46, Z:0.03 [[ 6.37508894e-01 7.70410038e-01 7.12625162e-03 2.56649583e+02] [-7.70360431e-01 6.37548717e-01 -8.74304094e-03 -1.51457691e+02] [-1.12790591e-02 8.39840925e-05 9.99936386e-01 3.24287021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.69, Y:-151.51, Z:0.03 [[ 6.31809552e-01 7.75090919e-01 7.12435455e-03 2.56685086e+02] [-7.75041590e-01 6.31849718e-01 -8.74458651e-03 -1.51508635e+02] [-1.12793710e-02 3.24221486e-06 9.99936386e-01 3.21438792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55762799999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:-151.55, Z:0.03 [[ 6.28489380e-01 7.77785558e-01 7.12223002e-03 2.56727400e+02] [-7.77736380e-01 6.28529733e-01 -8.74631654e-03 -1.51553315e+02] [-1.12792920e-02 -4.22503352e-05 9.99936386e-01 2.51237159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61762799999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:256.77, Y:-151.60, Z:0.02 [[ 6.26077482e-01 7.79728342e-01 7.12027490e-03 2.56769106e+02] [-7.79679272e-01 6.26117965e-01 -8.74790789e-03 -1.51600089e+02] [-1.12791238e-02 -7.46626047e-05 9.99936386e-01 2.36323570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.81, Y:-151.65, Z:0.03 [[ 6.28450759e-01 7.77816804e-01 7.11782167e-03 2.56807126e+02] [-7.77767588e-01 6.28491064e-01 -8.74990353e-03 -1.51649784e+02] [-1.12793093e-02 -3.71274752e-05 9.99936386e-01 2.70035420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.84, Y:-151.70, Z:0.03 [[ 6.33833570e-01 7.73436731e-01 7.11533119e-03 2.56844465e+02] [-7.73387214e-01 6.33873505e-01 -8.75192829e-03 -1.51700607e+02] [-1.12792827e-02 4.43597884e-05 9.99936386e-01 2.62626193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.88, Y:-151.75, Z:0.03 [[ 6.35175550e-01 7.72335049e-01 7.11285785e-03 2.56882645e+02] [-7.72285440e-01 6.35215371e-01 -8.75393796e-03 -1.51750172e+02] [-1.12791697e-02 6.71308161e-05 9.99936386e-01 2.63864465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.857628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:256.93, Y:-151.80, Z:0.02 [[ 6.33658955e-01 7.73579842e-01 7.11036713e-03 2.56925505e+02] [-7.73530288e-01 6.33698845e-01 -8.75596058e-03 -1.51795723e+02] [-1.12792660e-02 4.82084903e-05 9.99936386e-01 2.36706925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.97, Y:-151.84, Z:0.03 [[ 6.29958565e-01 7.76596216e-01 7.10803700e-03 2.56966612e+02] [-7.76546832e-01 6.29998665e-01 -8.75785176e-03 -1.51841579e+02] [-1.12793683e-02 -2.63988834e-06 9.99936386e-01 2.62956484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.01, Y:-151.89, Z:0.02 [[ 6.26303914e-01 7.79546609e-01 7.10574221e-03 2.57009254e+02] [-7.79497393e-01 6.26344220e-01 -8.75971325e-03 -1.51888535e+02] [-1.12792453e-02 -5.26648283e-05 9.99936386e-01 2.36364888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.64, Y:-151.43, Z:0.99 [[ 6.93443482e-01 7.20475997e-01 7.10452182e-03 2.57639101e+02] [-7.20423367e-01 6.93479215e-01 -8.76070293e-03 -1.51433740e+02] [-1.12387144e-02 9.56788818e-04 9.99936386e-01 9.85648767e-01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 301.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.68, Y:-151.48, Z:0.98 [[ 6.95331862e-01 7.18646004e-01 7.84358653e-03 2.57680609e+02] [-7.18601033e-01 6.95376099e-01 -8.03967220e-03 -1.51479897e+02] [-1.12319209e-02 -4.61691413e-05 9.99936919e-01 9.79334022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.72, Y:-151.53, Z:0.98 [[ 6.96377962e-01 7.17632387e-01 7.84160870e-03 2.57722340e+02] [-7.17587331e-01 6.96422110e-01 -8.04160084e-03 -1.51525756e+02] [-1.12319829e-02 -2.70454537e-05 9.99936919e-01 9.77010027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.217628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:257.77, Y:-151.57, Z:0.97 [[ 6.95933783e-01 7.18063165e-01 7.83964838e-03 2.57767908e+02] [-7.18018114e-01 6.95977938e-01 -8.04351147e-03 -1.51568652e+02] [-1.12319716e-02 -3.12581784e-05 9.99936919e-01 9.74868864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.81, Y:-151.61, Z:0.98 [[ 6.95790090e-01 7.18202425e-01 7.83760516e-03 2.57811933e+02] [-7.18157360e-01 6.95834230e-01 -8.04550189e-03 -1.51611573e+02] [-1.12319729e-02 -3.06533531e-05 9.99936919e-01 9.80326574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.85, Y:-151.66, Z:0.98 [[ 6.96528880e-01 7.17485972e-01 7.83574011e-03 2.57853508e+02] [-7.17440842e-01 6.96572953e-01 -8.04731791e-03 -1.51656994e+02] [-1.12320023e-02 -1.64906438e-05 9.99936919e-01 9.83167659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.89, Y:-151.70, Z:0.98 [[ 6.97874483e-01 7.16177237e-01 7.83390954e-03 2.57894849e+02] [-7.16132004e-01 6.97918451e-01 -8.04909954e-03 -1.51704452e+02] [-1.12320119e-02 7.14783861e-06 9.99936919e-01 9.84409202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.94, Y:-151.75, Z:0.98 [[ 6.96948595e-01 7.17078323e-01 7.83165711e-03 2.57938196e+02] [-7.17033122e-01 6.96992596e-01 -8.05129053e-03 -1.51750435e+02] [-1.12320129e-02 -4.22192270e-06 9.99936919e-01 9.83462229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.98, Y:-151.79, Z:0.98 [[ 6.93182082e-01 7.20719988e-01 7.82943962e-03 2.57983486e+02] [-7.20674994e-01 6.93226294e-01 -8.05344634e-03 -1.51793845e+02] [-1.12318532e-02 -5.99766557e-05 9.99936919e-01 9.82954900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.03, Y:-151.84, Z:0.98 [[ 6.90932358e-01 7.22877037e-01 7.82725136e-03 2.58029861e+02] [-7.22832157e-01 6.90976686e-01 -8.05557257e-03 -1.51836127e+02] [-1.12316366e-02 -9.19332274e-05 9.99936919e-01 9.80792975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.07, Y:-151.88, Z:0.97 [[ 6.92534002e-01 7.21342776e-01 7.82653688e-03 2.58072836e+02] [-7.21297790e-01 6.92578223e-01 -8.05626668e-03 -1.51879407e+02] [-1.12318188e-02 -6.60251492e-05 9.99936919e-01 9.72386807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:-151.93, Z:0.97 [[ 6.95963322e-01 7.18034691e-01 7.82541546e-03 2.58114495e+02] [-7.17989482e-01 6.96007315e-01 -8.05735582e-03 -1.51926312e+02] [-1.12320074e-02 -1.09418722e-05 9.99936919e-01 9.72790070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:-151.97, Z:0.97 [[ 7.00908553e-01 7.13208244e-01 7.82318457e-03 2.58156575e+02] [-7.13162708e-01 7.00952207e-01 -8.05952130e-03 -1.51972689e+02] [-1.12317955e-02 6.97839177e-05 9.99936919e-01 9.70874777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:258.20, Y:-152.01, Z:0.97 [[ 7.02499268e-01 7.11641491e-01 7.82090792e-03 2.58200950e+02] [-7.11595833e-01 7.02542795e-01 -8.06172993e-03 -1.52014709e+02] [-1.12315840e-02 9.80338865e-05 9.99936919e-01 9.72551948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.25, Y:-152.06, Z:0.98 [[ 7.02434436e-01 7.11705505e-01 7.81909108e-03 2.58246146e+02] [-7.11659831e-01 7.02477946e-01 -8.06349170e-03 -1.52059003e+02] [-1.12315705e-02 9.95412030e-05 9.99936919e-01 9.75216402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.29, Y:-152.10, Z:0.98 [[ 7.02050522e-01 7.12084238e-01 7.81680716e-03 2.58291431e+02] [-7.12038564e-01 7.02094031e-01 -8.06570515e-03 -1.52101489e+02] [-1.12315952e-02 9.66643640e-05 9.99936919e-01 9.75634478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.88, Y:-151.59, Z:1.94 [[ 7.45564884e-01 6.66387225e-01 7.81469829e-03 2.58881100e+02] [-6.66338876e-01 7.45605401e-01 -8.06774787e-03 -1.51589499e+02] [-1.12029254e-02 8.07792232e-04 9.99936919e-01 1.94037732e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 302.05762799999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:258.93, Y:-151.63, Z:1.94 [[ 7.45696420e-01 6.66234042e-01 8.30963007e-03 2.58927682e+02] [-6.66191594e-01 7.45742714e-01 -7.52091753e-03 -1.51629755e+02] [-1.12075374e-02 7.25155790e-05 9.99937191e-01 1.93545871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11762799999997 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:258.97, Y:-151.67, Z:1.93 [[ 7.45669132e-01 6.66264612e-01 8.30742582e-03 2.58973069e+02] [-6.66222138e-01 7.45715403e-01 -7.52335152e-03 -1.51670399e+02] [-1.12075183e-02 7.53400035e-05 9.99937191e-01 1.93036937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.02, Y:-151.71, Z:1.93 [[ 7.44569918e-01 6.67492810e-01 8.30573988e-03 2.59019149e+02] [-6.67450392e-01 7.44616240e-01 -7.52521232e-03 -1.51713086e+02] [-1.12076139e-02 5.93773842e-05 9.99937191e-01 1.93090083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.237628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:259.07, Y:-151.75, Z:1.93 [[ 7.43823378e-01 6.68324645e-01 8.30369362e-03 2.59066653e+02] [-6.68282254e-01 7.43869724e-01 -7.52746959e-03 -1.51753468e+02] [-1.12076597e-02 4.98967607e-05 9.99937191e-01 1.92878989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.297628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:259.11, Y:-151.79, Z:1.93 [[ 7.43387454e-01 6.68809520e-01 8.30181612e-03 2.59114874e+02] [-6.68767136e-01 7.43433806e-01 -7.52953965e-03 -1.51793128e+02] [-1.12076786e-02 4.53835223e-05 9.99937191e-01 1.92558549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.16, Y:-151.83, Z:1.93 [[ 7.45378547e-01 6.66589780e-01 8.29983244e-03 2.59161823e+02] [-6.66547234e-01 7.45424750e-01 -7.53172563e-03 -1.51834101e+02] [-1.12074719e-02 8.17563487e-05 9.99937191e-01 1.92715141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.417628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:259.21, Y:-151.88, Z:1.93 [[ 7.49971224e-01 6.61418405e-01 8.29800366e-03 2.59206571e+02] [-6.61375518e-01 7.50017111e-01 -7.53373994e-03 -1.51878236e+02] [-1.12065990e-02 1.61991692e-04 9.99937191e-01 1.92616591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.25, Y:-151.92, Z:1.93 [[ 7.51430794e-01 6.59759760e-01 8.29584287e-03 2.59253039e+02] [-6.59716745e-01 7.51476562e-01 -7.53611856e-03 -1.51921135e+02] [-1.12061593e-02 1.89965089e-04 9.99937191e-01 1.92568369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.30, Y:-151.96, Z:1.93 [[ 7.48830961e-01 6.62709141e-01 8.29368784e-03 2.59298207e+02] [-6.62666281e-01 7.48876873e-01 -7.53848948e-03 -1.51963201e+02] [-1.12067769e-02 1.49107044e-04 9.99937191e-01 1.93057876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.597628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:259.35, Y:-152.00, Z:1.92 [[ 7.48332409e-01 6.63272062e-01 8.29327151e-03 2.59350902e+02] [-6.63229230e-01 7.48378348e-01 -7.53894747e-03 -1.51995923e+02] [-1.12068781e-02 1.41298634e-04 9.99937191e-01 1.91804817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.40, Y:-152.04, Z:1.92 [[ 7.46324632e-01 6.65530461e-01 8.29150252e-03 2.59397238e+02] [-6.65487747e-01 7.46370681e-01 -7.54089254e-03 -1.52036412e+02] [-1.12072281e-02 1.10060524e-04 9.99937191e-01 1.92331319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.45, Y:-152.07, Z:1.93 [[ 7.48908447e-01 6.62621607e-01 8.29123554e-03 2.59446081e+02] [-6.62578711e-01 7.48954326e-01 -7.54118607e-03 -1.52074443e+02] [-1.12067096e-02 1.54061793e-04 9.99937191e-01 1.92534475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.49, Y:-152.11, Z:1.92 [[ 7.51734001e-01 6.59414345e-01 8.28931586e-03 2.59494223e+02] [-6.59371230e-01 7.51779675e-01 -7.54329560e-03 -1.52111797e+02] [-1.12058965e-02 2.04815388e-04 9.99937191e-01 1.91943023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.837628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:259.54, Y:-152.15, Z:1.92 [[ 7.54685586e-01 6.56034271e-01 8.28861788e-03 2.59542290e+02] [-6.55990943e-01 7.54731058e-01 -7.54406248e-03 -1.52152171e+02] [-1.12048409e-02 2.56136956e-04 9.99937191e-01 1.91980803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.59, Y:-152.19, Z:1.93 [[ 7.55509480e-01 6.55085307e-01 8.28650721e-03 2.59589283e+02] [-6.55041896e-01 7.55554873e-01 -7.54638015e-03 -1.52193098e+02] [-1.12044337e-02 2.73352344e-04 9.99937191e-01 1.92608353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.63, Y:-152.24, Z:1.92 [[ 7.50648751e-01 6.60649543e-01 8.28451041e-03 2.59634757e+02] [-6.60606445e-01 7.50694441e-01 -7.54857163e-03 -1.52235109e+02] [-1.12060963e-02 1.93524901e-04 9.99937191e-01 1.92381017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.68, Y:-152.27, Z:1.92 [[ 7.46937224e-01 6.64842978e-01 8.28240542e-03 2.59683826e+02] [-6.64800111e-01 7.46983130e-01 -7.55088055e-03 -1.52273425e+02] [-1.12069670e-02 1.33889707e-04 9.99937191e-01 1.91940291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.73, Y:-152.32, Z:1.92 [[ 7.42351135e-01 6.69959869e-01 8.28046123e-03 2.59730027e+02] [-6.69917294e-01 7.42397313e-01 -7.55301199e-03 -1.52315783e+02] [-1.12076071e-02 5.97628467e-05 9.99937191e-01 1.92078074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.77, Y:-152.36, Z:1.92 [[ 7.36196264e-01 6.76717468e-01 8.27823448e-03 2.59772817e+02] [-6.76675290e-01 7.36242804e-01 -7.55545176e-03 -1.52360184e+02] [-1.12076968e-02 -3.93813628e-05 9.99937191e-01 1.92481795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.82, Y:-152.40, Z:1.93 [[ 7.33748300e-01 6.79370986e-01 8.27618900e-03 2.59819478e+02] [-6.79328951e-01 7.33794970e-01 -7.55769170e-03 -1.52401773e+02] [-1.12075023e-02 -7.68113543e-05 9.99937191e-01 1.92641200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:-152.44, Z:1.93 [[ 7.33768177e-01 6.79349546e-01 8.27389511e-03 2.59866654e+02] [-6.79307482e-01 7.33814819e-01 -7.56020213e-03 -1.52443827e+02] [-1.12075267e-02 -7.30831201e-05 9.99937191e-01 1.92517194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.91, Y:-152.49, Z:1.93 [[ 7.35102704e-01 6.77905298e-01 8.27172078e-03 2.59912187e+02] [-6.77863115e-01 7.35149240e-01 -7.56258035e-03 -1.52487248e+02] [-1.12076625e-02 -4.78211475e-05 9.99937191e-01 1.92604861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:-152.53, Z:1.93 [[ 7.35392859e-01 6.77590552e-01 8.26957101e-03 2.59958103e+02] [-6.77548323e-01 7.35439353e-01 -7.56493037e-03 -1.52530256e+02] [-1.12076933e-02 -3.98381945e-05 9.99937191e-01 1.92604478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.00, Y:-152.57, Z:1.92 [[ 7.33539310e-01 6.79596741e-01 8.26741842e-03 2.60004724e+02] [-6.79554613e-01 7.33585895e-01 -7.56728211e-03 -1.52572021e+02] [-1.12075618e-02 -6.72634278e-05 9.99937191e-01 1.92410990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.05, Y:-152.61, Z:1.92 [[ 7.32022871e-01 6.81229919e-01 8.26526624e-03 2.60050767e+02] [-6.81187867e-01 7.32069525e-01 -7.56963207e-03 -1.52614375e+02] [-1.12074094e-02 -8.90552849e-05 9.99937191e-01 1.92051079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.10, Y:-152.65, Z:1.92 [[ 7.35789960e-01 6.77159384e-01 8.26458928e-03 2.60099577e+02] [-6.77117067e-01 7.35836373e-01 -7.57037112e-03 -1.52654366e+02] [-1.12077332e-02 -2.58913923e-05 9.99937191e-01 1.91853691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.14, Y:-152.70, Z:1.92 [[ 7.35511933e-01 6.77461387e-01 8.26222842e-03 2.60141614e+02] [-6.77419060e-01 7.35558338e-01 -7.57294685e-03 -1.52699008e+02] [-1.12077301e-02 -2.69982262e-05 9.99937191e-01 1.91626127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67762799999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-152.74, Z:1.91 [[ 7.40217725e-01 6.72316506e-01 8.26042447e-03 2.60186610e+02] [-6.72273834e-01 7.40263813e-01 -7.57491405e-03 -1.52740088e+02] [-1.12076331e-02 5.38184160e-05 9.99937191e-01 1.91291504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:-152.78, Z:1.91 [[ 7.44555352e-01 6.67509641e-01 8.25869742e-03 2.60233194e+02] [-6.67466651e-01 7.44601143e-01 -7.57679654e-03 -1.52782433e+02] [-1.12070203e-02 1.28939305e-04 9.99937191e-01 1.91332739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:-152.83, Z:1.91 [[ 7.45510975e-01 6.66442207e-01 8.25653559e-03 2.60279188e+02] [-6.66399125e-01 7.45556679e-01 -7.57915158e-03 -1.52825516e+02] [-1.12067818e-02 1.48192590e-04 9.99937191e-01 1.91392726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.32, Y:-152.87, Z:1.92 [[ 7.48595957e-01 6.62975081e-01 8.25435282e-03 2.60323795e+02] [-6.62931761e-01 7.48641436e-01 -7.58152807e-03 -1.52867392e+02] [-1.12059147e-02 2.03428611e-04 9.99937191e-01 1.91583729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:-152.91, Z:1.92 [[ 7.48172854e-01 6.63452542e-01 8.25261025e-03 2.60369906e+02] [-6.63409230e-01 7.48218340e-01 -7.58342441e-03 -1.52908937e+02] [-1.12059965e-02 1.98854469e-04 9.99937191e-01 1.91859978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.977628 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:260.42, Y:-152.95, Z:1.92 [[ 7.45223624e-01 6.66763584e-01 8.25071665e-03 2.60416438e+02] [-6.66720451e-01 7.45269281e-01 -7.58548407e-03 -1.52948962e+02] [-1.12067302e-02 1.51960404e-04 9.99937191e-01 1.91972314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.46, Y:-152.99, Z:1.92 [[ 7.38506005e-01 6.74196436e-01 8.24898879e-03 2.60462586e+02] [-6.74153742e-01 7.38552073e-01 -7.58736261e-03 -1.52989717e+02] [-1.12076806e-02 4.22261905e-05 9.99937191e-01 1.91921913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.51, Y:-153.03, Z:1.92 [[ 7.35747070e-01 6.77206198e-01 8.24702324e-03 2.60512505e+02] [-6.77163669e-01 7.35793289e-01 -7.58949844e-03 -1.53028262e+02] [-1.12077597e-02 -6.33279726e-07 9.99937191e-01 1.91652543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.56, Y:-153.07, Z:1.92 [[ 7.30930689e-01 6.82401899e-01 8.24478144e-03 2.60557162e+02] [-6.82359671e-01 7.30977183e-01 -7.59193302e-03 -1.53072055e+02] [-1.12074966e-02 -7.67295197e-05 9.99937191e-01 1.91548400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.60, Y:-153.12, Z:1.91 [[ 7.28302168e-01 6.85206534e-01 8.24371410e-03 2.60600187e+02] [-6.85164471e-01 7.28348812e-01 -7.59309181e-03 -1.53116187e+02] [-1.12071355e-02 -1.18234787e-04 9.99937191e-01 1.91497000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.65, Y:-153.16, Z:1.92 [[ 7.27668534e-01 6.85879420e-01 8.24173823e-03 2.60646085e+02] [-6.85837376e-01 7.27715195e-01 -7.59523587e-03 -1.53159509e+02] [-1.12070541e-02 -1.25677971e-04 9.99937191e-01 1.91510209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.69, Y:-153.20, Z:1.92 [[ 7.29073764e-01 6.84385532e-01 8.23956576e-03 2.60690751e+02] [-6.84343366e-01 7.29120315e-01 -7.59759191e-03 -1.53202520e+02] [-1.12073168e-02 -9.94872420e-05 9.99937191e-01 1.91642172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.73, Y:-153.25, Z:1.92 [[ 7.34511769e-01 6.78545947e-01 8.23767635e-03 2.60733461e+02] [-6.78503388e-01 7.34557961e-01 -7.59963995e-03 -1.53247723e+02] [-1.12077556e-02 -7.26633022e-06 9.99937191e-01 1.91737258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.78, Y:-153.29, Z:1.92 [[ 7.39138943e-01 6.73502632e-01 8.23581547e-03 2.60777929e+02] [-6.73459735e-01 7.39184821e-01 -7.60165606e-03 -1.53292515e+02] [-1.12075252e-02 7.21899168e-05 9.99937191e-01 1.91681711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.82, Y:-153.34, Z:1.92 [[ 7.45984881e-01 6.65911979e-01 8.23368766e-03 2.60821201e+02] [-6.65868590e-01 7.46030295e-01 -7.60396009e-03 -1.53336333e+02] [-1.12061485e-02 1.89885270e-04 9.99937191e-01 1.91571579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.87, Y:-153.38, Z:1.91 [[ 7.53150329e-01 6.57796945e-01 8.23172514e-03 2.60867720e+02] [-6.57753044e-01 7.53195247e-01 -7.60608404e-03 -1.53378054e+02] [-1.12033551e-02 3.14082428e-04 9.99937191e-01 1.91201323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:260.91, Y:-153.43, Z:1.91 [[ 7.52278265e-01 6.58794116e-01 8.22948591e-03 2.60906204e+02] [-6.58750248e-01 7.52323216e-01 -7.60850603e-03 -1.53425880e+02] [-1.12036723e-02 3.02537829e-04 9.99937191e-01 1.90960187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.95, Y:-153.47, Z:1.91 [[ 7.50541292e-01 6.60772331e-01 8.22771115e-03 2.60950852e+02] [-6.60728560e-01 7.50586338e-01 -7.61042474e-03 -1.53470192e+02] [-1.12043657e-02 2.75654280e-04 9.99937191e-01 1.90965231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:261.00, Y:-153.51, Z:1.91 [[ 7.45860301e-01 6.66051613e-01 8.22558425e-03 2.60996016e+02] [-6.66008136e-01 7.45905630e-01 -7.61272287e-03 -1.53513830e+02] [-1.12059759e-02 1.99721739e-04 9.99937191e-01 1.90849358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:-153.55, Z:1.91 [[ 7.43870341e-01 6.68273365e-01 8.22346622e-03 2.61041572e+02] [-6.68229998e-01 7.43915775e-01 -7.61501013e-03 -1.53554157e+02] [-1.12064747e-02 1.69413359e-04 9.99937191e-01 1.90593193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.08, Y:-153.60, Z:1.91 [[ 7.38933312e-01 6.73728396e-01 8.22247725e-03 2.61084404e+02] [-6.73685353e-01 7.38979053e-01 -7.61607784e-03 -1.53599565e+02] [-1.12074064e-02 8.84111302e-05 9.99937191e-01 1.90857038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:261.12, Y:-153.65, Z:1.91 [[ 7.33481210e-01 6.79660017e-01 8.22050519e-03 2.61123460e+02] [-6.79617320e-01 7.33527274e-01 -7.61820581e-03 -1.53646813e+02] [-1.12077547e-02 1.01311190e-06 9.99937191e-01 1.90626473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.16, Y:-153.69, Z:1.91 [[ 7.31818567e-01 6.81449953e-01 8.21871761e-03 2.61164756e+02] [-6.81407347e-01 7.31864715e-01 -7.62013382e-03 -1.53694857e+02] [-1.12077293e-02 -2.37391520e-05 9.99937191e-01 1.90822145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.21, Y:-153.74, Z:1.91 [[ 7.30887467e-01 6.82448530e-01 8.21668514e-03 2.61207157e+02] [-6.82405963e-01 7.30933651e-01 -7.62232477e-03 -1.53741028e+02] [-1.12076960e-02 -3.60532822e-05 9.99937191e-01 1.90643820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.25, Y:-153.78, Z:1.90 [[ 7.28359377e-01 6.85146067e-01 8.21490739e-03 2.61250200e+02] [-6.85103649e-01 7.28405698e-01 -7.62424025e-03 -1.53784802e+02] [-1.12075036e-02 -7.48761481e-05 9.99937191e-01 1.90233951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.30, Y:-153.82, Z:1.90 [[ 7.26099569e-01 6.87540514e-01 8.21327791e-03 2.61298067e+02] [-6.87498229e-01 7.26146011e-01 -7.62599521e-03 -1.53824777e+02] [-1.12072197e-02 -1.09382186e-04 9.99937191e-01 1.89894941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.35, Y:-153.86, Z:1.90 [[ 7.27056827e-01 6.86528180e-01 8.21151316e-03 2.61345587e+02] [-6.86485808e-01 7.27103191e-01 -7.62789499e-03 -1.53864368e+02] [-1.12073823e-02 -9.11741214e-05 9.99937191e-01 1.89744709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.297628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:-153.91, Z:1.90 [[ 7.30791487e-01 6.82551392e-01 8.20967080e-03 2.61390455e+02] [-6.82508746e-01 7.30837599e-01 -7.62987735e-03 -1.53906030e+02] [-1.12077195e-02 -2.73227121e-05 9.99937191e-01 1.89714091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.357628 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:261.43, Y:-153.95, Z:1.90 [[ 7.36654497e-01 6.76219477e-01 8.20798693e-03 2.61433369e+02] [-6.76176415e-01 7.36700220e-01 -7.63168838e-03 -1.53948919e+02] [-1.12075221e-02 7.18703900e-05 9.99937191e-01 1.89540012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.48, Y:-153.99, Z:1.90 [[ 7.39235334e-01 6.73397191e-01 8.20632945e-03 2.61476875e+02] [-6.73353935e-01 7.39280873e-01 -7.63347024e-03 -1.53993382e+02] [-1.12071398e-02 1.17166701e-04 9.99937191e-01 1.89972638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.52, Y:-154.04, Z:1.90 [[ 7.40174584e-01 6.72364687e-01 8.20446154e-03 2.61523779e+02] [-6.72321344e-01 7.40220041e-01 -7.63547735e-03 -1.54036022e+02] [-1.12069322e-02 1.35551664e-04 9.99937191e-01 1.90045761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.537628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:261.57, Y:-154.08, Z:1.90 [[ 7.39059580e-01 6.73590127e-01 8.20231854e-03 2.61570666e+02] [-6.73546835e-01 7.39105084e-01 -7.63777874e-03 -1.54078574e+02] [-1.12071077e-02 1.20127861e-04 9.99937191e-01 1.89927435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:-154.12, Z:1.90 [[ 7.35767758e-01 6.77184291e-01 8.20016571e-03 2.61615509e+02] [-6.77141195e-01 7.35813449e-01 -7.64008939e-03 -1.54121338e+02] [-1.12075407e-02 6.86614300e-05 9.99937191e-01 1.89936353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:-154.16, Z:1.90 [[ 7.35140620e-01 6.77865074e-01 8.19817602e-03 2.61660275e+02] [-6.77821996e-01 7.35186329e-01 -7.64222383e-03 -1.54164147e+02] [-1.12075835e-02 6.12051385e-05 9.99937191e-01 1.89854802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.70, Y:-154.21, Z:1.90 [[ 7.34019987e-01 6.79078405e-01 8.19627723e-03 2.61704201e+02] [-6.79035380e-01 7.34065745e-01 -7.64425973e-03 -1.54206623e+02] [-1.12076581e-02 4.54772017e-05 9.99937191e-01 1.89606785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.777628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.75, Y:-154.25, Z:1.89 [[ 7.32643315e-01 6.80563460e-01 8.19454402e-03 2.61750276e+02] [-6.80520507e-01 7.32689140e-01 -7.64611725e-03 -1.54248391e+02] [-1.12077214e-02 2.53214366e-05 9.99937191e-01 1.89402412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.837628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:261.79, Y:-154.29, Z:1.90 [[ 7.31779749e-01 6.81491951e-01 8.19265622e-03 2.61794211e+02] [-6.81449033e-01 7.31825608e-01 -7.64813946e-03 -1.54290753e+02] [-1.12077411e-02 1.38759147e-05 9.99937191e-01 1.89549272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:-154.33, Z:1.90 [[ 7.30289566e-01 6.83088608e-01 8.19163519e-03 2.61839993e+02] [-6.83045779e-01 7.30335507e-01 -7.64923289e-03 -1.54332222e+02] [-1.12077459e-02 -9.10686595e-06 9.99937191e-01 1.89899550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.88, Y:-154.37, Z:1.90 [[ 7.29989808e-01 6.83408961e-01 8.18975295e-03 2.61884975e+02] [-6.83366129e-01 7.30035747e-01 -7.65124760e-03 -1.54373694e+02] [-1.12077436e-02 -1.12670059e-05 9.99937191e-01 1.89675561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.93, Y:-154.42, Z:1.89 [[ 7.29889205e-01 6.83516417e-01 8.18870612e-03 2.61929201e+02] [-6.83473580e-01 7.29935139e-01 -7.65236781e-03 -1.54417825e+02] [-1.12077434e-02 -1.13836245e-05 9.99937191e-01 1.89383477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:-154.46, Z:1.89 [[ 7.29542716e-01 6.83886249e-01 8.18683192e-03 2.61972380e+02] [-6.83843412e-01 7.29588650e-01 -7.65437238e-03 -1.54462087e+02] [-1.12077397e-02 -1.43194684e-05 9.99937191e-01 1.89167122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.02, Y:-154.50, Z:1.89 [[ 7.26936179e-01 6.86656244e-01 8.18495724e-03 2.62018383e+02] [-6.86613560e-01 7.26982255e-01 -7.65637649e-03 -1.54502950e+02] [-1.12076174e-02 -5.42055599e-05 9.99937191e-01 1.89239158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:-154.55, Z:1.89 [[ 7.24534602e-01 6.89189846e-01 8.18324186e-03 2.62065182e+02] [-6.89147303e-01 7.24580808e-01 -7.65820947e-03 -1.54545129e+02] [-1.12073802e-02 -9.08212955e-05 9.99937191e-01 1.89248321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.11, Y:-154.59, Z:1.89 [[ 7.25656877e-01 6.88008115e-01 8.18112980e-03 2.62108981e+02] [-6.87965470e-01 7.25702989e-01 -7.66046509e-03 -1.54590254e+02] [-1.12075325e-02 -6.94656373e-05 9.99937191e-01 1.89327882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:-154.63, Z:1.89 [[ 7.31039285e-01 6.82286353e-01 8.17904358e-03 2.62152357e+02] [-6.82243322e-01 7.31085038e-01 -7.66269189e-03 -1.54634726e+02] [-1.12077265e-02 2.16309344e-05 9.99937191e-01 1.89292096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.20, Y:-154.68, Z:1.89 [[ 7.36887800e-01 6.75965610e-01 8.17711755e-03 2.62197892e+02] [-6.75922164e-01 7.36933158e-01 -7.66474666e-03 -1.54676165e+02] [-1.12070942e-02 1.20963315e-04 9.99937191e-01 1.89315185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:-154.72, Z:1.89 [[ 7.39112471e-01 6.73532417e-01 8.17548180e-03 2.62245424e+02] [-6.73488803e-01 7.39157667e-01 -7.66649102e-03 -1.54716806e+02] [-1.12066003e-02 1.60303666e-04 9.99937191e-01 1.89208589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.29, Y:-154.76, Z:1.89 [[ 7.39973556e-01 6.72586300e-01 8.17349159e-03 2.62291757e+02] [-6.72542604e-01 7.40018674e-01 -7.66861226e-03 -1.54758531e+02] [-1.12063399e-02 1.77548966e-04 9.99937191e-01 1.89118996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.34, Y:-154.80, Z:1.89 [[ 7.39027387e-01 6.73625820e-01 8.17165376e-03 2.62338001e+02] [-6.73582166e-01 7.39072546e-01 -7.67057014e-03 -1.54799065e+02] [-1.12065390e-02 1.64481162e-04 9.99937191e-01 1.89020036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.39, Y:-154.84, Z:1.89 [[ 7.36290440e-01 6.76616311e-01 8.17044921e-03 2.62386656e+02] [-6.76572826e-01 7.36335761e-01 -7.67185297e-03 -1.54838465e+02] [-1.12070948e-02 1.20808084e-04 9.99937191e-01 1.88979579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67762799999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:262.43, Y:-154.88, Z:1.89 [[ 7.33856590e-01 6.79255316e-01 8.16828892e-03 2.62432384e+02] [-6.79211968e-01 7.33902043e-01 -7.67415237e-03 -1.54879298e+02] [-1.12074327e-02 8.37276992e-05 9.99937191e-01 1.88682495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:-154.92, Z:1.89 [[ 7.31459149e-01 6.81836360e-01 8.16656167e-03 2.62477731e+02] [-6.81793152e-01 7.31504734e-01 -7.67599000e-03 -1.54922709e+02] [-1.12076476e-02 4.67672815e-05 9.99937191e-01 1.88844907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.52, Y:-154.96, Z:1.89 [[ 7.29742316e-01 6.83673529e-01 8.16437265e-03 2.62522775e+02] [-6.83630411e-01 7.29787986e-01 -7.67831760e-03 -1.54963939e+02] [-1.12077236e-02 2.17798403e-05 9.99937191e-01 1.88942744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.57, Y:-155.00, Z:1.89 [[ 7.29906482e-01 6.83498271e-01 8.16334556e-03 2.62570075e+02] [-6.83455130e-01 7.29952130e-01 -7.67940941e-03 -1.55004270e+02] [-1.12077145e-02 2.59703056e-05 9.99937191e-01 1.89132090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.61, Y:-155.05, Z:1.89 [[ 7.26621795e-01 6.86989199e-01 8.16134202e-03 2.62610835e+02] [-6.86946253e-01 7.26667627e-01 -7.68153809e-03 -1.55051163e+02] [-1.12077167e-02 -2.48303224e-05 9.99937191e-01 1.89314632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:-155.10, Z:1.89 [[ 7.25052772e-01 6.88644969e-01 8.15993683e-03 2.62654028e+02] [-6.88602111e-01 7.25098686e-01 -7.68303051e-03 -1.55096383e+02] [-1.12076398e-02 -4.83471607e-05 9.99937191e-01 1.89199217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.70, Y:-155.14, Z:1.89 [[ 7.24259551e-01 6.89479191e-01 8.15771361e-03 2.62699833e+02] [-6.89436358e-01 7.24305490e-01 -7.68539036e-03 -1.55139970e+02] [-1.12075935e-02 -5.80069866e-05 9.99937191e-01 1.88849542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.097628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.74, Y:-155.19, Z:1.88 [[ 7.26490742e-01 6.87127855e-01 8.15548354e-03 2.62741002e+02] [-6.87084848e-01 7.26536517e-01 -7.68775611e-03 -1.55185073e+02] [-1.12077280e-02 -1.84255241e-05 9.99937191e-01 1.88259465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.157628 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:-155.23, Z:1.88 [[ 7.29243194e-01 6.84206014e-01 8.15439832e-03 2.62784862e+02] [-6.84162811e-01 7.29288783e-01 -7.68890702e-03 -1.55230599e+02] [-1.12077077e-02 2.81470387e-05 9.99937191e-01 1.88213290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.217628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:262.83, Y:-155.27, Z:1.88 [[ 7.28736356e-01 6.84745839e-01 8.15224193e-03 2.62833891e+02] [-6.84702643e-01 7.28781953e-01 -7.69119269e-03 -1.55270614e+02] [-1.12077190e-02 2.29901376e-05 9.99937191e-01 1.88212597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.277628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.88, Y:-155.31, Z:1.88 [[ 7.27464623e-01 6.86096786e-01 8.15001885e-03 2.62881759e+02] [-6.86053649e-01 7.27510275e-01 -7.69354766e-03 -1.55310889e+02] [-1.12077408e-02 5.43357184e-06 9.99937191e-01 1.88209206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.337628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:262.93, Y:-155.35, Z:1.88 [[ 7.26225447e-01 6.87408331e-01 8.14781938e-03 2.62927526e+02] [-6.87365250e-01 7.26271153e-01 -7.69587630e-03 -1.55353491e+02] [-1.12077357e-02 -1.15866988e-05 9.99937191e-01 1.88336213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.97, Y:-155.40, Z:1.88 [[ 7.25842568e-01 6.87812631e-01 8.14560605e-03 2.62971908e+02] [-6.87769550e-01 7.25888272e-01 -7.69821825e-03 -1.55396785e+02] [-1.12077317e-02 -1.46053017e-05 9.99937191e-01 1.88483839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:-155.44, Z:1.88 [[ 7.27365753e-01 6.86201679e-01 8.14356053e-03 2.63018168e+02] [-6.86158472e-01 7.27411339e-01 -7.70038150e-03 -1.55439638e+02] [-1.12077330e-02 1.32207350e-05 9.99937191e-01 1.88203785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:-155.48, Z:1.88 [[ 7.28382566e-01 6.85122292e-01 8.14137699e-03 2.63063922e+02] [-6.85078992e-01 7.28428064e-01 -7.70268940e-03 -1.55483313e+02] [-1.12076917e-02 3.30183328e-05 9.99937191e-01 1.87975437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.11, Y:-155.53, Z:1.88 [[ 7.28447273e-01 6.85053520e-01 8.13917326e-03 2.63109319e+02] [-6.85010189e-01 7.28492741e-01 -7.70501731e-03 -1.55527411e+02] [-1.12076779e-02 3.72822338e-05 9.99937191e-01 1.87888019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:-155.57, Z:1.88 [[ 7.30003688e-01 6.83394765e-01 8.13696639e-03 2.63152963e+02] [-6.83351305e-01 7.30049033e-01 -7.70734719e-03 -1.55572217e+02] [-1.12075452e-02 6.59852688e-05 9.99937191e-01 1.87783008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.20, Y:-155.62, Z:1.88 [[ 7.32273759e-01 6.80961795e-01 8.13475941e-03 2.63198968e+02] [-6.80918159e-01 7.32318934e-01 -7.70967585e-03 -1.55615314e+02] [-1.12072331e-02 1.06487919e-04 9.99937191e-01 1.87620390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.25, Y:-155.66, Z:1.88 [[ 7.33457811e-01 6.79686325e-01 8.13257860e-03 2.63245444e+02] [-6.79642585e-01 7.33502885e-01 -7.71197560e-03 -1.55658178e+02] [-1.12069942e-02 1.29161999e-04 9.99937191e-01 1.87636876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.29, Y:-155.70, Z:1.88 [[ 7.35891973e-01 6.77050147e-01 8.13035398e-03 2.63291976e+02] [-6.77006219e-01 7.35936865e-01 -7.71432020e-03 -1.55700852e+02] [-1.12064088e-02 1.72606112e-04 9.99937191e-01 1.87645580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:263.34, Y:-155.74, Z:1.87 [[ 7.37693040e-01 6.75087337e-01 8.12814556e-03 2.63336793e+02] [-6.75043264e-01 7.37737789e-01 -7.71664639e-03 -1.55743733e+02] [-1.12058504e-02 2.05666431e-04 9.99937191e-01 1.87398074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.38, Y:-155.79, Z:1.87 [[ 7.36606948e-01 6.76272261e-01 8.12610844e-03 2.63383440e+02] [-6.76228236e-01 7.36651745e-01 -7.71879100e-03 -1.55786222e+02] [-1.12061162e-02 1.90611101e-04 9.99937191e-01 1.87436021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.43, Y:-155.83, Z:1.87 [[ 7.33141008e-01 6.80028135e-01 8.12390912e-03 2.63431082e+02] [-6.79984315e-01 7.33186004e-01 -7.72110506e-03 -1.55827715e+02] [-1.12069051e-02 1.36527977e-04 9.99937191e-01 1.87273105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.48, Y:-155.87, Z:1.87 [[ 7.28425682e-01 6.85076684e-01 8.12174263e-03 2.63476976e+02] [-6.85033150e-01 7.28470956e-01 -7.72338329e-03 -1.55870369e+02] [-1.12075634e-02 6.22478101e-05 9.99937191e-01 1.87207979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.52, Y:-155.91, Z:1.87 [[ 7.25593495e-01 6.88075688e-01 8.11952611e-03 2.63523108e+02] [-6.88032315e-01 7.25638923e-01 -7.72571280e-03 -1.55913511e+02] [-1.12077193e-02 1.92306047e-05 9.99937191e-01 1.87105323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17762799999997 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:263.57, Y:-155.96, Z:1.87 [[ 7.22598890e-01 6.91219902e-01 8.11733727e-03 2.63568156e+02] [-6.91176701e-01 7.22644481e-01 -7.72801191e-03 -1.55956815e+02] [-1.12077046e-02 -2.62615684e-05 9.99937191e-01 1.86872660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.61, Y:-156.00, Z:1.87 [[ 7.21297531e-01 6.92577805e-01 8.11513397e-03 2.63612407e+02] [-6.92534664e-01 7.21343179e-01 -7.73032489e-03 -1.56001084e+02] [-1.12076480e-02 -4.41473157e-05 9.99937191e-01 1.87217636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.66, Y:-156.05, Z:1.87 [[ 7.21000980e-01 6.92886543e-01 8.11323221e-03 2.63655974e+02] [-6.92843399e-01 7.21046625e-01 -7.73232034e-03 -1.56046897e+02] [-1.12076394e-02 -4.61888365e-05 9.99937191e-01 1.87165451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.70, Y:-156.09, Z:1.87 [[ 7.21080000e-01 6.92804333e-01 8.11102357e-03 2.63699812e+02] [-6.92761158e-01 7.21125616e-01 -7.73463645e-03 -1.56092471e+02] [-1.12076565e-02 -4.17104218e-05 9.99937191e-01 1.86963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.74, Y:-156.14, Z:1.86 [[ 7.19870259e-01 6.94061277e-01 8.10883865e-03 2.63744117e+02] [-6.94018156e-01 7.19915925e-01 -7.73692640e-03 -1.56135445e+02] [-1.12075831e-02 -5.80980350e-05 9.99937191e-01 1.86379289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.79, Y:-156.17, Z:1.86 [[ 7.17784756e-01 6.96217870e-01 8.10693655e-03 2.63792491e+02] [-6.96174863e-01 7.17830530e-01 -7.73891895e-03 -1.56174778e+02] [-1.12073802e-02 -8.89673943e-05 9.99937191e-01 1.85991190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:-156.21, Z:1.86 [[ 7.17473712e-01 6.96538428e-01 8.10505041e-03 2.63840402e+02] [-6.96495418e-01 7.17519485e-01 -7.74089383e-03 -1.56214975e+02] [-1.12073616e-02 -9.12426475e-05 9.99937191e-01 1.85885597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.89, Y:-156.26, Z:1.86 [[ 7.20573504e-01 6.93331211e-01 8.10292344e-03 2.63885377e+02] [-6.93287973e-01 7.20619060e-01 -7.74311963e-03 -1.56257409e+02] [-1.12076676e-02 -3.81725347e-05 9.99937191e-01 1.86094898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.93, Y:-156.30, Z:1.86 [[ 7.25915315e-01 6.87736380e-01 8.10110248e-03 2.63930007e+02] [-6.87692770e-01 7.25960515e-01 -7.74502431e-03 -1.56301729e+02] [-1.12076155e-02 5.11621629e-05 9.99937191e-01 1.86097033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.97, Y:-156.35, Z:1.86 [[ 7.30171887e-01 6.83215503e-01 8.09892637e-03 2.63974257e+02] [-6.83171587e-01 7.30216791e-01 -7.74729919e-03 -1.56345972e+02] [-1.12070469e-02 1.23903686e-04 9.99937191e-01 1.85916360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.777628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:264.02, Y:-156.39, Z:1.86 [[ 7.35227359e-01 6.77772214e-01 8.09674670e-03 2.64018016e+02] [-6.77727941e-01 7.35271910e-01 -7.74957651e-03 -1.56391454e+02] [-1.12057580e-02 2.10309202e-04 9.99937191e-01 1.85710810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.06, Y:-156.43, Z:1.86 [[ 7.35415773e-01 6.77567797e-01 8.09453424e-03 2.64061995e+02] [-6.77523486e-01 7.35460287e-01 -7.75188676e-03 -1.56434587e+02] [-1.12056373e-02 2.16622737e-04 9.99937191e-01 1.86046467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.11, Y:-156.48, Z:1.86 [[ 7.30583114e-01 6.82775823e-01 8.09249475e-03 2.64108709e+02] [-6.82731806e-01 7.30627919e-01 -7.75401528e-03 -1.56476435e+02] [-1.12068568e-02 1.39949075e-04 9.99937191e-01 1.86119005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.15, Y:-156.52, Z:1.86 [[ 7.22837343e-01 6.90970855e-01 8.09033743e-03 2.64154573e+02] [-6.90927321e-01 7.22882617e-01 -7.75626551e-03 -1.56519749e+02] [-1.12077177e-02 1.66831878e-05 9.99937191e-01 1.86007156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.20, Y:-156.56, Z:1.86 [[ 7.18978600e-01 6.94985147e-01 8.08818469e-03 2.64200758e+02] [-6.94941841e-01 7.19024091e-01 -7.75850973e-03 -1.56561776e+02] [-1.12076487e-02 -4.26154966e-05 9.99937191e-01 1.85786896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:-156.60, Z:1.86 [[ 7.16862648e-01 6.97167524e-01 8.08627301e-03 2.64248064e+02] [-6.97124333e-01 7.16908250e-01 -7.76050166e-03 -1.56603925e+02] [-1.12074856e-02 -7.39239095e-05 9.99937191e-01 1.85641945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.29, Y:-156.65, Z:1.86 [[ 7.18705465e-01 6.95267648e-01 8.08406700e-03 2.64291712e+02] [-6.95224312e-01 7.18750927e-01 -7.76279896e-03 -1.56648701e+02] [-1.12076536e-02 -4.10738814e-05 9.99937191e-01 1.85884247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.34, Y:-156.69, Z:1.86 [[ 7.21610233e-01 6.92252375e-01 8.08213871e-03 2.64335181e+02] [-6.92208826e-01 7.21655492e-01 -7.76480606e-03 -1.56693690e+02] [-1.12077252e-02 8.63575800e-06 9.99937191e-01 1.86013956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.38, Y:-156.74, Z:1.86 [[ 7.25699079e-01 6.87964797e-01 8.07992382e-03 2.64379272e+02] [-6.87920955e-01 7.25744054e-01 -7.76711015e-03 -1.56738543e+02] [-1.12074550e-02 7.82357772e-05 9.99937191e-01 1.85924263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.42, Y:-156.78, Z:1.86 [[ 7.27597438e-01 6.85956790e-01 8.07771593e-03 2.64422581e+02] [-6.85912799e-01 7.27642267e-01 -7.76940565e-03 -1.56784734e+02] [-1.12071641e-02 1.12390908e-04 9.99937191e-01 1.86092196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.47, Y:-156.83, Z:1.86 [[ 7.26949501e-01 6.86643437e-01 8.07551039e-03 2.64465039e+02] [-6.86599462e-01 7.26994346e-01 -7.77169741e-03 -1.56830124e+02] [-1.12072354e-02 1.04990464e-04 9.99937191e-01 1.86312780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.51, Y:-156.87, Z:1.86 [[ 7.23893942e-01 6.89864029e-01 8.07357771e-03 2.64509134e+02] [-6.89820231e-01 7.23938961e-01 -7.77370465e-03 -1.56873241e+02] [-1.12075767e-02 5.80204726e-05 9.99937191e-01 1.86202574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:-156.92, Z:1.86 [[ 7.21539370e-01 6.92326360e-01 8.07153378e-03 2.64556192e+02] [-6.92282692e-01 7.21584514e-01 -7.77582631e-03 -1.56915188e+02] [-1.12077033e-02 2.27816824e-05 9.99937191e-01 1.85787984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.60, Y:-156.96, Z:1.86 [[ 7.16804320e-01 6.97227692e-01 8.06921258e-03 2.64600562e+02] [-6.97184306e-01 7.16849735e-01 -7.77823434e-03 -1.56958505e+02] [-1.12076133e-02 -5.02563921e-05 9.99937191e-01 1.85501108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.65, Y:-157.00, Z:1.85 [[ 7.14507396e-01 6.99581377e-01 8.06706690e-03 2.64648558e+02] [-6.99538115e-01 7.14552930e-01 -7.78045906e-03 -1.56997666e+02] [-1.12074106e-02 -8.40252356e-05 9.99937191e-01 1.84822704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:-157.04, Z:1.85 [[ 7.15278950e-01 6.98792513e-01 8.06514076e-03 2.64697569e+02] [-6.98749179e-01 7.15324415e-01 -7.78245517e-03 -1.57037100e+02] [-1.12075135e-02 -6.88841211e-05 9.99937191e-01 1.84931422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.74, Y:-157.08, Z:1.85 [[ 7.18019046e-01 6.95976752e-01 8.06289913e-03 2.64742813e+02] [-6.95933213e-01 7.18064315e-01 -7.78477689e-03 -1.57080388e+02] [-1.12077039e-02 -2.16212237e-05 9.99937191e-01 1.85114498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.79, Y:-157.13, Z:1.85 [[ 7.21801605e-01 6.92053082e-01 8.06068457e-03 2.64785976e+02] [-6.92009272e-01 7.21846611e-01 -7.78706925e-03 -1.57126756e+02] [-1.12076431e-02 4.26506211e-05 9.99937191e-01 1.85283212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.83, Y:-157.17, Z:1.85 [[ 7.24364702e-01 6.89369886e-01 8.05842189e-03 2.64830410e+02] [-6.89325883e-01 7.24409520e-01 -7.78941008e-03 -1.57170582e+02] [-1.12073823e-02 8.74949366e-05 9.99937191e-01 1.85076417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.88, Y:-157.21, Z:1.84 [[ 7.28014964e-01 6.85513903e-01 8.05616733e-03 2.64875418e+02] [-6.85469636e-01 7.28059522e-01 -7.79174116e-03 -1.57213626e+02] [-1.12067162e-02 1.50246071e-04 9.99937191e-01 1.84417429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.977628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:-157.26, Z:1.84 [[ 7.27348054e-01 6.86221486e-01 8.05477885e-03 2.64919127e+02] [-6.86177247e-01 7.27392639e-01 -7.79317624e-03 -1.57256179e+02] [-1.12068318e-02 1.41345598e-04 9.99937192e-01 1.83823830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.97, Y:-157.29, Z:1.84 [[ 7.25752454e-01 6.87908805e-01 8.05302054e-03 2.64969225e+02] [-6.87864650e-01 7.25797122e-01 -7.79499275e-03 -1.57293683e+02] [-1.12071033e-02 1.17846967e-04 9.99937192e-01 1.83874589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.02, Y:-157.33, Z:1.84 [[ 7.19738951e-01 6.94198115e-01 8.05104725e-03 2.65017426e+02] [-6.94154327e-01 7.19783979e-01 -7.79703033e-03 -1.57332883e+02] [-1.12076986e-02 2.31571483e-05 9.99937192e-01 1.83585318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.157628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:265.06, Y:-157.38, Z:1.84 [[ 7.16013592e-01 6.98039926e-01 8.04965783e-03 2.65057180e+02] [-6.97996364e-01 7.16058838e-01 -7.79846450e-03 -1.57381217e+02] [-1.12076682e-02 -3.48253131e-05 9.99937192e-01 1.83870877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.217628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:-157.43, Z:1.84 [[ 7.17930631e-01 6.96068132e-01 8.04769587e-03 2.65099984e+02] [-6.96024422e-01 7.17975735e-01 -7.80048865e-03 -1.57425589e+02] [-1.12077219e-02 -1.18313097e-06 9.99937192e-01 1.83659716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.277628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:265.14, Y:-157.47, Z:1.84 [[ 7.20251998e-01 6.93665861e-01 8.04561855e-03 2.65142924e+02] [-6.93621977e-01 7.20296933e-01 -7.80263066e-03 -1.57471310e+02] [-1.12076529e-02 3.92424756e-05 9.99937192e-01 1.83648746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.19, Y:-157.52, Z:1.84 [[ 7.20654141e-01 6.93248089e-01 8.04343398e-03 2.65185826e+02] [-6.93204154e-01 7.20699025e-01 -7.80488199e-03 -1.57516335e+02] [-1.12076146e-02 4.88786834e-05 9.99937192e-01 1.84127822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.397628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.23, Y:-157.56, Z:1.84 [[ 7.23646564e-01 6.90123891e-01 8.04148953e-03 2.65232462e+02] [-6.90079740e-01 7.23691236e-01 -7.80688488e-03 -1.57558207e+02] [-1.12072733e-02 1.00156405e-04 9.99937192e-01 1.84068373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.27, Y:-157.61, Z:1.84 [[ 7.21507532e-01 6.92359915e-01 8.03926431e-03 2.65273283e+02] [-6.92315877e-01 7.21552315e-01 -7.80917566e-03 -1.57605274e+02] [-1.12075100e-02 6.86687428e-05 9.99937192e-01 1.84173363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.32, Y:-157.65, Z:1.84 [[ 7.25482185e-01 6.88194015e-01 8.03722295e-03 2.65319542e+02] [-6.88149697e-01 7.25526691e-01 -7.81127607e-03 -1.57647931e+02] [-1.12068932e-02 1.36129086e-04 9.99937192e-01 1.84278075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:-157.69, Z:1.84 [[ 7.26826650e-01 6.86773952e-01 8.03490050e-03 2.65362117e+02] [-6.86729520e-01 7.26871043e-01 -7.81366428e-03 -1.57692632e+02] [-1.12065576e-02 1.61376071e-04 9.99937192e-01 1.83624400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:-157.74, Z:1.84 [[ 7.31461555e-01 6.81835368e-01 8.03277005e-03 2.65408456e+02] [-6.81790612e-01 7.31505621e-01 -7.81585386e-03 -1.57735118e+02] [-1.12051420e-02 2.40329408e-04 9.99937192e-01 1.83840108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:-157.78, Z:1.84 [[ 7.33658941e-01 6.79470432e-01 8.03057459e-03 2.65456597e+02] [-6.79425510e-01 7.33702838e-01 -7.81810898e-03 -1.57776030e+02] [-1.12042292e-02 2.79648322e-04 9.99937192e-01 1.83630812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:265.50, Y:-157.82, Z:1.83 [[ 7.33702992e-01 6.79422890e-01 8.02840234e-03 2.65503635e+02] [-6.79377941e-01 7.33746861e-01 -7.82033902e-03 -1.57817522e+02] [-1.12041324e-02 2.83486696e-04 9.99937192e-01 1.83317958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.55, Y:-157.86, Z:1.83 [[ 7.32047398e-01 6.81206421e-01 8.02616969e-03 2.65553361e+02] [-6.81161553e-01 7.32091350e-01 -7.82262977e-03 -1.57856201e+02] [-1.12047150e-02 2.59417553e-04 9.99937192e-01 1.83293748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:265.60, Y:-157.90, Z:1.83 [[ 7.30863965e-01 6.82475993e-01 8.02394437e-03 2.65600599e+02] [-6.82431177e-01 7.30907970e-01 -7.82491168e-03 -1.57897559e+02] [-1.12050793e-02 2.43156181e-04 9.99937192e-01 1.82998540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:265.65, Y:-157.94, Z:1.83 [[ 7.28541276e-01 6.84954933e-01 8.02173288e-03 2.65649704e+02] [-6.84910242e-01 7.28585407e-01 -7.82717815e-03 -1.57936664e+02] [-1.12057818e-02 2.08255355e-04 9.99937192e-01 1.83080469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.70, Y:-157.98, Z:1.83 [[ 7.27592067e-01 6.85963171e-01 8.01951039e-03 2.65696382e+02] [-6.85918515e-01 7.27636235e-01 -7.82945458e-03 -1.57977842e+02] [-1.12060038e-02 1.95918382e-04 9.99937192e-01 1.83272009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:-158.02, Z:1.83 [[ 7.27957407e-01 6.85575477e-01 8.01745601e-03 2.65744032e+02] [-6.85530775e-01 7.28001527e-01 -7.83155773e-03 -1.58019068e+02] [-1.12058441e-02 2.04827623e-04 9.99937192e-01 1.83424030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.79, Y:-158.06, Z:1.83 [[ 7.29058967e-01 6.84403959e-01 8.01525909e-03 2.65790700e+02] [-6.84359161e-01 7.29102990e-01 -7.83380554e-03 -1.58061098e+02] [-1.12054369e-02 2.25990185e-04 9.99937192e-01 1.83354751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.84, Y:-158.10, Z:1.83 [[ 7.29533309e-01 6.83898342e-01 8.01302868e-03 2.65838379e+02] [-6.83853489e-01 7.29577276e-01 -7.83608631e-03 -1.58102827e+02] [-1.12052101e-02 2.36948358e-04 9.99937192e-01 1.83154382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:-158.14, Z:1.83 [[ 7.29663283e-01 6.83759695e-01 8.01075491e-03 2.65883901e+02] [-6.83714808e-01 7.29707216e-01 -7.83841008e-03 -1.58144947e+02] [-1.12050945e-02 2.42328277e-04 9.99937192e-01 1.83008253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.93, Y:-158.19, Z:1.83 [[ 7.30815642e-01 6.82527918e-01 8.00865897e-03 2.65931317e+02] [-6.82482933e-01 7.30859474e-01 -7.84055096e-03 -1.58185706e+02] [-1.12045992e-02 2.64224215e-04 9.99937192e-01 1.82705980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.98, Y:-158.22, Z:1.82 [[ 7.29724540e-01 6.83694370e-01 8.00646886e-03 2.65980194e+02] [-6.83649431e-01 7.29768420e-01 -7.84278677e-03 -1.58224984e+02] [-1.12049373e-02 2.49456087e-04 9.99937192e-01 1.82415409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:-158.27, Z:1.82 [[ 7.28370813e-01 6.85136403e-01 8.00424331e-03 2.66026065e+02] [-6.85091526e-01 7.28414756e-01 -7.84505748e-03 -1.58267275e+02] [-1.12053434e-02 2.30471634e-04 9.99937192e-01 1.82122068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.477628 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:266.07, Y:-158.31, Z:1.82 [[ 7.26333274e-01 6.87296107e-01 8.00229372e-03 2.66072457e+02] [-6.87251338e-01 7.26377327e-01 -7.84704565e-03 -1.58309851e+02] [-1.12059286e-02 1.99983289e-04 9.99937192e-01 1.81950775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.12, Y:-158.35, Z:1.82 [[ 7.23936054e-01 6.89820694e-01 8.00003015e-03 2.66118685e+02] [-6.89776054e-01 7.23980237e-01 -7.84935266e-03 -1.58350464e+02] [-1.12065096e-02 1.64200167e-04 9.99937192e-01 1.81848727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.16, Y:-158.39, Z:1.82 [[ 7.22572756e-01 6.91248614e-01 7.99794400e-03 2.66164392e+02] [-6.91204037e-01 7.22617003e-01 -7.85147773e-03 -1.58393302e+02] [-1.12067734e-02 1.45052715e-04 9.99937192e-01 1.81609628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.21, Y:-158.44, Z:1.82 [[ 7.19957487e-01 6.93972089e-01 7.99725813e-03 2.66209275e+02] [-6.93927672e-01 7.20001895e-01 -7.85217628e-03 -1.58437939e+02] [-1.12072322e-02 1.03714386e-04 9.99937192e-01 1.81603736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.25, Y:-158.48, Z:1.82 [[ 7.18532586e-01 6.95447340e-01 7.99501695e-03 2.66252620e+02] [-6.95402990e-01 7.18577059e-01 -7.85445756e-03 -1.58483319e+02] [-1.12073974e-02 8.39250067e-05 9.99937192e-01 1.81586267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.30, Y:-158.53, Z:1.81 [[ 7.19173225e-01 6.94784851e-01 7.99274870e-03 2.66295283e+02] [-6.94740433e-01 7.19217632e-01 -7.85676507e-03 -1.58528237e+02] [-1.12072871e-02 9.74893760e-05 9.99937192e-01 1.81462569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.34, Y:-158.58, Z:1.82 [[ 7.19714119e-01 6.94224558e-01 7.99065491e-03 2.66335260e+02] [-6.94180082e-01 7.19758467e-01 -7.85889396e-03 -1.58577295e+02] [-1.12071787e-02 1.09203457e-04 9.99937192e-01 1.81508658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:-158.62, Z:1.81 [[ 7.18180995e-01 6.95810494e-01 7.98840820e-03 2.66377411e+02] [-6.95766091e-01 7.18225416e-01 -7.86117704e-03 -1.58624058e+02] [-1.12073673e-02 8.76843992e-05 9.99937192e-01 1.81386457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.42, Y:-158.67, Z:1.81 [[ 7.15804187e-01 6.98255388e-01 7.98618155e-03 2.66418401e+02] [-6.98211111e-01 7.15848734e-01 -7.86343844e-03 -1.58670454e+02] [-1.12075862e-02 5.26414659e-05 9.99937192e-01 1.81009167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:266.46, Y:-158.72, Z:1.81 [[ 7.16038943e-01 6.98014673e-01 7.98424142e-03 2.66461420e+02] [-6.97970359e-01 7.16083454e-01 -7.86540789e-03 -1.58715996e+02] [-1.12075533e-02 5.91745013e-05 9.99937192e-01 1.80619539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:-158.77, Z:1.81 [[ 7.17422040e-01 6.96593052e-01 7.98353422e-03 2.66498118e+02] [-6.96548642e-01 7.17466454e-01 -7.86612564e-03 -1.58765620e+02] [-1.12074065e-02 8.24119848e-05 9.99937192e-01 1.80817173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:266.54, Y:-158.81, Z:1.81 [[ 7.21521006e-01 6.92346539e-01 7.98172627e-03 2.66540542e+02] [-6.92301848e-01 7.21565137e-01 -7.86795974e-03 -1.58810427e+02] [-1.12066901e-02 1.51134376e-04 9.99937192e-01 1.80862793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.58, Y:-158.86, Z:1.82 [[ 7.18898649e-01 6.95069102e-01 7.97970615e-03 2.66576662e+02] [-6.95024555e-01 7.18942926e-01 -7.87000801e-03 -1.58863180e+02] [-1.12071527e-02 1.11646420e-04 9.99937192e-01 1.81662637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:-158.91, Z:1.81 [[ 7.16284659e-01 6.97762583e-01 7.97898528e-03 2.66614648e+02] [-6.97718194e-01 7.16329095e-01 -7.87073880e-03 -1.58911525e+02] [-1.12074863e-02 7.06062579e-05 9.99937192e-01 1.80908212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.66, Y:-158.96, Z:1.81 [[ 7.12909951e-01 7.01210207e-01 7.97797811e-03 2.66656377e+02] [-7.01166021e-01 7.12954589e-01 -7.87175956e-03 -1.58958800e+02] [-1.12076942e-02 1.79685489e-05 9.99937192e-01 1.81043435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:266.70, Y:-159.00, Z:1.81 [[ 7.06146599e-01 7.08020740e-01 7.97572464e-03 2.66701888e+02] [-7.07976959e-01 7.06191635e-01 -7.87404212e-03 -1.59001033e+02] [-1.12073752e-02 -8.64012107e-05 9.99937192e-01 1.80697866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.75, Y:-159.04, Z:1.81 [[ 7.02780696e-01 7.11361871e-01 7.97377578e-03 2.66749382e+02] [-7.11318282e-01 7.02825917e-01 -7.87601518e-03 -1.59042792e+02] [-1.12068732e-02 -1.36781061e-04 9.99937192e-01 1.80646414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:-159.08, Z:1.81 [[ 7.03079865e-01 7.11066212e-01 7.97152918e-03 2.66797148e+02] [-7.11022579e-01 7.03125042e-01 -7.87828836e-03 -1.59083756e+02] [-1.12069665e-02 -1.28871318e-04 9.99937192e-01 1.80534080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:-159.13, Z:1.81 [[ 7.06423017e-01 7.07745018e-01 7.96931323e-03 2.66841499e+02] [-7.07701147e-01 7.06467964e-01 -7.88052929e-03 -1.59128717e+02] [-1.12074698e-02 -7.29048351e-05 9.99937192e-01 1.80547896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.88, Y:-159.17, Z:1.81 [[ 7.13933120e-01 7.00168569e-01 7.96712364e-03 2.66883162e+02] [-7.00124196e-01 7.13977572e-01 -7.88274231e-03 -1.59174641e+02] [-1.12075960e-02 4.97747817e-05 9.99937192e-01 1.80502769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67762799999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:266.93, Y:-159.22, Z:1.80 [[ 7.19786042e-01 6.94150280e-01 7.96510558e-03 2.66927426e+02] [-6.94105513e-01 7.19830096e-01 -7.88478093e-03 -1.59218159e+02] [-1.12067456e-02 1.46731560e-04 9.99937192e-01 1.80461560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.737628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:266.97, Y:-159.26, Z:1.80 [[ 7.21945819e-01 6.91903766e-01 7.96324933e-03 2.66972896e+02] [-6.91858841e-01 7.21989712e-01 -7.88665521e-03 -1.59261696e+02] [-1.12061905e-02 1.84293298e-04 9.99937192e-01 1.80214267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:-159.30, Z:1.80 [[ 7.21881271e-01 6.91971135e-01 7.96103047e-03 2.67017118e+02] [-6.91926190e-01 7.21925144e-01 -7.88889435e-03 -1.59303522e+02] [-1.12061553e-02 1.86399604e-04 9.99937192e-01 1.80106540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.857628 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:267.06, Y:-159.35, Z:1.80 [[ 7.21265076e-01 6.92613413e-01 7.95925528e-03 2.67063088e+02] [-6.92568487e-01 7.21308968e-01 -7.89068497e-03 -1.59345711e+02] [-1.12062765e-02 1.78946104e-04 9.99937192e-01 1.79844845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.917628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:267.11, Y:-159.39, Z:1.80 [[ 7.21392825e-01 6.92480377e-01 7.95729169e-03 2.67107417e+02] [-6.92435421e-01 7.21436687e-01 -7.89266464e-03 -1.59387915e+02] [-1.12061975e-02 1.83801013e-04 9.99937192e-01 1.79802765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.977628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:267.15, Y:-159.43, Z:1.80 [[ 7.21936374e-01 6.91913710e-01 7.95549704e-03 2.67152114e+02] [-6.91868699e-01 7.21980180e-01 -7.89447316e-03 -1.59432172e+02] [-1.12060054e-02 1.95147945e-04 9.99937192e-01 1.79500122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.037628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:267.20, Y:-159.48, Z:1.80 [[ 7.21814683e-01 6.92040681e-01 7.95354552e-03 2.67195383e+02] [-6.91995656e-01 7.21858475e-01 -7.89643880e-03 -1.59478628e+02] [-1.12059911e-02 1.95946518e-04 9.99937192e-01 1.79828430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:-159.52, Z:1.80 [[ 7.22288203e-01 6.91546476e-01 7.95133391e-03 2.67238312e+02] [-6.91501397e-01 7.22331939e-01 -7.89866515e-03 -1.59523612e+02] [-1.12057965e-02 2.06754153e-04 9.99937192e-01 1.80195605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.157628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:267.28, Y:-159.57, Z:1.80 [[ 7.23414608e-01 6.90368099e-01 7.94941098e-03 2.67281615e+02] [-6.90322927e-01 7.23458248e-01 -7.90059996e-03 -1.59567545e+02] [-1.12053891e-02 2.27748761e-04 9.99937192e-01 1.80258209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:-159.61, Z:1.81 [[ 7.23175451e-01 6.90618639e-01 7.94747213e-03 2.67325519e+02] [-6.90573462e-01 7.23219084e-01 -7.90254983e-03 -1.59612731e+02] [-1.12054117e-02 2.26616699e-04 9.99937192e-01 1.80573415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.277628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:267.37, Y:-159.66, Z:1.80 [[ 7.21678293e-01 6.92183006e-01 7.94527483e-03 2.67369208e+02] [-6.92137899e-01 7.21721999e-01 -7.90475840e-03 -1.59657545e+02] [-1.12058191e-02 2.05466727e-04 9.99937192e-01 1.80348158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.337628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:267.41, Y:-159.70, Z:1.80 [[ 7.19083487e-01 6.94878296e-01 7.94305198e-03 2.67413875e+02] [-6.94833328e-01 7.19127337e-01 -7.90699139e-03 -1.59700628e+02] [-1.12064625e-02 1.66689707e-04 9.99937192e-01 1.80138102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.46, Y:-159.74, Z:1.80 [[ 7.14301204e-01 6.99793349e-01 7.94099921e-03 2.67458664e+02] [-6.99748659e-01 7.14345337e-01 -7.90905245e-03 -1.59744174e+02] [-1.12073181e-02 9.27421367e-05 9.99937192e-01 1.80197782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.50, Y:-159.79, Z:1.80 [[ 7.10923013e-01 7.03225030e-01 7.93888262e-03 2.67503264e+02] [-7.03180530e-01 7.10967337e-01 -7.91117645e-03 -1.59788720e+02] [-1.12076235e-02 4.17697127e-05 9.99937192e-01 1.80069378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.55, Y:-159.83, Z:1.80 [[ 7.05763818e-01 7.08402739e-01 7.93678953e-03 2.67546457e+02] [-7.08358541e-01 7.05808443e-01 -7.91327576e-03 -1.59834248e+02] [-1.12076393e-02 -3.71889375e-05 9.99937192e-01 1.79891592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.59, Y:-159.88, Z:1.80 [[ 7.02834788e-01 7.11308867e-01 7.93454813e-03 2.67589653e+02] [-7.11264828e-01 7.02879570e-01 -7.91552254e-03 -1.59880674e+02] [-1.12074131e-02 -8.02604073e-05 9.99937192e-01 1.79820511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.63, Y:-159.93, Z:1.80 [[ 7.01218838e-01 7.12901970e-01 7.93232305e-03 2.67631346e+02] [-7.12858007e-01 7.01263695e-01 -7.91775172e-03 -1.59927709e+02] [-1.12072310e-02 -1.02543344e-04 9.99937192e-01 1.79861713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.67, Y:-159.97, Z:1.80 [[ 7.02422807e-01 7.11715754e-01 7.93005586e-03 2.67674801e+02] [-7.11671690e-01 7.02467565e-01 -7.92002178e-03 -1.59972698e+02] [-1.12074113e-02 -8.03923231e-05 9.99937192e-01 1.79894618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.72, Y:-160.02, Z:1.80 [[ 7.03058010e-01 7.11088310e-01 7.92780840e-03 2.67720048e+02] [-7.11044180e-01 7.03102703e-01 -7.92227081e-03 -1.60016491e+02] [-1.12074977e-02 -6.72060753e-05 9.99937192e-01 1.79866843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.77, Y:-160.06, Z:1.80 [[ 7.04449751e-01 7.09709612e-01 7.92555893e-03 2.67766517e+02] [-7.09665370e-01 7.04494332e-01 -7.92452058e-03 -1.60057659e+02] [-1.12076198e-02 -4.20681684e-05 9.99937192e-01 1.79641749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.81, Y:-160.10, Z:1.79 [[ 7.06212284e-01 7.07955808e-01 7.92355703e-03 2.67812235e+02] [-7.07911433e-01 7.06256733e-01 -7.92652174e-03 -1.60099971e+02] [-1.12076926e-02 -1.13695884e-05 9.99937192e-01 1.79436507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.86, Y:-160.14, Z:1.79 [[ 7.11992948e-01 7.02141932e-01 7.92144229e-03 2.67857527e+02] [-7.02097170e-01 7.12037008e-01 -7.92863455e-03 -1.60143087e+02] [-1.12073868e-02 8.35096761e-05 9.99937192e-01 1.79181116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99762799999996 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:267.90, Y:-160.19, Z:1.79 [[ 7.18688780e-01 6.95286793e-01 7.91920617e-03 2.67900269e+02] [-6.95241586e-01 7.18732383e-01 -7.93086738e-03 -1.60187728e+02] [-1.12060173e-02 1.94063938e-04 9.99937192e-01 1.78734659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.94, Y:-160.23, Z:1.79 [[ 7.21314893e-01 6.92562015e-01 7.91714401e-03 2.67944772e+02] [-6.92516621e-01 7.21358301e-01 -7.93292545e-03 -1.60232209e+02] [-1.12051404e-02 2.39383458e-04 9.99937192e-01 1.79100093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.99, Y:-160.27, Z:1.79 [[ 7.20529758e-01 6.93378844e-01 7.91493826e-03 2.67991617e+02] [-6.93333475e-01 7.20573193e-01 -7.93512558e-03 -1.60274635e+02] [-1.12053405e-02 2.29802466e-04 9.99937192e-01 1.79030528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17762799999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:268.03, Y:-160.32, Z:1.79 [[ 7.16492492e-01 6.97549925e-01 7.91275040e-03 2.68034950e+02] [-6.97504785e-01 7.16536164e-01 -7.93730667e-03 -1.60317902e+02] [-1.12064395e-02 1.67839375e-04 9.99937192e-01 1.78772699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:-160.36, Z:1.79 [[ 7.12007664e-01 7.02127127e-01 7.91100168e-03 2.68079175e+02] [-7.02082249e-01 7.12051605e-01 -7.93904922e-03 -1.60361202e+02] [-1.12072633e-02 9.84900406e-05 9.99937192e-01 1.79248824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.297628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:268.12, Y:-160.41, Z:1.79 [[ 7.09013645e-01 7.05150410e-01 7.90889239e-03 2.68120423e+02] [-7.05105695e-01 7.09057753e-01 -7.94114994e-03 -1.60406454e+02] [-1.12075666e-02 5.37785944e-05 9.99937192e-01 1.78522148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.16, Y:-160.45, Z:1.79 [[ 7.06045992e-01 7.08121837e-01 7.90699854e-03 2.68163472e+02] [-7.08077287e-01 7.06090266e-01 -7.94303520e-03 -1.60452321e+02] [-1.12076914e-02 9.38209662e-06 9.99937192e-01 1.78879110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.21, Y:-160.50, Z:1.80 [[ 7.04152078e-01 7.10005187e-01 7.90477225e-03 2.68207682e+02] [-7.09960730e-01 7.04196446e-01 -7.94525014e-03 -1.60497832e+02] [-1.12076813e-02 -1.74134826e-05 9.99937192e-01 1.79719962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.25, Y:-160.54, Z:1.80 [[ 7.04326789e-01 7.09831900e-01 7.90242994e-03 2.68251915e+02] [-7.09787406e-01 7.04371120e-01 -7.94757915e-03 -1.60540087e+02] [-1.12076886e-02 -1.13523495e-05 9.99937192e-01 1.79508879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.29, Y:-160.58, Z:1.79 [[ 7.06287247e-01 7.07881271e-01 7.90134297e-03 2.68294242e+02] [-7.07836643e-01 7.06331442e-01 -7.94865965e-03 -1.60584638e+02] [-1.12076743e-02 2.11768582e-05 9.99937192e-01 1.79349061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:-160.63, Z:1.79 [[ 7.07810406e-01 7.06358279e-01 7.90006869e-03 2.68338464e+02] [-7.06313541e-01 7.07854491e-01 -7.94992594e-03 -1.60629499e+02] [-1.12075951e-02 4.71148162e-05 9.99937192e-01 1.79284927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:-160.67, Z:1.79 [[ 7.09681173e-01 7.04478713e-01 7.89778803e-03 2.68383628e+02] [-7.04433834e-01 7.09725113e-01 -7.95219100e-03 -1.60673016e+02] [-1.12074078e-02 8.00511331e-05 9.99937192e-01 1.78861956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.43, Y:-160.72, Z:1.79 [[ 7.09742035e-01 7.04417422e-01 7.89553866e-03 2.68427286e+02] [-7.04372514e-01 7.09785945e-01 -7.95442371e-03 -1.60716872e+02] [-1.12073770e-02 8.41884580e-05 9.99937192e-01 1.78525669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.47, Y:-160.76, Z:1.78 [[ 7.08776860e-01 7.05388584e-01 7.89358878e-03 2.68472738e+02] [-7.05343715e-01 7.08820810e-01 -7.95635821e-03 -1.60760861e+02] [-1.12074642e-02 7.15893541e-05 9.99937192e-01 1.78376700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.837628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:268.52, Y:-160.81, Z:1.78 [[ 7.06055130e-01 7.08112900e-01 7.89136526e-03 2.68517066e+02] [-7.08068176e-01 7.06099228e-01 -7.95856296e-03 -1.60805192e+02] [-1.12076480e-02 3.15595976e-05 9.99937192e-01 1.78137445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:-160.85, Z:1.78 [[ 7.03569987e-01 7.10582181e-01 7.88911160e-03 2.68561535e+02] [-7.10537586e-01 7.03614215e-01 -7.96079632e-03 -1.60849295e+02] [-1.12076911e-02 -4.53295262e-06 9.99937192e-01 1.78491260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.61, Y:-160.89, Z:1.78 [[ 7.00660124e-01 7.13451602e-01 7.88686944e-03 2.68608029e+02] [-7.13407163e-01 7.00704510e-01 -7.96301704e-03 -1.60892000e+02] [-1.12075922e-02 -4.71806389e-05 9.99937192e-01 1.78219657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.65, Y:-160.94, Z:1.78 [[ 6.99242551e-01 7.14841023e-01 7.88462720e-03 2.68651308e+02] [-7.14796648e-01 6.99286999e-01 -7.96523659e-03 -1.60937383e+02] [-1.12074952e-02 -6.62727415e-05 9.99937192e-01 1.77971053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:-160.98, Z:1.78 [[ 6.99828974e-01 7.14266950e-01 7.88238379e-03 2.68694346e+02] [-7.14222513e-01 6.99873361e-01 -7.96745605e-03 -1.60983645e+02] [-1.12075610e-02 -5.39193641e-05 9.99937192e-01 1.77793677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.73, Y:-161.03, Z:1.78 [[ 7.02249189e-01 7.11887617e-01 7.88014221e-03 2.68734117e+02] [-7.11843005e-01 7.02293401e-01 -7.96967244e-03 -1.61030848e+02] [-1.12076830e-02 -1.27280973e-05 9.99937192e-01 1.78030167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.78, Y:-161.08, Z:1.78 [[ 7.02408298e-01 7.11730648e-01 7.87834959e-03 2.68777654e+02] [-7.11686006e-01 7.02452479e-01 -7.97144413e-03 -1.61076564e+02] [-1.12076873e-02 -7.70264970e-06 9.99937192e-01 1.78012118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.82, Y:-161.12, Z:1.78 [[ 7.03053366e-01 7.11093477e-01 7.87605074e-03 2.68820999e+02] [-7.11048770e-01 7.03097480e-01 -7.97371482e-03 -1.61120385e+02] [-1.12076880e-02 5.69085709e-06 9.99937192e-01 1.77775193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.86, Y:-161.17, Z:1.78 [[ 7.03779205e-01 7.10375126e-01 7.87463178e-03 2.68863664e+02] [-7.10330358e-01 7.03823259e-01 -7.97511591e-03 -1.61166051e+02] [-1.12076730e-02 1.91307246e-05 9.99937192e-01 1.77558285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.90, Y:-161.21, Z:1.77 [[ 7.06182546e-01 7.07986041e-01 7.87260919e-03 2.68904433e+02] [-7.07941101e-01 7.06226424e-01 -7.97711199e-03 -1.61212020e+02] [-1.12075286e-02 5.99536350e-05 9.99937192e-01 1.77281726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.95, Y:-161.26, Z:1.77 [[ 7.06902659e-01 7.07267051e-01 7.87076076e-03 2.68946962e+02] [-7.07222047e-01 7.06946471e-01 -7.97893536e-03 -1.61258005e+02] [-1.12074446e-02 7.39550827e-05 9.99937192e-01 1.77350051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.99, Y:-161.30, Z:1.78 [[ 7.06086122e-01 7.08082252e-01 7.86851047e-03 2.68990676e+02] [-7.08037274e-01 7.06129960e-01 -7.98115390e-03 -1.61302130e+02] [-1.12075044e-02 6.41833012e-05 9.99937192e-01 1.77713456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.04, Y:-161.35, Z:1.78 [[ 7.04722640e-01 7.09439298e-01 7.86656012e-03 2.69035886e+02] [-7.09394383e-01 7.04766543e-01 -7.98307578e-03 -1.61346586e+02] [-1.12075961e-02 4.53606686e-05 9.99937192e-01 1.78096462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.08, Y:-161.39, Z:1.78 [[ 7.02776917e-01 7.11366823e-01 7.86430755e-03 2.69080596e+02] [-7.11322003e-01 7.02820918e-01 -7.98529422e-03 -1.61390306e+02] [-1.12076732e-02 1.78254560e-05 9.99937192e-01 1.77991693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.13, Y:-161.43, Z:1.77 [[ 7.00215817e-01 7.13887945e-01 7.86207406e-03 2.69127356e+02] [-7.13843259e-01 7.00259953e-01 -7.98749264e-03 -1.61433122e+02] [-1.12076703e-02 -1.93198804e-05 9.99937192e-01 1.77455839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.17, Y:-161.48, Z:1.77 [[ 6.98806332e-01 7.15267736e-01 7.85979428e-03 2.69172452e+02] [-7.15223112e-01 6.98850531e-01 -7.98973534e-03 -1.61476364e+02] [-1.12076213e-02 -3.82288833e-05 9.99937192e-01 1.77165189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.22, Y:-161.52, Z:1.77 [[ 6.98934708e-01 7.15142317e-01 7.85753983e-03 2.69217777e+02] [-7.15097660e-01 6.98978874e-01 -7.99195188e-03 -1.61517655e+02] [-1.12076373e-02 -3.30557919e-05 9.99937192e-01 1.76847881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.26, Y:-161.56, Z:1.77 [[ 6.99271631e-01 7.14812887e-01 7.85644680e-03 2.69260376e+02] [-7.14768197e-01 6.99315763e-01 -7.99302623e-03 -1.61562338e+02] [-1.12076552e-02 -2.62418211e-05 9.99937192e-01 1.76715672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.30, Y:-161.61, Z:1.77 [[ 6.99681449e-01 7.14411770e-01 7.85449615e-03 2.69303226e+02] [-7.14367033e-01 6.99725534e-01 -7.99494261e-03 -1.61608590e+02] [-1.12076726e-02 -1.70800838e-05 9.99937192e-01 1.76680638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.35, Y:-161.65, Z:1.77 [[ 7.02960675e-01 7.11185370e-01 7.85226295e-03 2.69345610e+02] [-7.11140407e-01 7.03004529e-01 -7.99713536e-03 -1.61654115e+02] [-1.12076221e-02 3.76102064e-05 9.99937192e-01 1.76857899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.037628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:269.39, Y:-161.70, Z:1.77 [[ 7.05460982e-01 7.08705281e-01 7.85031001e-03 2.69389233e+02] [-7.08660142e-01 7.05504655e-01 -7.99905199e-03 -1.61699194e+02] [-1.12074006e-02 7.98172624e-05 9.99937192e-01 1.76610212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.43, Y:-161.75, Z:1.77 [[ 7.07630619e-01 7.06538969e-01 7.84809339e-03 2.69430391e+02] [-7.06493672e-01 7.07674128e-01 -8.00122618e-03 -1.61745160e+02] [-1.12070707e-02 1.17284311e-04 9.99937192e-01 1.76731887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.48, Y:-161.79, Z:1.77 [[ 7.07838325e-01 7.06330903e-01 7.84604595e-03 2.69476067e+02] [-7.06285572e-01 7.07881798e-01 -8.00323341e-03 -1.61789018e+02] [-1.12070042e-02 1.23446283e-04 9.99937192e-01 1.76720983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.52, Y:-161.83, Z:1.77 [[ 7.06193168e-01 7.07975764e-01 7.84391235e-03 2.69521387e+02] [-7.07930511e-01 7.06236722e-01 -8.00532399e-03 -1.61833194e+02] [-1.12072343e-02 1.00360233e-04 9.99937192e-01 1.76836792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.57, Y:-161.88, Z:1.77 [[ 7.04959525e-01 7.09204186e-01 7.84164796e-03 2.69565113e+02] [-7.09158983e-01 7.05003132e-01 -8.00754147e-03 -1.61878047e+02] [-1.12073683e-02 8.40175362e-05 9.99937192e-01 1.76898705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.61, Y:-161.92, Z:1.77 [[ 7.04123783e-01 7.10033972e-01 7.83939319e-03 2.69608605e+02] [-7.09988796e-01 7.04167418e-01 -8.00974828e-03 -1.61922705e+02] [-1.12074387e-02 7.39729296e-05 9.99937192e-01 1.76932620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.65, Y:-161.97, Z:1.77 [[ 7.01743232e-01 7.12386842e-01 7.83731100e-03 2.69653683e+02] [-7.12341790e-01 7.01786995e-01 -8.01178512e-03 -1.61966334e+02] [-1.12076132e-02 3.93718415e-05 9.99937192e-01 1.76783181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.70, Y:-162.01, Z:1.76 [[ 6.99599422e-01 7.14492310e-01 7.83502259e-03 2.69698850e+02] [-7.14447365e-01 6.99643294e-01 -8.01402243e-03 -1.62010752e+02] [-1.12076784e-02 8.89421544e-06 9.99937192e-01 1.76494091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.74, Y:-162.05, Z:1.76 [[ 6.99128474e-01 7.14953162e-01 7.83274146e-03 2.69744900e+02] [-7.14908221e-01 6.99172350e-01 -8.01625133e-03 -1.62053931e+02] [-1.12076805e-02 4.69830159e-06 9.99937192e-01 1.76300862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:-162.10, Z:1.76 [[ 6.98281198e-01 7.15780729e-01 7.83044723e-03 2.69788613e+02] [-7.15735814e-01 6.98325102e-01 -8.01849176e-03 -1.62099030e+02] [-1.12076797e-02 -5.36948890e-06 9.99937192e-01 1.76388137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.83, Y:-162.14, Z:1.77 [[ 6.97651740e-01 7.16394283e-01 7.82815006e-03 2.69831899e+02] [-7.16349382e-01 6.97695658e-01 -8.02073378e-03 -1.62143307e+02] [-1.12076741e-02 -1.20115783e-05 9.99937192e-01 1.76530555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.88, Y:-162.19, Z:1.77 [[ 6.98295621e-01 7.15766707e-01 7.82602986e-03 2.69877719e+02] [-7.15721743e-01 6.98339474e-01 -8.02280197e-03 -1.62186004e+02] [-1.12076801e-02 1.02775789e-06 9.99937192e-01 1.76505711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.92, Y:-162.23, Z:1.76 [[ 6.98476009e-01 7.15590703e-01 7.82376969e-03 2.69922216e+02] [-7.15545703e-01 6.98519825e-01 -8.02500547e-03 -1.62230743e+02] [-1.12076775e-02 7.00901027e-06 9.99937192e-01 1.76314527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.96, Y:-162.27, Z:1.76 [[ 7.00690305e-01 7.13422680e-01 7.82149722e-03 2.69964961e+02] [-7.13377520e-01 7.00733956e-01 -8.02721969e-03 -1.62273825e+02] [-1.12075893e-02 4.49147247e-05 9.99937192e-01 1.75909260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:-162.32, Z:1.76 [[ 7.03504652e-01 7.10647633e-01 7.81967890e-03 2.70008141e+02] [-7.10602281e-01 7.03548104e-01 -8.02899061e-03 -1.62318858e+02] [-1.12073034e-02 9.17505852e-05 9.99937192e-01 1.75723771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:-162.36, Z:1.76 [[ 7.08195824e-01 7.05972774e-01 7.81774269e-03 2.70051764e+02] [-7.05927114e-01 7.08238953e-01 -8.03087544e-03 -1.62364275e+02] [-1.12064093e-02 1.68675913e-04 9.99937192e-01 1.75578590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:270.09, Y:-162.41, Z:1.76 [[ 7.11065238e-01 7.03082602e-01 7.81553715e-03 2.70094601e+02] [-7.03036743e-01 7.11108155e-01 -8.03302126e-03 -1.62409455e+02] [-1.12055697e-02 2.17392390e-04 9.99937192e-01 1.75792390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.14, Y:-162.45, Z:1.76 [[ 7.17906805e-01 6.96095372e-01 7.81354583e-03 2.70139972e+02] [-6.96049075e-01 7.17949249e-01 -8.03495772e-03 -1.62451354e+02] [-1.12028262e-02 3.29739479e-04 9.99937192e-01 1.75731192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.18, Y:-162.50, Z:1.76 [[ 7.17880702e-01 6.96122316e-01 7.81144807e-03 2.70180830e+02] [-6.96075999e-01 7.17923123e-01 -8.03699660e-03 -1.62497487e+02] [-1.12027519e-02 3.32243242e-04 9.99937192e-01 1.76122948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.22, Y:-162.54, Z:1.76 [[ 7.21024430e-01 6.92865634e-01 7.80923726e-03 2.70224500e+02] [-6.92819102e-01 7.21066616e-01 -8.03914418e-03 -1.62540972e+02] [-1.12010270e-02 3.86030609e-04 9.99937192e-01 1.75842814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:270.27, Y:-162.58, Z:1.75 [[ 7.20672513e-01 6.93231693e-01 7.80700200e-03 2.70270778e+02] [-6.93185158e-01 7.20714696e-01 -8.04131431e-03 -1.62583348e+02] [-1.12011150e-02 3.83456271e-04 9.99937192e-01 1.75484919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.32, Y:-162.62, Z:1.75 [[ 7.14861958e-01 6.99222045e-01 7.80468477e-03 2.70317973e+02] [-6.99175840e-01 7.14904501e-01 -8.04356273e-03 -1.62623550e+02] [-1.12038407e-02 2.93189966e-04 9.99937192e-01 1.75328589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.357628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:270.36, Y:-162.66, Z:1.75 [[ 7.11123171e-01 7.03024135e-01 7.80390083e-03 2.70363631e+02] [-7.02978150e-01 7.11165951e-01 -8.04432324e-03 -1.62664454e+02] [-1.12052219e-02 2.34532882e-04 9.99937192e-01 1.75017309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.417628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:270.41, Y:-162.71, Z:1.75 [[ 7.05084098e-01 7.09080775e-01 7.80186496e-03 2.70410118e+02] [-7.09035135e-01 7.05127247e-01 -8.04629726e-03 -1.62706383e+02] [-1.12067823e-02 1.41519873e-04 9.99937192e-01 1.75099265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.46, Y:-162.75, Z:1.75 [[ 6.96715720e-01 7.17304934e-01 7.79978304e-03 2.70455759e+02] [-7.17259781e-01 6.96759378e-01 -8.04831489e-03 -1.62748743e+02] [-1.12076680e-02 1.29168289e-05 9.99937192e-01 1.75324525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.537628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:270.50, Y:-162.79, Z:1.75 [[ 6.92296250e-01 7.21571263e-01 7.79831896e-03 2.70501495e+02] [-7.21526363e-01 6.92340169e-01 -8.04973324e-03 -1.62791674e+02] [-1.12075457e-02 -5.38925813e-05 9.99937192e-01 1.74925682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.54, Y:-162.84, Z:1.75 [[ 6.87572343e-01 7.26074029e-01 7.79600884e-03 2.70544907e+02] [-7.26029391e-01 6.87616528e-01 -8.05196993e-03 -1.62836861e+02] [-1.12069908e-02 -1.23819717e-04 9.99937192e-01 1.74954376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.59, Y:-162.88, Z:1.75 [[ 6.86586903e-01 7.27005972e-01 7.79372705e-03 2.70587546e+02] [-7.26961369e-01 6.86631123e-01 -8.05417793e-03 -1.62883653e+02] [-1.12068510e-02 -1.35845409e-04 9.99937192e-01 1.74876121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.63, Y:-162.93, Z:1.75 [[ 6.88625940e-01 7.25074899e-01 7.79145916e-03 2.70627321e+02] [-7.25030147e-01 6.88670009e-01 -8.05637125e-03 -1.62932808e+02] [-1.12072168e-02 -1.01216561e-04 9.99937192e-01 1.74982327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.67, Y:-162.98, Z:1.75 [[ 6.94410781e-01 7.19536653e-01 7.78921071e-03 2.70667512e+02] [-7.19491525e-01 6.94454466e-01 -8.05854456e-03 -1.62981961e+02] [-1.12076703e-02 -8.33086949e-06 9.99937192e-01 1.74962332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:-163.03, Z:1.75 [[ 6.99419638e-01 7.14668827e-01 7.78697599e-03 2.70709226e+02] [-7.14623372e-01 6.99462981e-01 -8.06070339e-03 -1.63029743e+02] [-1.12074349e-02 7.30592084e-05 9.99937192e-01 1.74768889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.75, Y:-163.08, Z:1.75 [[ 7.04209689e-01 7.09949373e-01 7.78465578e-03 2.70747999e+02] [-7.09903602e-01 7.04252699e-01 -8.06294351e-03 -1.63076928e+02] [-1.12066465e-02 1.51647766e-04 9.99937192e-01 1.74630993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.79, Y:-163.12, Z:1.74 [[ 7.10872046e-01 7.03278288e-01 7.78352826e-03 2.70790150e+02] [-7.03232102e-01 7.10914610e-01 -8.06403182e-03 -1.63124245e+02] [-1.12046824e-02 2.58867863e-04 9.99937192e-01 1.74484968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:-163.17, Z:1.74 [[ 7.17713023e-01 6.96295532e-01 7.78126560e-03 2.70832696e+02] [-6.96248908e-01 7.17755107e-01 -8.06621454e-03 -1.63170608e+02] [-1.12015123e-02 3.71529544e-04 9.99937192e-01 1.74317547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.87, Y:-163.22, Z:1.74 [[ 7.20313389e-01 6.93605154e-01 7.77899737e-03 2.70874006e+02] [-6.93558349e-01 7.20355271e-01 -8.06840141e-03 -1.63217899e+02] [-1.11999266e-02 4.16588981e-04 9.99937192e-01 1.74341061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:270.92, Y:-163.26, Z:1.74 [[ 7.20037484e-01 6.93891593e-01 7.77673652e-03 2.70917853e+02] [-6.93844782e-01 7.20079360e-01 -8.07057994e-03 -1.63261367e+02] [-1.11999750e-02 4.15272022e-04 9.99937192e-01 1.73876306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:270.96, Y:-163.30, Z:1.73 [[ 7.18103511e-01 6.95892880e-01 7.77476696e-03 2.70963615e+02] [-6.95846165e-01 7.18145494e-01 -8.07247687e-03 -1.63303984e+02] [-1.12009930e-02 3.86832212e-04 9.99937192e-01 1.73461394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:-163.35, Z:1.73 [[ 7.11543228e-01 7.02599329e-01 7.77281985e-03 2.71006584e+02] [-7.02552989e-01 7.11585625e-01 -8.07435127e-03 -1.63349056e+02] [-1.12040607e-02 2.84432149e-04 9.99937192e-01 1.73378328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.05, Y:-163.39, Z:1.74 [[ 7.04996107e-01 7.09168600e-01 7.77076175e-03 2.71050985e+02] [-7.09122634e-01 7.05038909e-01 -8.07633150e-03 -1.63393354e+02] [-1.12061701e-02 1.83359228e-04 9.99937192e-01 1.73550027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.10, Y:-163.44, Z:1.74 [[ 6.94242244e-01 7.19699490e-01 7.76860166e-03 2.71095403e+02] [-7.19654150e-01 6.94285708e-01 -8.07840875e-03 -1.63437035e+02] [-1.12076558e-02 1.76661968e-05 9.99937192e-01 1.73705202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.14, Y:-163.48, Z:1.74 [[ 6.85768571e-01 7.27778226e-01 7.76668134e-03 2.71139475e+02] [-7.27733377e-01 6.85812542e-01 -8.08025455e-03 -1.63480044e+02] [-1.12071208e-02 -1.10888616e-04 9.99937192e-01 1.73832729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.18, Y:-163.53, Z:1.74 [[ 6.83038433e-01 7.30341156e-01 7.76491973e-03 2.71179547e+02] [-7.30296453e-01 6.83082552e-01 -8.08194705e-03 -1.63527976e+02] [-1.12066597e-02 -1.50412891e-04 9.99937192e-01 1.74188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:-163.58, Z:1.74 [[ 6.84366084e-01 7.29097250e-01 7.76293817e-03 2.71220390e+02] [-7.29052445e-01 6.84410100e-01 -8.08384995e-03 -1.63575728e+02] [-1.12069461e-02 -1.27276315e-04 9.99937192e-01 1.74412695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.26, Y:-163.62, Z:1.74 [[ 6.86881991e-01 7.26727530e-01 7.76064906e-03 2.71263242e+02] [-7.26682548e-01 6.86925826e-01 -8.08604695e-03 -1.63622130e+02] [-1.12073432e-02 -8.53682051e-05 9.99937192e-01 1.74270131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.30, Y:-163.67, Z:1.74 [[ 6.91159994e-01 7.22660135e-01 7.75831251e-03 2.71303602e+02] [-7.22614871e-01 6.91203536e-01 -8.08828817e-03 -1.63670160e+02] [-1.12076565e-02 -1.59707885e-05 9.99937192e-01 1.73843626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.737628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:271.34, Y:-163.72, Z:1.73 [[ 6.94220082e-01 7.19720986e-01 7.75759220e-03 2.71342213e+02] [-7.19675529e-01 6.94263424e-01 -8.08897897e-03 -1.63717975e+02] [-1.12076204e-02 3.25823734e-05 9.99937192e-01 1.73291127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.797628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:271.38, Y:-163.76, Z:1.73 [[ 6.94787975e-01 7.19172801e-01 7.75575538e-03 2.71383194e+02] [-7.19127290e-01 6.94831260e-01 -8.09073974e-03 -1.63764966e+02] [-1.12075812e-02 4.39733283e-05 9.99937192e-01 1.73181182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:-163.81, Z:1.73 [[ 6.92576290e-01 7.21302962e-01 7.75368872e-03 2.71428456e+02] [-7.21257562e-01 6.92619691e-01 -8.09271983e-03 -1.63806591e+02] [-1.12076603e-02 1.24192511e-05 9.99937192e-01 1.73051971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.47, Y:-163.85, Z:1.73 [[ 6.89959888e-01 7.23806094e-01 7.75179986e-03 2.71474313e+02] [-7.23760832e-01 6.90003433e-01 -8.09452871e-03 -1.63849629e+02] [-1.12076377e-02 -2.55489870e-05 9.99937192e-01 1.73020061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.977628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:271.52, Y:-163.89, Z:1.73 [[ 6.89568638e-01 7.24178872e-01 7.74944935e-03 2.71519126e+02] [-7.24133608e-01 6.89612181e-01 -8.09677838e-03 -1.63893342e+02] [-1.12076305e-02 -2.83522713e-05 9.99937192e-01 1.72647161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.037628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:271.56, Y:-163.94, Z:1.73 [[ 6.90209761e-01 7.23567861e-01 7.74835099e-03 2.71562304e+02] [-7.23522546e-01 6.90253251e-01 -8.09782935e-03 -1.63939395e+02] [-1.12076535e-02 -1.69057766e-05 9.99937192e-01 1.72696504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.097628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:271.60, Y:-163.99, Z:1.72 [[ 6.93954358e-01 7.19977325e-01 7.74605735e-03 2.71603608e+02] [-7.19931761e-01 6.93997586e-01 -8.10002275e-03 -1.63986351e+02] [-1.12075778e-02 4.44133824e-05 9.99937192e-01 1.72397593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.157628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:271.64, Y:-164.03, Z:1.72 [[ 6.94572904e-01 7.19380644e-01 7.74406958e-03 2.71644824e+02] [-7.19335021e-01 6.94616071e-01 -8.10192273e-03 -1.64032324e+02] [-1.12075216e-02 5.67955399e-05 9.99937192e-01 1.72280849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.69, Y:-164.07, Z:1.72 [[ 6.91079412e-01 7.22737371e-01 7.74206839e-03 2.71689220e+02] [-7.22691936e-01 6.91122777e-01 -8.10383458e-03 -1.64074703e+02] [-1.12076639e-02 5.26283756e-06 9.99937192e-01 1.72261642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.74, Y:-164.12, Z:1.72 [[ 6.90485828e-01 7.23304507e-01 7.74023965e-03 2.71735387e+02] [-7.23259088e-01 6.90529211e-01 -8.10558090e-03 -1.64117540e+02] [-1.12076648e-02 -1.40992811e-06 9.99937192e-01 1.72113923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.337628 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:271.78, Y:-164.16, Z:1.72 [[ 6.93793186e-01 7.20132723e-01 7.73800829e-03 2.71777587e+02] [-7.20087083e-01 6.93836334e-01 -8.10771051e-03 -1.64164601e+02] [-1.12075389e-02 5.30344922e-05 9.99937192e-01 1.71938298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:-164.21, Z:1.72 [[ 7.01470054e-01 7.12656944e-01 7.73580606e-03 2.71818241e+02] [-7.12610821e-01 7.01512686e-01 -8.10981117e-03 -1.64212708e+02] [-1.12062793e-02 1.76170574e-04 9.99937192e-01 1.72252553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.86, Y:-164.26, Z:1.73 [[ 7.07590600e-01 7.06580310e-01 7.73362027e-03 2.71861391e+02] [-7.06533798e-01 7.07632807e-01 -8.11189503e-03 -1.64258115e+02] [-1.12042687e-02 2.75836564e-04 9.99937192e-01 1.72770654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:-164.30, Z:1.72 [[ 7.09237012e-01 7.04927700e-01 7.73287661e-03 2.71903915e+02] [-7.04881082e-01 7.09279103e-01 -8.11260389e-03 -1.64301323e+02] [-1.12035670e-02 3.03000505e-04 9.99937192e-01 1.72063319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:271.95, Y:-164.35, Z:1.72 [[ 7.07854159e-01 7.06316295e-01 7.73185241e-03 2.71946417e+02] [-7.06269749e-01 7.07896329e-01 -8.11357990e-03 -1.64346073e+02] [-1.12041036e-02 2.82457817e-04 9.99937192e-01 1.71947569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:271.99, Y:-164.39, Z:1.72 [[ 7.01974220e-01 7.12160406e-01 7.72985732e-03 2.71989803e+02] [-7.12114190e-01 7.02016751e-01 -8.11548019e-03 -1.64390119e+02] [-1.12060130e-02 1.92316792e-04 9.99937192e-01 1.72212933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:-164.43, Z:1.72 [[ 6.94322711e-01 7.19622299e-01 7.72783827e-03 2.72034230e+02] [-7.19576519e-01 6.94365711e-01 -8.11740234e-03 -1.64434177e+02] [-1.12074097e-02 7.53258406e-05 9.99937192e-01 1.72328489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.08, Y:-164.48, Z:1.73 [[ 6.89410864e-01 7.24329330e-01 7.72548233e-03 2.72076756e+02] [-7.24283818e-01 6.89454148e-01 -8.11964392e-03 -1.64478671e+02] [-1.12076621e-02 2.32889491e-06 9.99937192e-01 1.72515660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:-164.52, Z:1.73 [[ 6.85865050e-01 7.27687765e-01 7.72330493e-03 2.72118506e+02] [-7.27642442e-01 6.85908532e-01 -8.12171451e-03 -1.64524356e+02] [-1.12075530e-02 -4.94043271e-05 9.99937192e-01 1.72599064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.16, Y:-164.57, Z:1.73 [[ 6.84857401e-01 7.28636207e-01 7.72128980e-03 2.72160458e+02] [-7.28590922e-01 6.84900923e-01 -8.12362983e-03 -1.64570789e+02] [-1.12074893e-02 -6.21336440e-05 9.99937192e-01 1.72607597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:272.20, Y:-164.62, Z:1.72 [[ 6.86164718e-01 7.27405249e-01 7.71897119e-03 2.72201296e+02] [-7.27359862e-01 6.86208133e-01 -8.12583234e-03 -1.64619128e+02] [-1.12075939e-02 -3.88103637e-05 9.99937192e-01 1.72334781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.24, Y:-164.67, Z:1.73 [[ 6.87087512e-01 7.26533691e-01 7.71667584e-03 2.72240631e+02] [-7.26488224e-01 6.87130843e-01 -8.12801154e-03 -1.64666903e+02] [-1.12076402e-02 -2.14188943e-05 9.99937192e-01 1.72772639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:-164.71, Z:1.73 [[ 6.87771423e-01 7.25886323e-01 7.71469579e-03 2.72282858e+02] [-7.25840794e-01 6.87814689e-01 -8.12989046e-03 -1.64714049e+02] [-1.12076574e-02 -8.13458831e-06 9.99937192e-01 1.72767182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.33, Y:-164.76, Z:1.73 [[ 6.90995705e-01 7.22817719e-01 7.71240659e-03 2.72325120e+02] [-7.22771974e-01 6.91038742e-01 -8.13206153e-03 -1.64761056e+02] [-1.12075699e-02 4.49082470e-05 9.99937192e-01 1.72723440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.37, Y:-164.81, Z:1.72 [[ 6.92739316e-01 7.21146861e-01 7.71008700e-03 2.72367973e+02] [-7.21100988e-01 6.92782217e-01 -8.13426016e-03 -1.64806012e+02] [-1.12074073e-02 7.51704667e-05 9.99937192e-01 1.72439844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.237628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:272.41, Y:-164.85, Z:1.72 [[ 6.95132561e-01 7.18840252e-01 7.70807422e-03 2.72411773e+02] [-7.18794215e-01 6.95175286e-01 -8.13616704e-03 -1.64850403e+02] [-1.12070671e-02 1.15195475e-04 9.99937192e-01 1.72057673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.46, Y:-164.89, Z:1.72 [[ 6.96717309e-01 7.17304404e-01 7.70603573e-03 2.72456905e+02] [-7.17258252e-01 6.96759909e-01 -8.13809730e-03 -1.64891424e+02] [-1.12067498e-02 1.42735530e-04 9.99937192e-01 1.72376014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.50, Y:-164.93, Z:1.72 [[ 6.97180966e-01 7.16853783e-01 7.70417458e-03 2.72502412e+02] [-7.16807583e-01 6.97223516e-01 -8.13985884e-03 -1.64934632e+02] [-1.12066203e-02 1.52543889e-04 9.99937192e-01 1.72253137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.55, Y:-164.98, Z:1.72 [[ 6.97258389e-01 7.16778502e-01 7.70186022e-03 2.72546319e+02] [-7.16732274e-01 6.97300907e-01 -8.14204807e-03 -1.64980057e+02] [-1.12065591e-02 1.56939532e-04 9.99937192e-01 1.72305809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:-165.02, Z:1.72 [[ 6.98935025e-01 7.15143726e-01 7.69953261e-03 2.72593703e+02] [-7.15097374e-01 6.98977408e-01 -8.14424859e-03 -1.65020327e+02] [-1.12061076e-02 1.86385039e-04 9.99937192e-01 1.71990011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.64, Y:-165.06, Z:1.72 [[ 6.96180493e-01 7.17825516e-01 7.69744451e-03 2.72635242e+02] [-7.17779306e-01 6.96223030e-01 -8.14622165e-03 -1.65064835e+02] [-1.12067039e-02 1.46174222e-04 9.99937192e-01 1.71797001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.68, Y:-165.11, Z:1.72 [[ 6.92494678e-01 7.21381938e-01 7.69554578e-03 2.72677682e+02] [-7.21335926e-01 6.92537430e-01 -8.14801494e-03 -1.65109858e+02] [-1.12072843e-02 9.13833426e-05 9.99937192e-01 1.71841012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.657628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:272.72, Y:-165.16, Z:1.72 [[ 6.89659394e-01 7.24093033e-01 7.69411141e-03 2.72720581e+02] [-7.24047175e-01 6.89702310e-01 -8.14936918e-03 -1.65156038e+02] [-1.12075479e-02 4.93893823e-05 9.99937192e-01 1.71726507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.76, Y:-165.20, Z:1.72 [[ 6.86767010e-01 7.26836922e-01 7.69180261e-03 2.72762094e+02] [-7.26791210e-01 6.86810082e-01 -8.15154777e-03 -1.65201779e+02] [-1.12076535e-02 7.87956065e-06 9.99937192e-01 1.72091669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.81, Y:-165.25, Z:1.72 [[ 6.86116963e-01 7.27450604e-01 7.68977138e-03 2.72806050e+02] [-7.27404909e-01 6.86160054e-01 -8.15346348e-03 -1.65247085e+02] [-1.12076559e-02 6.52151598e-07 9.99937192e-01 1.72022822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.85, Y:-165.29, Z:1.72 [[ 6.87347639e-01 7.26287909e-01 7.68744885e-03 2.72848073e+02] [-7.26242117e-01 6.87390626e-01 -8.15565268e-03 -1.65294331e+02] [-1.12076322e-02 2.28194869e-05 9.99937192e-01 1.72191772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:-165.34, Z:1.72 [[ 6.90472902e-01 7.23317434e-01 7.68509220e-03 2.72888704e+02] [-7.23271433e-01 6.90515665e-01 -8.15787275e-03 -1.65340809e+02] [-1.12074081e-02 7.43824234e-05 9.99937192e-01 1.72173234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:272.93, Y:-165.39, Z:1.72 [[ 6.94841098e-01 7.19122257e-01 7.68291681e-03 2.72932389e+02] [-7.19075975e-01 6.94883557e-01 -8.15992097e-03 -1.65386501e+02] [-1.12067134e-02 1.45247551e-04 9.99937192e-01 1.71654336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:272.98, Y:-165.43, Z:1.71 [[ 6.99469957e-01 7.14620730e-01 7.68059933e-03 2.72975969e+02] [-7.14574151e-01 6.99512089e-01 -8.16210174e-03 -1.65430425e+02] [-1.12054792e-02 2.20787209e-04 9.99937192e-01 1.71267156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:273.02, Y:-165.48, Z:1.71 [[ 7.00608127e-01 7.13504935e-01 7.67859589e-03 2.73018922e+02] [-7.13458267e-01 7.00650162e-01 -8.16398607e-03 -1.65476946e+02] [-1.12050538e-02 2.41397269e-04 9.99937192e-01 1.71354086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:-165.52, Z:1.72 [[ 7.00266647e-01 7.13840107e-01 7.67628352e-03 2.73060861e+02] [-7.13793436e-01 7.00308678e-01 -8.16615972e-03 -1.65523206e+02] [-1.12051003e-02 2.39208497e-04 9.99937192e-01 1.71957219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.11, Y:-165.57, Z:1.72 [[ 6.98104937e-01 7.15954331e-01 7.67424264e-03 2.73105438e+02] [-7.15907766e-01 6.98147086e-01 -8.16807721e-03 -1.65567946e+02] [-1.12057204e-02 2.08125121e-04 9.99937192e-01 1.72117364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.15, Y:-165.61, Z:1.72 [[ 6.93731566e-01 7.20192791e-01 7.67191452e-03 2.73150631e+02] [-7.20146460e-01 6.93773971e-01 -8.17026332e-03 -1.65611043e+02] [-1.12067394e-02 1.43067483e-04 9.99937192e-01 1.72252728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.19, Y:-165.66, Z:1.72 [[ 6.89373190e-01 7.24365778e-01 7.66976351e-03 2.73193365e+02] [-7.24319681e-01 6.89415850e-01 -8.17228207e-03 -1.65655701e+02] [-1.12073780e-02 7.83915005e-05 9.99937192e-01 1.72254178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:-165.70, Z:1.72 [[ 6.87709101e-01 7.25945866e-01 7.66764883e-03 2.73238505e+02] [-7.25899845e-01 6.87751843e-01 -8.17426569e-03 -1.65699261e+02] [-1.12075140e-02 5.55718166e-05 9.99937192e-01 1.71914677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.28, Y:-165.74, Z:1.72 [[ 6.87655538e-01 7.25996627e-01 7.66541564e-03 2.73283373e+02] [-7.25950586e-01 6.87698258e-01 -8.17635932e-03 -1.65743629e+02] [-1.12075023e-02 5.78057854e-05 9.99937192e-01 1.71636080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.33, Y:-165.79, Z:1.71 [[ 6.88885350e-01 7.24829807e-01 7.66321528e-03 2.73327046e+02] [-7.24783671e-01 6.88927968e-01 -8.17842107e-03 -1.65788243e+02] [-1.12073667e-02 7.98211644e-05 9.99937192e-01 1.71317288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.37, Y:-165.83, Z:1.71 [[ 6.90262842e-01 7.23518155e-01 7.66085412e-03 2.73369252e+02] [-7.23471913e-01 6.90305345e-01 -8.18063221e-03 -1.65833703e+02] [-1.12071645e-02 1.04373650e-04 9.99937192e-01 1.71295478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61762799999997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.41, Y:-165.88, Z:1.71 [[ 6.92454231e-01 7.21421155e-01 7.65867562e-03 2.73412890e+02] [-7.21374761e-01 6.92496569e-01 -8.18267120e-03 -1.65878619e+02] [-1.12067587e-02 1.41349994e-04 9.99937192e-01 1.71216550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67762799999997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:273.46, Y:-165.92, Z:1.71 [[ 6.92527319e-01 7.21351019e-01 7.65635425e-03 2.73455037e+02] [-7.21304598e-01 6.92569625e-01 -8.18484268e-03 -1.65923638e+02] [-1.12067030e-02 1.45663634e-04 9.99937192e-01 1.70889027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.50, Y:-165.97, Z:1.71 [[ 6.88775243e-01 7.24934533e-01 7.65421140e-03 2.73496705e+02] [-7.24888309e-01 6.88817766e-01 -8.18684612e-03 -1.65971070e+02] [-1.12072843e-02 9.04485706e-05 9.99937192e-01 1.71182013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.54, Y:-166.01, Z:1.71 [[ 6.84822545e-01 7.28669698e-01 7.65195308e-03 2.73540372e+02] [-7.28623683e-01 6.84865293e-01 -8.18895635e-03 -1.66014905e+02] [-1.12076014e-02 3.25876913e-05 9.99937192e-01 1.70595946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.58, Y:-166.06, Z:1.70 [[ 6.84021244e-01 7.29421975e-01 7.64988108e-03 2.73581478e+02] [-7.29375985e-01 6.84064019e-01 -8.19089150e-03 -1.66060421e+02] [-1.12076246e-02 2.31042462e-05 9.99937192e-01 1.70237109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.62, Y:-166.11, Z:1.70 [[ 6.87227669e-01 7.26401844e-01 7.64798869e-03 2.73621747e+02] [-7.26355646e-01 6.87270220e-01 -8.19265807e-03 -1.66107896e+02] [-1.12073968e-02 7.50615495e-05 9.99937192e-01 1.70187623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.66, Y:-166.16, Z:1.70 [[ 6.86610597e-01 7.26985164e-01 7.64587686e-03 2.73660720e+02] [-7.26938980e-01 6.86653164e-01 -8.19462848e-03 -1.66156243e+02] [-1.12074389e-02 6.84328296e-05 9.99937192e-01 1.70458049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.70, Y:-166.20, Z:1.70 [[ 6.85114142e-01 7.28395624e-01 7.64375856e-03 2.73698294e+02] [-7.28349506e-01 6.85156780e-01 -8.19660390e-03 -1.66204512e+02] [-1.12075434e-02 4.82814804e-05 9.99937192e-01 1.70228259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.74, Y:-166.25, Z:1.70 [[ 6.83734013e-01 7.29691306e-01 7.64183757e-03 2.73740147e+02] [-7.29645249e-01 6.83776716e-01 -8.19839449e-03 -1.66250932e+02] [-1.12076078e-02 2.96906977e-05 9.99937192e-01 1.70038656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.78, Y:-166.30, Z:1.70 [[ 6.81401295e-01 7.31870147e-01 7.63954394e-03 2.73781680e+02] [-7.31824203e-01 6.81444119e-01 -8.20053121e-03 -1.66296469e+02] [-1.12076463e-02 -2.95057025e-06 9.99937192e-01 1.69575922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.82, Y:-166.34, Z:1.69 [[ 6.80334115e-01 7.32862306e-01 7.63753869e-03 2.73824454e+02] [-7.32816403e-01 6.80376984e-01 -8.20239838e-03 -1.66341595e+02] [-1.12076341e-02 -1.65421879e-05 9.99937192e-01 1.69339700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.87, Y:-166.39, Z:1.69 [[ 6.81926284e-01 7.31381052e-01 7.63541949e-03 2.73866865e+02] [-7.31335034e-01 6.81969029e-01 -8.20437061e-03 -1.66388748e+02] [-1.12076408e-02 1.07261917e-05 9.99937192e-01 1.69447667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:-166.44, Z:1.70 [[ 6.81267329e-01 7.31994920e-01 7.63306647e-03 2.73905667e+02] [-7.31948916e-01 6.81310088e-01 -8.20655920e-03 -1.66436238e+02] [-1.12076448e-02 3.84592990e-06 9.99937192e-01 1.69619032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.95, Y:-166.48, Z:1.69 [[ 6.78356817e-01 7.34692993e-01 7.63120545e-03 2.73950912e+02] [-7.34647139e-01 6.78399738e-01 -8.20828938e-03 -1.66478537e+02] [-1.12075805e-02 -3.80941949e-05 9.99937192e-01 1.69252665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:-166.52, Z:1.69 [[ 6.77306655e-01 7.35661262e-01 7.62912903e-03 2.73993024e+02] [-7.35615448e-01 6.77349618e-01 -8.21021884e-03 -1.66523459e+02] [-1.12075276e-02 -5.12693104e-05 9.99937192e-01 1.68751957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:274.03, Y:-166.57, Z:1.69 [[ 6.76573071e-01 7.36336002e-01 7.62708551e-03 2.74034253e+02] [-7.36290209e-01 6.76616057e-01 -8.21211678e-03 -1.66570532e+02] [-1.12074858e-02 -5.96513170e-05 9.99937192e-01 1.68833191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:274.08, Y:-166.62, Z:1.69 [[ 6.77220087e-01 7.35740998e-01 7.62477959e-03 2.74078491e+02] [-7.35695144e-01 6.77263008e-01 -8.21425721e-03 -1.66615218e+02] [-1.12075470e-02 -4.66533321e-05 9.99937192e-01 1.68738652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.12, Y:-166.66, Z:1.69 [[ 6.78573273e-01 7.34493166e-01 7.62247978e-03 2.74120215e+02] [-7.34447209e-01 6.78616083e-01 -8.21639079e-03 -1.66661408e+02] [-1.12076203e-02 -2.28858053e-05 9.99937192e-01 1.69087071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.16, Y:-166.71, Z:1.69 [[ 6.80527351e-01 7.32683052e-01 7.62042213e-03 2.74161089e+02] [-7.32636959e-01 6.80570015e-01 -8.21829874e-03 -1.66707380e+02] [-1.12076390e-02 9.77417111e-06 9.99937192e-01 1.69172976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:-166.75, Z:1.69 [[ 6.80514885e-01 7.32694650e-01 7.61854595e-03 2.74202928e+02] [-7.32648538e-01 6.80557529e-01 -8.22003764e-03 -1.66753837e+02] [-1.12076364e-02 1.21414122e-05 9.99937192e-01 1.69016458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.24, Y:-166.80, Z:1.69 [[ 6.79756456e-01 7.33398357e-01 7.61649580e-03 2.74243748e+02] [-7.33352269e-01 6.79799125e-01 -8.22193682e-03 -1.66799710e+02] [-1.12076421e-02 3.34016123e-06 9.99937192e-01 1.68677008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:-166.85, Z:1.69 [[ 6.79433641e-01 7.33697440e-01 7.61534982e-03 2.74287113e+02] [-7.33651359e-01 6.79476318e-01 -8.22299812e-03 -1.66845952e+02] [-1.12076425e-02 -3.01925385e-08 9.99937192e-01 1.68631443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.33, Y:-166.89, Z:1.68 [[ 6.81058742e-01 7.32189205e-01 7.61300111e-03 2.74330187e+02] [-7.32143005e-01 6.81101290e-01 -8.22517202e-03 -1.66889982e+02] [-1.12076070e-02 2.80198059e-05 9.99937192e-01 1.68461011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99762799999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:274.37, Y:-166.94, Z:1.68 [[ 6.83378690e-01 7.30024411e-01 7.61083855e-03 2.74373487e+02] [-7.29978054e-01 6.83421067e-01 -8.22717258e-03 -1.66935741e+02] [-1.12074442e-02 6.65293129e-05 9.99937192e-01 1.68242924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:-166.98, Z:1.69 [[ 6.86800327e-01 7.26806317e-01 7.60848340e-03 2.74417220e+02] [-7.26759737e-01 6.86842459e-01 -8.22935004e-03 -1.66979550e+02] [-1.12069730e-02 1.22380910e-04 9.99937192e-01 1.68517372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:274.46, Y:-167.03, Z:1.68 [[ 6.89291685e-01 7.24444004e-01 7.60645440e-03 2.74460537e+02] [-7.24397259e-01 6.89333634e-01 -8.23122503e-03 -1.67025184e+02] [-1.12064465e-02 1.63620252e-04 9.99937192e-01 1.68257921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17762799999997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:-167.07, Z:1.68 [[ 6.90309609e-01 7.23474133e-01 7.60410596e-03 2.74503229e+02] [-7.23427305e-01 6.90351465e-01 -8.23339398e-03 -1.67070456e+02] [-1.12061533e-02 1.82573102e-04 9.99937192e-01 1.68226561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.55, Y:-167.12, Z:1.68 [[ 6.88276695e-01 7.25408438e-01 7.60193593e-03 2.74546046e+02] [-7.25361705e-01 6.88318658e-01 -8.23539709e-03 -1.67115929e+02] [-1.12065809e-02 1.54078683e-04 9.99937192e-01 1.68307607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.59, Y:-167.16, Z:1.68 [[ 6.85991522e-01 7.27569844e-01 7.59960964e-03 2.74586798e+02] [-7.27523220e-01 6.86033605e-01 -8.23754323e-03 -1.67162998e+02] [-1.12069756e-02 1.21992340e-04 9.99937192e-01 1.68329919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.63, Y:-167.21, Z:1.68 [[ 6.85943079e-01 7.27615528e-01 7.59839091e-03 2.74626787e+02] [-7.27568894e-01 6.85985152e-01 -8.23866724e-03 -1.67208930e+02] [-1.12069656e-02 1.22903898e-04 9.99937192e-01 1.68440479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.417628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:274.67, Y:-167.26, Z:1.69 [[ 6.85890829e-01 7.27664795e-01 7.59716661e-03 2.74668402e+02] [-7.27618152e-01 6.85932891e-01 -8.23979606e-03 -1.67255000e+02] [-1.12069560e-02 1.23764221e-04 9.99937192e-01 1.68645927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.477628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:274.71, Y:-167.30, Z:1.68 [[ 6.88091557e-01 7.25584126e-01 7.59505058e-03 2.74710560e+02] [-7.25537335e-01 6.88133453e-01 -8.24174605e-03 -1.67298514e+02] [-1.12064885e-02 1.60583115e-04 9.99937192e-01 1.68233560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.75, Y:-167.34, Z:1.69 [[ 6.88873843e-01 7.24841471e-01 7.59407367e-03 2.74753804e+02] [-7.24794624e-01 6.88915678e-01 -8.24264610e-03 -1.67344067e+02] [-1.12062881e-02 1.73999531e-04 9.99937192e-01 1.68863770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.80, Y:-167.39, Z:1.69 [[ 6.87187813e-01 7.26440139e-01 7.59163968e-03 2.74796483e+02] [-7.26393365e-01 6.87229729e-01 -8.24488724e-03 -1.67389474e+02] [-1.12066175e-02 1.51269340e-04 9.99937192e-01 1.68728710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.84, Y:-167.43, Z:1.69 [[ 6.85396418e-01 7.28130587e-01 7.58940467e-03 2.74840481e+02] [-7.28083893e-01 6.85438424e-01 -8.24694405e-03 -1.67434406e+02] [-1.12069218e-02 1.26702605e-04 9.99937192e-01 1.68692092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.89, Y:-167.48, Z:1.68 [[ 6.83183928e-01 7.30206927e-01 7.58713522e-03 2.74885369e+02] [-7.30160338e-01 6.83226050e-01 -8.24903140e-03 -1.67478266e+02] [-1.12072283e-02 9.57804645e-05 9.99937192e-01 1.68476347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.93, Y:-167.52, Z:1.68 [[ 6.82455983e-01 7.30887339e-01 7.58479043e-03 2.74927882e+02] [-7.30840767e-01 6.82498125e-01 -8.25118682e-03 -1.67523869e+02] [-1.12072932e-02 8.77977611e-05 9.99937192e-01 1.68340665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.837628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:274.97, Y:-167.57, Z:1.68 [[ 6.83191382e-01 7.30200000e-01 7.58262393e-03 2.74969188e+02] [-7.30153364e-01 6.83233452e-01 -8.25317730e-03 -1.67571896e+02] [-1.12071724e-02 1.02021231e-04 9.99937192e-01 1.68105751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.01, Y:-167.62, Z:1.68 [[ 6.84025834e-01 7.29418383e-01 7.58160515e-03 2.75012201e+02] [-7.29371689e-01 6.84067839e-01 -8.25411307e-03 -1.67618282e+02] [-1.12070341e-02 1.16218419e-04 9.99937192e-01 1.68220750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.05, Y:-167.66, Z:1.68 [[ 6.84824374e-01 7.28668741e-01 7.57904815e-03 2.75054706e+02] [-7.28621975e-01 6.84866299e-01 -8.25646028e-03 -1.67664458e+02] [-1.12068592e-02 1.31964206e-04 9.99937192e-01 1.68240938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:-167.71, Z:1.68 [[ 6.85155618e-01 7.28357312e-01 7.57667755e-03 2.75099143e+02] [-7.28310503e-01 6.85197495e-01 -8.25863513e-03 -1.67709134e+02] [-1.12067578e-02 1.40276419e-04 9.99937192e-01 1.68082751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.14, Y:-167.76, Z:1.68 [[ 6.82363640e-01 7.30973662e-01 7.57424974e-03 2.75139899e+02] [-7.30926988e-01 6.82405668e-01 -8.26086115e-03 -1.67756879e+02] [-1.12071829e-02 1.00687732e-04 9.99937192e-01 1.68139509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.18, Y:-167.80, Z:1.68 [[ 6.81543324e-01 7.31738591e-01 7.57178734e-03 2.75179920e+02] [-7.31691940e-01 6.81585377e-01 -8.26311752e-03 -1.67803695e+02] [-1.12072615e-02 9.14568106e-05 9.99937192e-01 1.67860882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:-167.85, Z:1.68 [[ 6.81688418e-01 7.31603446e-01 7.56952499e-03 2.75221590e+02] [-7.31556764e-01 6.81730436e-01 -8.26518946e-03 -1.67851435e+02] [-1.12072167e-02 9.67467271e-05 9.99937192e-01 1.67630115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:275.26, Y:-167.90, Z:1.67 [[ 6.82280115e-01 7.31051696e-01 7.56718655e-03 2.75262433e+02] [-7.31004956e-01 6.82322069e-01 -8.26732986e-03 -1.67898082e+02] [-1.12071039e-02 1.08983897e-04 9.99937193e-01 1.67225481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.30, Y:-167.95, Z:1.67 [[ 6.78438321e-01 7.34618405e-01 7.56602876e-03 2.75302316e+02] [-7.34571873e-01 6.78480506e-01 -8.26838931e-03 -1.67945286e+02] [-1.12075140e-02 5.18002415e-05 9.99937193e-01 1.67011015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:275.34, Y:-167.99, Z:1.67 [[ 6.76770357e-01 7.36155325e-01 7.56449482e-03 2.75344279e+02] [-7.36108874e-01 6.76812630e-01 -8.26979242e-03 -1.67991242e+02] [-1.12075974e-02 2.84586059e-05 9.99937193e-01 1.66514589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.39, Y:-168.04, Z:1.67 [[ 6.73736619e-01 7.38932864e-01 7.56242852e-03 2.75387447e+02] [-7.38886566e-01 6.73779060e-01 -8.27168155e-03 -1.68037407e+02] [-1.12076233e-02 -1.48420747e-05 9.99937193e-01 1.66727125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.43, Y:-168.08, Z:1.67 [[ 6.73225465e-01 7.39398619e-01 7.56008825e-03 2.75429558e+02] [-7.39352326e-01 6.73267912e-01 -8.27381994e-03 -1.68083614e+02] [-1.12076159e-02 -1.94225595e-05 9.99937193e-01 1.66896071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55762799999997 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:275.47, Y:-168.13, Z:1.67 [[ 6.74502832e-01 7.38233575e-01 7.55772621e-03 2.75469867e+02] [-7.38187184e-01 6.74545172e-01 -8.27597698e-03 -1.68131635e+02] [-1.12076318e-02 3.15327665e-06 9.99937193e-01 1.66650367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.51, Y:-168.18, Z:1.67 [[ 6.76080450e-01 7.36789075e-01 7.55536237e-03 2.75508870e+02] [-7.36742570e-01 6.76122665e-01 -8.27813443e-03 -1.68179175e+02] [-1.12075908e-02 3.03277557e-05 9.99937193e-01 1.66997788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67762799999997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:275.55, Y:-168.22, Z:1.66 [[ 6.77792391e-01 7.35214532e-01 7.55424589e-03 2.75551853e+02] [-7.35167917e-01 6.77834485e-01 -8.27915315e-03 -1.68224071e+02] [-1.12074821e-02 5.79077931e-05 9.99937193e-01 1.66495794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.59, Y:-168.27, Z:1.67 [[ 6.78114891e-01 7.34917111e-01 7.55220554e-03 2.75594817e+02] [-7.34870457e-01 6.78156941e-01 -8.28101394e-03 -1.68270631e+02] [-1.12074394e-02 6.55861267e-05 9.99937193e-01 1.66840651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.64, Y:-168.32, Z:1.67 [[ 6.79876635e-01 7.33287640e-01 7.54975677e-03 2.75635776e+02] [-7.33240860e-01 6.79918546e-01 -8.28324586e-03 -1.68316567e+02] [-1.12072214e-02 9.57951706e-05 9.99937193e-01 1.66959837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.68, Y:-168.36, Z:1.67 [[ 6.82829962e-01 7.30538345e-01 7.54777453e-03 2.75676054e+02] [-7.30491378e-01 6.82871661e-01 -8.28505171e-03 -1.68363674e+02] [-1.12067093e-02 1.43697331e-04 9.99937193e-01 1.66929489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.917628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:275.72, Y:-168.41, Z:1.67 [[ 6.84205941e-01 7.29249815e-01 7.54573774e-03 2.75718558e+02] [-7.29202748e-01 6.84247528e-01 -8.28690633e-03 -1.68409364e+02] [-1.12063773e-02 1.67577838e-04 9.99937193e-01 1.66580705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.977628 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:275.76, Y:-168.45, Z:1.66 [[ 6.84816642e-01 7.28676378e-01 7.54341937e-03 2.75761914e+02] [-7.28629253e-01 6.84858164e-01 -8.28901616e-03 -1.68454681e+02] [-1.12061826e-02 1.80100194e-04 9.99937193e-01 1.66408557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.037628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:275.80, Y:-168.50, Z:1.67 [[ 6.82763945e-01 7.30600115e-01 7.54105240e-03 2.75801354e+02] [-7.30553083e-01 6.82805572e-01 -8.29116898e-03 -1.68503050e+02] [-1.12066016e-02 1.51772163e-04 9.99937193e-01 1.66905974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.097628 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:275.84, Y:-168.55, Z:1.66 [[ 6.81988236e-01 7.31324286e-01 7.53891770e-03 2.75844968e+02] [-7.31277277e-01 6.82029888e-01 -8.29310955e-03 -1.68545904e+02] [-1.12067196e-02 1.42763943e-04 9.99937193e-01 1.66237944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.157628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:275.89, Y:-168.59, Z:1.66 [[ 6.78935279e-01 7.34159439e-01 7.53696914e-03 2.75887518e+02] [-7.34112584e-01 6.78977105e-01 -8.29488007e-03 -1.68591486e+02] [-1.12071940e-02 9.87028163e-05 9.99937193e-01 1.66440310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.93, Y:-168.64, Z:1.67 [[ 6.76019584e-01 7.36845131e-01 7.53490595e-03 2.75927865e+02] [-7.36798421e-01 6.76061573e-01 -8.29675381e-03 -1.68640113e+02] [-1.12074830e-02 5.70612518e-05 9.99937193e-01 1.66961839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.97, Y:-168.69, Z:1.67 [[ 6.73950458e-01 7.38738141e-01 7.53254381e-03 2.75968282e+02] [-7.38691526e-01 6.73992551e-01 -8.29889782e-03 -1.68688063e+02] [-1.12075908e-02 2.88197103e-05 9.99937193e-01 1.67055993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.01, Y:-168.73, Z:1.67 [[ 6.70364666e-01 7.41993606e-01 7.53017725e-03 2.76010056e+02] [-7.41947171e-01 6.70406957e-01 -8.30104462e-03 -1.68734485e+02] [-1.12076052e-02 -2.22667098e-05 9.99937193e-01 1.66839170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.05, Y:-168.78, Z:1.67 [[ 6.68571431e-01 7.43609826e-01 7.52780744e-03 2.76051814e+02] [-7.43563469e-01 6.68613808e-01 -8.30319312e-03 -1.68781068e+02] [-1.12075320e-02 -4.61249031e-05 9.99937193e-01 1.66576227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:-168.83, Z:1.66 [[ 6.70284565e-01 7.42066014e-01 7.52545884e-03 2.76093238e+02] [-7.42019535e-01 6.70326809e-01 -8.30532119e-03 -1.68828617e+02] [-1.12076134e-02 -1.71088715e-05 9.99937193e-01 1.66380286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:276.14, Y:-168.87, Z:1.66 [[ 6.73185799e-01 7.39435110e-01 7.52313785e-03 2.76136564e+02] [-7.39388443e-01 6.73227834e-01 -8.30742306e-03 -1.68874791e+02] [-1.12075861e-02 2.99180478e-05 9.99937193e-01 1.66034656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:276.18, Y:-168.92, Z:1.66 [[ 6.77968037e-01 7.35052909e-01 7.52076466e-03 2.76180656e+02] [-7.35005946e-01 6.78009742e-01 -8.30957096e-03 -1.68919425e+02] [-1.12071260e-02 1.05816768e-04 9.99937193e-01 1.65844310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.23, Y:-168.96, Z:1.66 [[ 6.81072084e-01 7.32177772e-01 7.51837942e-03 2.76225141e+02] [-7.32130610e-01 6.81113563e-01 -8.31172854e-03 -1.68964058e+02] [-1.12065331e-02 1.56450570e-04 9.99937193e-01 1.65993567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.27, Y:-169.01, Z:1.66 [[ 6.84209942e-01 7.29246367e-01 7.51603042e-03 2.76266939e+02] [-7.29199004e-01 6.84251191e-01 -8.31385212e-03 -1.69009231e+02] [-1.12056992e-02 2.07738385e-04 9.99937193e-01 1.65783978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.31, Y:-169.06, Z:1.66 [[ 6.85116337e-01 7.28394911e-01 7.51386248e-03 2.76309693e+02] [-7.28347475e-01 6.85157502e-01 -8.31581100e-03 -1.69055931e+02] [-1.12053737e-02 2.24595206e-04 9.99937193e-01 1.65677875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:276.36, Y:-169.10, Z:1.65 [[ 6.84990916e-01 7.28512884e-01 7.51144042e-03 2.76355048e+02] [-7.28465431e-01 6.85032062e-01 -8.31799820e-03 -1.69100299e+02] [-1.12053464e-02 2.25928521e-04 9.99937193e-01 1.65247433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.40, Y:-169.14, Z:1.65 [[ 6.82396201e-01 7.30943937e-01 7.50905336e-03 2.76398227e+02] [-7.30896607e-01 6.82437488e-01 -8.32015255e-03 -1.69144179e+02] [-1.12060246e-02 1.89298877e-04 9.99937193e-01 1.65385059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:276.44, Y:-169.19, Z:1.65 [[ 6.77991272e-01 7.35031620e-01 7.50685406e-03 2.76438021e+02] [-7.34984517e-01 6.78032818e-01 -8.32213640e-03 -1.69191447e+02] [-1.12069268e-02 1.24914345e-04 9.99937193e-01 1.65243834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.48, Y:-169.24, Z:1.65 [[ 6.73705663e-01 7.38961668e-01 7.50547962e-03 2.76479813e+02] [-7.38914794e-01 6.73747467e-01 -8.32337578e-03 -1.69238837e+02] [-1.12074535e-02 6.15954786e-05 9.99937193e-01 1.65410843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.52, Y:-169.29, Z:1.65 [[ 6.71317297e-01 7.41132101e-01 7.50307542e-03 2.76522336e+02] [-7.41085337e-01 6.71359224e-01 -8.32554247e-03 -1.69285558e+02] [-1.12075857e-02 2.86614882e-05 9.99937193e-01 1.65137880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.56, Y:-169.33, Z:1.65 [[ 6.70418949e-01 7.41944858e-01 7.50068886e-03 2.76559578e+02] [-7.41898122e-01 6.70460906e-01 -8.32769202e-03 -1.69334741e+02] [-1.12076069e-02 1.82955553e-05 9.99937193e-01 1.65061776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17762799999997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:276.60, Y:-169.38, Z:1.65 [[ 6.69568799e-01 7.42712189e-01 7.49848215e-03 2.76599885e+02] [-7.42665478e-01 6.69610786e-01 -8.32967854e-03 -1.69382941e+02] [-1.12076183e-02 8.42902773e-06 9.99937193e-01 1.64841994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.65, Y:-169.43, Z:1.65 [[ 6.67482355e-01 7.44587882e-01 7.49613299e-03 2.76645762e+02] [-7.44541265e-01 6.67524446e-01 -8.33179208e-03 -1.69426270e+02] [-1.12076034e-02 -1.98561340e-05 9.99937193e-01 1.64875794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.69, Y:-169.47, Z:1.64 [[ 6.71650335e-01 7.40830393e-01 7.49372093e-03 2.76693313e+02] [-7.40783517e-01 6.71692136e-01 -8.33396096e-03 -1.69467422e+02] [-1.12075250e-02 4.62827236e-05 9.99937193e-01 1.64363062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.357628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:276.73, Y:-169.51, Z:1.64 [[ 6.75318768e-01 7.37487926e-01 7.49134556e-03 2.76733815e+02] [-7.37440819e-01 6.75360310e-01 -8.33609561e-03 -1.69514525e+02] [-1.12071273e-02 1.05097816e-04 9.99937193e-01 1.64241833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.77, Y:-169.56, Z:1.65 [[ 6.76610214e-01 7.36303280e-01 7.48988399e-03 2.76773424e+02] [-7.36256086e-01 6.76651656e-01 -8.33740861e-03 -1.69564218e+02] [-1.12069037e-02 1.26703148e-04 9.99937193e-01 1.64597518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.477628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:276.82, Y:-169.61, Z:1.64 [[ 6.76219838e-01 7.36661840e-01 7.48751875e-03 2.76816997e+02] [-7.36614645e-01 6.76261279e-01 -8.33953221e-03 -1.69609025e+02] [-1.12069341e-02 1.23941162e-04 9.99937193e-01 1.63885277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.537628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:276.86, Y:-169.66, Z:1.64 [[ 6.74472953e-01 7.38261613e-01 7.48513351e-03 2.76860262e+02] [-7.38214491e-01 6.74514478e-01 -8.34167252e-03 -1.69655040e+02] [-1.12071675e-02 1.00598465e-04 9.99937193e-01 1.63693433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.90, Y:-169.70, Z:1.64 [[ 6.71398143e-01 7.41059068e-01 7.48275033e-03 2.76900729e+02] [-7.41012096e-01 6.71439837e-01 -8.34380976e-03 -1.69701452e+02] [-1.12074725e-02 5.72098759e-05 9.99937193e-01 1.64089636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.657628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:276.94, Y:-169.75, Z:1.64 [[ 6.70526740e-01 7.41847648e-01 7.48054582e-03 2.76943028e+02] [-7.41800703e-01 6.70568464e-01 -8.34578573e-03 -1.69748435e+02] [-1.12075196e-02 4.69983483e-05 9.99937193e-01 1.63860240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.99, Y:-169.79, Z:1.64 [[ 6.67197569e-01 7.44843259e-01 7.47815286e-03 2.76986164e+02] [-7.44796477e-01 6.67239477e-01 -8.34792936e-03 -1.69792293e+02] [-1.12076177e-02 1.62725254e-08 9.99937193e-01 1.63869854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.03, Y:-169.84, Z:1.64 [[ 6.66714119e-01 7.45276052e-01 7.47594377e-03 2.77029207e+02] [-7.45229275e-01 6.66756032e-01 -8.34990723e-03 -1.69837863e+02] [-1.12076165e-02 -4.29110805e-06 9.99937193e-01 1.63596085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.837628 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:277.07, Y:-169.89, Z:1.63 [[ 6.68980443e-01 7.43242432e-01 7.47356972e-03 2.77066971e+02] [-7.43195504e-01 6.69022187e-01 -8.35203158e-03 -1.69887067e+02] [-1.12075682e-02 3.30223655e-05 9.99937193e-01 1.63210417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.897628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:277.11, Y:-169.93, Z:1.63 [[ 6.68856326e-01 7.43354150e-01 7.47152516e-03 2.77109840e+02] [-7.43307209e-01 6.68898054e-01 -8.35386019e-03 -1.69932134e+02] [-1.12075653e-02 3.38937175e-05 9.99937193e-01 1.63089488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.15, Y:-169.98, Z:1.63 [[ 6.69976095e-01 7.42345096e-01 7.46936636e-03 2.77153137e+02] [-7.42298070e-01 6.70017728e-01 -8.35578997e-03 -1.69977995e+02] [-1.12074876e-02 5.36832997e-05 9.99937193e-01 1.63139501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:277.19, Y:-170.03, Z:1.63 [[ 6.71793710e-01 7.40700652e-01 7.46703128e-03 2.77193481e+02] [-7.40653501e-01 6.71835201e-01 -8.35787617e-03 -1.70025847e+02] [-1.12072988e-02 8.42857768e-05 9.99937193e-01 1.63173748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:277.23, Y:-170.07, Z:1.63 [[ 6.74511176e-01 7.38226897e-01 7.46469929e-03 2.77233902e+02] [-7.38179571e-01 6.74552468e-01 -8.35995842e-03 -1.70073888e+02] [-1.12068775e-02 1.28596860e-04 9.99937193e-01 1.62937027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:277.28, Y:-170.12, Z:1.62 [[ 6.73558967e-01 7.39095820e-01 7.46236730e-03 2.77276064e+02] [-7.39048524e-01 6.73600294e-01 -8.36203952e-03 -1.70119390e+02] [-1.12070013e-02 1.17275171e-04 9.99937193e-01 1.62451669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:277.32, Y:-170.17, Z:1.62 [[ 6.71079605e-01 7.41347765e-01 7.46029164e-03 2.77319162e+02] [-7.41300587e-01 6.71121066e-01 -8.36389093e-03 -1.70165622e+02] [-1.12073107e-02 8.25180434e-05 9.99937193e-01 1.62381503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.36, Y:-170.21, Z:1.63 [[ 6.71310148e-01 7.41139032e-01 7.45791744e-03 2.77358591e+02] [-7.41091818e-01 6.71351568e-01 -8.36600742e-03 -1.70211689e+02] [-1.12072592e-02 8.91840914e-05 9.99937193e-01 1.62823485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:-170.26, Z:1.63 [[ 6.72198375e-01 7.40333533e-01 7.45689392e-03 2.77399949e+02] [-7.40286259e-01 6.72239726e-01 -8.36691962e-03 -1.70258565e+02] [-1.12071315e-02 1.03993660e-04 9.99937193e-01 1.63020693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:277.44, Y:-170.31, Z:1.63 [[ 6.72667718e-01 7.39907134e-01 7.45483932e-03 2.77442436e+02] [-7.39859813e-01 6.72709016e-01 -8.36874985e-03 -1.70305288e+02] [-1.12070353e-02 1.13851832e-04 9.99937193e-01 1.62699937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.48, Y:-170.35, Z:1.63 [[ 6.72332682e-01 7.40211608e-01 7.45250374e-03 2.77483258e+02] [-7.40164283e-01 6.72373976e-01 -8.37082921e-03 -1.70352916e+02] [-1.12070545e-02 1.11904968e-04 9.99937193e-01 1.62511060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.53, Y:-170.40, Z:1.62 [[ 6.71867645e-01 7.40633757e-01 7.45017124e-03 2.77527387e+02] [-7.40586435e-01 6.71908942e-01 -8.37290465e-03 -1.70397479e+02] [-1.12070925e-02 1.07987966e-04 9.99937193e-01 1.62312647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.57, Y:-170.45, Z:1.62 [[ 6.67255338e-01 7.44791797e-01 7.44940679e-03 2.77566393e+02] [-7.44744725e-01 6.67296919e-01 -8.37358473e-03 -1.70445127e+02] [-1.12075434e-02 3.94127025e-05 9.99937193e-01 1.62416026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:277.61, Y:-170.49, Z:1.62 [[ 6.66851982e-01 7.45152987e-01 7.44715556e-03 2.77611820e+02] [-7.45105915e-01 6.66893564e-01 -8.37558641e-03 -1.70489196e+02] [-1.12075533e-02 3.63567437e-05 9.99937193e-01 1.62184581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.65, Y:-170.54, Z:1.62 [[ 6.68143610e-01 7.43995088e-01 7.44482118e-03 2.77654229e+02] [-7.43947921e-01 6.68185084e-01 -8.37766086e-03 -1.70535569e+02] [-1.12074570e-02 5.89213404e-05 9.99937193e-01 1.62318193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.69, Y:-170.59, Z:1.62 [[ 6.71786717e-01 7.40707241e-01 7.44250832e-03 2.77690885e+02] [-7.40659848e-01 6.71827932e-01 -8.37971504e-03 -1.70585324e+02] [-1.12070006e-02 1.17014171e-04 9.99937193e-01 1.62460961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.797628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:277.73, Y:-170.63, Z:1.62 [[ 6.73388411e-01 7.39251438e-01 7.44037195e-03 2.77731801e+02] [-7.39203935e-01 6.73429499e-01 -8.38161151e-03 -1.70632289e+02] [-1.12066843e-02 1.44127831e-04 9.99937193e-01 1.61990425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.77, Y:-170.68, Z:1.62 [[ 6.70652889e-01 7.41734032e-01 7.43828607e-03 2.77772705e+02] [-7.41686661e-01 6.70694129e-01 -8.38346222e-03 -1.70680171e+02] [-1.12071140e-02 1.05515593e-04 9.99937193e-01 1.62215143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.917628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:277.82, Y:-170.73, Z:1.62 [[ 6.65603808e-01 7.46268234e-01 7.43596994e-03 2.77816093e+02] [-7.46221121e-01 6.65645342e-01 -8.38551608e-03 -1.70725235e+02] [-1.12075630e-02 3.25536072e-05 9.99937193e-01 1.61909952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.86, Y:-170.77, Z:1.62 [[ 6.65238026e-01 7.46594338e-01 7.43391123e-03 2.77856713e+02] [-7.46547225e-01 6.65279560e-01 -8.38734076e-03 -1.70770794e+02] [-1.12075703e-02 2.98122112e-05 9.99937193e-01 1.62185050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.90, Y:-170.82, Z:1.62 [[ 6.68553202e-01 7.43627179e-01 7.43202642e-03 2.77899189e+02] [-7.43579863e-01 6.68594505e-01 -8.38901056e-03 -1.70816805e+02] [-1.12073083e-02 8.21946842e-05 9.99937193e-01 1.62194662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.94, Y:-170.87, Z:1.62 [[ 6.73114556e-01 7.39500909e-01 7.42968575e-03 2.77937238e+02] [-7.39453317e-01 6.73155541e-01 -8.39108305e-03 -1.70866243e+02] [-1.12065477e-02 1.54254370e-04 9.99937193e-01 1.62220450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.98, Y:-170.91, Z:1.62 [[ 6.74468620e-01 7.38266146e-01 7.42824352e-03 2.77979964e+02] [-7.38218464e-01 6.74509501e-01 -8.39235960e-03 -1.70912185e+02] [-1.12062158e-02 1.76716669e-04 9.99937193e-01 1.62071501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.02, Y:-170.96, Z:1.62 [[ 6.73676405e-01 7.38989146e-01 7.42585947e-03 2.78024612e+02] [-7.38941485e-01 6.73717310e-01 -8.39446856e-03 -1.70956752e+02] [-1.12063512e-02 1.67879779e-04 9.99937193e-01 1.62033760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.277628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:278.07, Y:-171.00, Z:1.62 [[ 6.72651332e-01 7.39922346e-01 7.42345465e-03 2.78069068e+02] [-7.39874718e-01 6.72692276e-01 -8.39659467e-03 -1.71001537e+02] [-1.12065286e-02 1.55554173e-04 9.99937193e-01 1.61761938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.337628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:278.11, Y:-171.05, Z:1.62 [[ 6.71907324e-01 7.40598053e-01 7.42104834e-03 2.78107881e+02] [-7.40550444e-01 6.71948288e-01 -8.39872087e-03 -1.71049983e+02] [-1.12066371e-02 1.47501418e-04 9.99937193e-01 1.61962725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.397628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.15, Y:-171.10, Z:1.62 [[ 6.70668021e-01 7.41720545e-01 7.41882634e-03 2.78150400e+02] [-7.41672982e-01 6.70709040e-01 -8.40068317e-03 -1.71095808e+02] [-1.12068332e-02 1.31726499e-04 9.99937193e-01 1.61703091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:-171.14, Z:1.61 [[ 6.69775433e-01 7.42526674e-01 7.41677626e-03 2.78192827e+02] [-7.42479140e-01 6.69816486e-01 -8.40249275e-03 -1.71141936e+02] [-1.12069540e-02 1.20981557e-04 9.99937193e-01 1.61323275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.23, Y:-171.19, Z:1.62 [[ 6.68217075e-01 7.43929410e-01 7.41444986e-03 2.78234429e+02] [-7.43881940e-01 6.68258201e-01 -8.40454509e-03 -1.71188358e+02] [-1.12071552e-02 1.00585183e-04 9.99937193e-01 1.61569667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.28, Y:-171.24, Z:1.62 [[ 6.66475525e-01 7.45490061e-01 7.41238694e-03 2.78275216e+02] [-7.45442667e-01 6.66516739e-01 -8.40636408e-03 -1.71236947e+02] [-1.12073408e-02 7.71264257e-05 9.99937193e-01 1.61813697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.32, Y:-171.28, Z:1.62 [[ 6.62761597e-01 7.48793802e-01 7.41000155e-03 2.78315156e+02] [-7.48746590e-01 6.62803019e-01 -8.40846622e-03 -1.71284667e+02] [-1.12075788e-02 2.45950993e-05 9.99937193e-01 1.61960116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.35, Y:-171.33, Z:1.62 [[ 6.60666977e-01 7.50642571e-01 7.40779827e-03 2.78353801e+02] [-7.50595453e-01 6.60708506e-01 -8.41040685e-03 -1.71333841e+02] [-1.12076047e-02 -3.78163213e-06 9.99937193e-01 1.61784577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.39, Y:-171.38, Z:1.62 [[ 6.59072799e-01 7.52042689e-01 7.40545049e-03 2.78394144e+02] [-7.51995636e-01 6.59114401e-01 -8.41247358e-03 -1.71381536e+02] [-1.12075783e-02 -2.44339435e-05 9.99937193e-01 1.61557405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:-171.43, Z:1.61 [[ 6.56770578e-01 7.54054110e-01 7.40312328e-03 2.78436511e+02] [-7.54007162e-01 6.56812299e-01 -8.41452107e-03 -1.71427409e+02] [-1.12074666e-02 -5.55981045e-05 9.99937193e-01 1.61405711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:-171.47, Z:1.61 [[ 6.55713203e-01 7.54973789e-01 7.40081793e-03 2.78478845e+02] [-7.54926877e-01 6.55754964e-01 -8.41654820e-03 -1.71472513e+02] [-1.12073964e-02 -6.82345811e-05 9.99937193e-01 1.61216904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.52, Y:-171.52, Z:1.61 [[ 6.56747457e-01 7.54074285e-01 7.39939560e-03 2.78522127e+02] [-7.54027300e-01 6.56789137e-01 -8.41779845e-03 -1.71518241e+02] [-1.12074880e-02 -5.09785618e-05 9.99937193e-01 1.60890351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.56, Y:-171.57, Z:1.61 [[ 6.58793506e-01 7.52287444e-01 7.39715439e-03 2.78562834e+02] [-7.52240325e-01 6.58835033e-01 -8.41976746e-03 -1.71566189e+02] [-1.12075898e-02 -1.75496994e-05 9.99937193e-01 1.60675438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05762799999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:278.60, Y:-171.61, Z:1.60 [[ 6.59441186e-01 7.51719787e-01 7.39484650e-03 2.78604030e+02] [-7.51672609e-01 6.59482647e-01 -8.42179393e-03 -1.71613283e+02] [-1.12076021e-02 -4.82578585e-06 9.99937193e-01 1.60283123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:-171.66, Z:1.60 [[ 6.58730309e-01 7.52342816e-01 7.39372578e-03 2.78647157e+02] [-7.52295666e-01 6.58771802e-01 -8.42277773e-03 -1.71658615e+02] [-1.12075944e-02 -1.39288822e-05 9.99937193e-01 1.60230570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.69, Y:-171.70, Z:1.60 [[ 6.57637558e-01 7.53298222e-01 7.39136137e-03 2.78691481e+02] [-7.53251109e-01 6.57679092e-01 -8.42485210e-03 -1.71702030e+02] [-1.12075699e-02 -2.70519913e-05 9.99937193e-01 1.60151772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.237628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.73, Y:-171.75, Z:1.60 [[ 6.56665249e-01 7.54145974e-01 7.38917899e-03 2.78734906e+02] [-7.54098894e-01 6.56706820e-01 -8.42676576e-03 -1.71747484e+02] [-1.12075357e-02 -3.86074665e-05 9.99937193e-01 1.60217216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.297628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.78, Y:-171.79, Z:1.60 [[ 6.56712067e-01 7.54105230e-01 7.38675741e-03 2.78777652e+02] [-7.54058123e-01 6.56753608e-01 -8.42888794e-03 -1.71794021e+02] [-1.12075481e-02 -3.46920090e-05 9.99937193e-01 1.59864630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.81, Y:-171.84, Z:1.60 [[ 6.56161111e-01 7.54584700e-01 7.38428525e-03 2.78814261e+02] [-7.54537599e-01 6.56202659e-01 -8.43105316e-03 -1.71844934e+02] [-1.12075313e-02 -3.95916548e-05 9.99937193e-01 1.59610796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.85, Y:-171.89, Z:1.60 [[ 6.52995942e-01 7.57325422e-01 7.38276216e-03 2.78854005e+02] [-7.57278481e-01 6.53037669e-01 -8.43238667e-03 -1.71892624e+02] [-1.12072826e-02 -8.44926359e-05 9.99937193e-01 1.59731176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.90, Y:-171.94, Z:1.60 [[ 6.50685775e-01 7.59311233e-01 7.38064514e-03 2.78897413e+02] [-7.59264397e-01 6.50727623e-01 -8.43423923e-03 -1.71937977e+02] [-1.12070023e-02 -1.15821594e-04 9.99937193e-01 1.59716294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.537628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:278.94, Y:-171.98, Z:1.59 [[ 6.49501675e-01 7.60324362e-01 7.37824594e-03 2.78940004e+02] [-7.60277568e-01 6.49543569e-01 -8.43633752e-03 -1.71983304e+02] [-1.12068451e-02 -1.30099531e-04 9.99937193e-01 1.59223618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.98, Y:-172.03, Z:1.59 [[ 6.51261358e-01 7.58817657e-01 7.37616920e-03 2.78979671e+02] [-7.58770745e-01 6.51303120e-01 -8.43815289e-03 -1.72031992e+02] [-1.12071414e-02 -1.01378492e-04 9.99937193e-01 1.59169021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.657628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:279.02, Y:-172.08, Z:1.59 [[ 6.53319893e-01 7.57046066e-01 7.37373372e-03 2.79018862e+02] [-7.56999017e-01 6.53361500e-01 -8.44028062e-03 -1.72081658e+02] [-1.12073950e-02 -6.77059487e-05 9.99937193e-01 1.58919986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.06, Y:-172.13, Z:1.59 [[ 6.55913605e-01 7.54799978e-01 7.37131368e-03 2.79060863e+02] [-7.54752763e-01 6.55955023e-01 -8.44239363e-03 -1.72127698e+02] [-1.12075688e-02 -2.60385293e-05 9.99937193e-01 1.59230324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.11, Y:-172.17, Z:1.59 [[ 6.57245515e-01 7.53640517e-01 7.36916870e-03 2.79105447e+02] [-7.53593208e-01 6.57286826e-01 -8.44426552e-03 -1.72172414e+02] [-1.12075981e-02 -3.39983788e-06 9.99937193e-01 1.59294780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.14, Y:-172.22, Z:1.60 [[ 6.58856273e-01 7.52232771e-01 7.36673542e-03 2.79144930e+02] [-7.52185350e-01 6.58897456e-01 -8.44638777e-03 -1.72220619e+02] [-1.12075729e-02 2.38051030e-05 9.99937193e-01 1.59640359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.18, Y:-172.27, Z:1.60 [[ 6.58286359e-01 7.52731574e-01 7.36523441e-03 2.79181210e+02] [-7.52684170e-01 6.58327561e-01 -8.44769644e-03 -1.72271909e+02] [-1.12075846e-02 1.73079787e-05 9.99937193e-01 1.59659949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.77, Y:-171.82, Z:2.60 [[ 7.15529419e-01 6.98543786e-01 7.36409493e-03 2.79765879e+02] [-6.98493273e-01 7.15566745e-01 -8.44868964e-03 -1.71820506e+02] [-1.11712811e-02 9.01515224e-04 9.99937193e-01 2.60353725e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.81, Y:-171.86, Z:2.60 [[ 7.10845349e-01 7.03302727e-01 8.01016708e-03 2.79812846e+02] [-7.03259659e-01 7.10890472e-01 -7.78383873e-03 -1.71862357e+02] [-1.11687465e-02 -1.00121804e-04 9.99937623e-01 2.60110212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.86, Y:-171.90, Z:2.60 [[ 7.09250065e-01 7.04911500e-01 8.00765220e-03 2.79858510e+02] [-7.04868505e-01 7.09295258e-01 -7.78642506e-03 -1.71903553e+02] [-1.11685303e-02 -1.21819358e-04 9.99937623e-01 2.59907623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:-171.95, Z:2.60 [[ 7.08642749e-01 7.05522051e-01 8.00556633e-03 2.79904205e+02] [-7.05479071e-01 7.08687956e-01 -7.78856905e-03 -1.71946210e+02] [-1.11684556e-02 -1.28446511e-04 9.99937623e-01 2.59746401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.95, Y:-171.99, Z:2.60 [[ 7.06944913e-01 7.07223328e-01 8.00335315e-03 2.79945946e+02] [-7.07180431e-01 7.06990198e-01 -7.79084259e-03 -1.71991594e+02] [-1.11681579e-02 -1.52118197e-04 9.99937623e-01 2.59985673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.99, Y:-172.03, Z:2.60 [[ 7.08170281e-01 7.05996339e-01 8.00144888e-03 2.79990442e+02] [-7.05953341e-01 7.08215471e-01 -7.79279786e-03 -1.72033585e+02] [-1.11684366e-02 -1.30021719e-04 9.99937623e-01 2.59580629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.04, Y:-172.08, Z:2.59 [[ 7.08530562e-01 7.05634783e-01 7.99971854e-03 2.80035598e+02] [-7.05591742e-01 7.08575711e-01 -7.79457373e-03 -1.72076644e+02] [-1.11685286e-02 -1.21841632e-04 9.99937623e-01 2.59335412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:-172.12, Z:2.59 [[ 7.09269191e-01 7.04892368e-01 7.99775261e-03 2.80082631e+02] [-7.04849257e-01 7.09314273e-01 -7.79659039e-03 -1.72117592e+02] [-1.11686771e-02 -1.07328625e-04 9.99937623e-01 2.59203418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.13, Y:-172.16, Z:2.59 [[ 7.09935117e-01 7.04221697e-01 7.99566785e-03 2.80129246e+02] [-7.04178520e-01 7.09980135e-01 -7.79872779e-03 -1.72160254e+02] [-1.11687987e-02 -9.37868215e-05 9.99937623e-01 2.59128000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.17, Y:-172.21, Z:2.59 [[ 7.10365999e-01 7.03787079e-01 7.99345399e-03 2.80173402e+02] [-7.03743848e-01 7.10410966e-01 -7.80099627e-03 -1.72205067e+02] [-1.11688777e-02 -8.37815711e-05 9.99937623e-01 2.59084833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.21, Y:-172.25, Z:2.59 [[ 7.10713566e-01 7.03436114e-01 7.99126110e-03 2.80212989e+02] [-7.03392836e-01 7.10758488e-01 -7.80324200e-03 -1.72254605e+02] [-1.11689389e-02 -7.51258545e-05 9.99937623e-01 2.59164042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.26, Y:-172.30, Z:2.59 [[ 7.06758956e-01 7.07409325e-01 7.98909767e-03 2.80260467e+02] [-7.07366274e-01 7.06804095e-01 -7.80545633e-03 -1.72296535e+02] [-1.11683795e-02 -1.34642082e-04 9.99937623e-01 2.58837815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67762799999997 meters Centerline goodness : 0.991531 with order 1 Centerline is valid? [True, True] Translation: X:280.30, Y:-172.34, Z:2.58 [[ 7.04908132e-01 7.09253647e-01 7.98686318e-03 2.80303576e+02] [-7.09210689e-01 7.04953359e-01 -7.80774208e-03 -1.72335423e+02] [-1.11680356e-02 -1.60627849e-04 9.99937623e-01 2.57760107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.86, Y:-171.82, Z:3.62 [[ 7.77070056e-01 6.29363407e-01 7.98942788e-03 2.80859348e+02] [-6.29315862e-01 7.77110434e-01 -7.80511682e-03 -1.71824424e+02] [-1.11209227e-02 1.03724887e-03 9.99937623e-01 3.61861239e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 330.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.91, Y:-171.87, Z:3.62 [[ 7.75747299e-01 6.30983279e-01 8.73094931e-03 2.80907453e+02] [-6.30945997e-01 7.75796408e-01 -6.86158949e-03 -1.71865079e+02] [-1.11029873e-02 -1.85898002e-04 9.99938343e-01 3.61964203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:-171.90, Z:3.62 [[ 7.73020693e-01 6.34320748e-01 8.72903321e-03 2.80957069e+02] [-6.34283651e-01 7.73069942e-01 -6.86402621e-03 -1.71901832e+02] [-1.11021474e-02 -2.30648754e-04 9.99938343e-01 3.61581686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.01, Y:-171.94, Z:3.61 [[ 7.71979165e-01 6.35587919e-01 8.72726430e-03 2.81005130e+02] [-6.35550878e-01 7.72028456e-01 -6.86627455e-03 -1.71939962e+02] [-1.11018175e-02 -2.45999593e-04 9.99938343e-01 3.61168299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.06, Y:-171.98, Z:3.61 [[ 7.72080928e-01 6.35464320e-01 8.72575865e-03 2.81055108e+02] [-6.35427249e-01 7.72130196e-01 -6.86818742e-03 -1.71977237e+02] [-1.11019098e-02 -2.41788297e-04 9.99938343e-01 3.60873003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.11, Y:-172.01, Z:3.61 [[ 7.70896706e-01 6.36900431e-01 8.72414886e-03 2.81108058e+02] [-6.36863428e-01 7.70946025e-01 -6.87023160e-03 -1.72010905e+02] [-1.11015014e-02 -2.59852442e-04 9.99938343e-01 3.60527935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.16, Y:-172.04, Z:3.61 [[ 7.76552583e-01 6.29992068e-01 8.72242938e-03 2.81162312e+02] [-6.29954602e-01 7.76601552e-01 -6.87241396e-03 -1.72041042e+02] [-1.11034185e-02 -1.57943708e-04 9.99938343e-01 3.60749112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.157628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:-172.09, Z:3.60 [[ 7.69801756e-01 6.38223456e-01 8.72217968e-03 2.81201115e+02] [-6.38186510e-01 7.69851118e-01 -6.87273086e-03 -1.72090995e+02] [-1.11011178e-02 -2.75737121e-04 9.99938343e-01 3.60015544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.217628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:281.25, Y:-172.13, Z:3.60 [[ 7.69162993e-01 6.38993147e-01 8.72050008e-03 2.81252198e+02] [-6.38956227e-01 7.69212374e-01 -6.87486136e-03 -1.72126789e+02] [-1.11009059e-02 -2.84128888e-04 9.99938343e-01 3.59515921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.30, Y:-172.16, Z:3.60 [[ 7.70873922e-01 6.36928079e-01 8.71885076e-03 2.81303084e+02] [-6.36891002e-01 7.70923186e-01 -6.87695243e-03 -1.72162345e+02] [-1.11016883e-02 -2.51694313e-04 9.99938343e-01 3.59704854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.35, Y:-172.20, Z:3.60 [[ 7.73025620e-01 6.34314909e-01 8.71710680e-03 2.81350861e+02] [-6.34277641e-01 7.73074739e-01 -6.87916234e-03 -1.72201943e+02] [-1.11025303e-02 -2.11297202e-04 9.99938343e-01 3.60080011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.397628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:281.40, Y:-172.25, Z:3.60 [[ 7.75546474e-01 6.31230314e-01 8.71540674e-03 2.81395741e+02] [-6.31192826e-01 7.75595426e-01 -6.88131551e-03 -1.72245318e+02] [-1.11033246e-02 -1.64322229e-04 9.99938343e-01 3.59958035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.46, Y:-172.27, Z:3.60 [[ 7.79327080e-01 6.26556760e-01 8.71370079e-03 2.81455517e+02] [-6.26518955e-01 7.79375787e-01 -6.88347505e-03 -1.72269951e+02] [-1.11041352e-02 -9.48201967e-05 9.99938343e-01 3.60310500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.51, Y:-172.31, Z:3.60 [[ 7.80349946e-01 6.25282370e-01 8.71320512e-03 2.81505663e+02] [-6.25244478e-01 7.80398585e-01 -6.88410242e-03 -1.72307680e+02] [-1.11042808e-02 -7.58744427e-05 9.99938343e-01 3.60164689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.55, Y:-172.35, Z:3.61 [[ 7.83356347e-01 6.21511825e-01 8.71123547e-03 2.81552596e+02] [-6.21473671e-01 7.83404781e-01 -6.88659394e-03 -1.72348798e+02] [-1.11045231e-02 -1.91464125e-05 9.99938343e-01 3.60506108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.60, Y:-172.39, Z:3.61 [[ 7.87943222e-01 6.15686303e-01 8.70950004e-03 2.81598981e+02] [-6.15647767e-01 7.87991353e-01 -6.88878805e-03 -1.72390928e+02] [-1.11043432e-02 6.59895980e-05 9.99938343e-01 3.60954778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.65, Y:-172.43, Z:3.61 [[ 7.91922741e-01 6.10559208e-01 8.70777708e-03 2.81648394e+02] [-6.10520336e-01 7.91970601e-01 -6.89096527e-03 -1.72427666e+02] [-1.11036458e-02 1.40837111e-04 9.99938343e-01 3.60839048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.69, Y:-172.47, Z:3.62 [[ 7.96725992e-01 6.04277986e-01 8.70689079e-03 2.81692564e+02] [-6.04238724e-01 7.96773533e-01 -6.89208494e-03 -1.72472195e+02] [-1.11021553e-02 2.30062629e-04 9.99938343e-01 3.61506172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.74, Y:-172.51, Z:3.62 [[ 7.98707375e-01 6.01656670e-01 8.70519743e-03 2.81740555e+02] [-6.01617229e-01 7.98754768e-01 -6.89422311e-03 -1.72511791e+02] [-1.11012733e-02 2.69270082e-04 9.99938343e-01 3.61556855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:281.79, Y:-172.55, Z:3.62 [[ 8.00500750e-01 5.99268553e-01 8.70352449e-03 2.81786336e+02] [-5.99228948e-01 8.00548005e-01 -6.89633444e-03 -1.72554593e+02] [-1.11003455e-02 3.05117063e-04 9.99938343e-01 3.61556382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.83, Y:-172.60, Z:3.62 [[ 7.96961899e-01 6.03966898e-01 8.70158932e-03 2.81825446e+02] [-6.03927545e-01 7.97009364e-01 -6.89877532e-03 -1.72604418e+02] [-1.11018801e-02 2.42931595e-04 9.99938343e-01 3.62204590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99762799999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:281.88, Y:-172.64, Z:3.62 [[ 8.02000234e-01 5.97260352e-01 8.70039567e-03 2.81879781e+02] [-5.97220586e-01 8.02047354e-01 -6.90028036e-03 -1.72635286e+02] [-1.10993932e-02 3.37971056e-04 9.99938343e-01 3.61684153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:-172.68, Z:3.62 [[ 7.98517843e-01 6.01908287e-01 8.69873700e-03 2.81919681e+02] [-6.01868773e-01 7.98565174e-01 -6.90237070e-03 -1.72683804e+02] [-1.11011026e-02 2.76167998e-04 9.99938343e-01 3.62264266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.97, Y:-172.72, Z:3.63 [[ 8.00245221e-01 5.99609827e-01 8.69723313e-03 2.81965473e+02] [-5.99570156e-01 8.00292421e-01 -6.90426512e-03 -1.72724858e+02] [-1.11001950e-02 3.10503741e-04 9.99938343e-01 3.62800655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.02, Y:-172.76, Z:3.63 [[ 8.01252970e-01 5.98262536e-01 8.69574410e-03 2.82015836e+02] [-5.98222766e-01 8.01300086e-01 -6.90614001e-03 -1.72763142e+02] [-1.10995853e-02 3.31573106e-04 9.99938343e-01 3.62822836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:-172.80, Z:3.63 [[ 8.01508283e-01 5.97920471e-01 8.69383935e-03 2.82063567e+02] [-5.97880655e-01 8.01555360e-01 -6.90853698e-03 -1.72801885e+02] [-1.10993492e-02 3.39371242e-04 9.99938343e-01 3.62639924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.297628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:282.11, Y:-172.84, Z:3.63 [[ 7.99286166e-01 6.00887737e-01 8.69208017e-03 2.82112119e+02] [-6.00848072e-01 7.99333370e-01 -6.91074962e-03 -1.72841668e+02] [-1.11004544e-02 3.01046957e-04 9.99938343e-01 3.62759828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.357628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.16, Y:-172.88, Z:3.63 [[ 7.99261348e-01 6.00920776e-01 8.69012835e-03 2.82161563e+02] [-6.00881086e-01 7.99308532e-01 -6.91320311e-03 -1.72879503e+02] [-1.11003811e-02 3.03722275e-04 9.99938343e-01 3.62539316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.417628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:282.21, Y:-172.92, Z:3.62 [[ 8.00455472e-01 5.99329251e-01 8.68832507e-03 2.82211394e+02] [-5.99289442e-01 8.00502555e-01 -6.91546869e-03 -1.72917448e+02] [-1.10996691e-02 3.28703266e-04 9.99938343e-01 3.62127556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.477628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.26, Y:-172.96, Z:3.62 [[ 8.04553603e-01 5.93816508e-01 8.68640000e-03 2.82258786e+02] [-5.93776351e-01 8.04600390e-01 -6.91788588e-03 -1.72958640e+02] [-1.10970357e-02 4.08031116e-04 9.99938343e-01 3.61816765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.31, Y:-173.00, Z:3.62 [[ 8.06964443e-01 5.90536169e-01 8.68450405e-03 2.82308903e+02] [-5.90495796e-01 8.07011044e-01 -6.92026519e-03 -1.72996036e+02] [-1.10951576e-02 4.56244815e-04 9.99938343e-01 3.61564381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.597628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.36, Y:-173.04, Z:3.61 [[ 8.10270583e-01 5.85991634e-01 8.68263479e-03 2.82357646e+02] [-5.85950974e-01 8.10316934e-01 -6.92260969e-03 -1.73035345e+02] [-1.10922774e-02 5.21588670e-04 9.99938343e-01 3.61375995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.657628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:-173.07, Z:3.61 [[ 8.15488687e-01 5.78707891e-01 8.68205777e-03 2.82405668e+02] [-5.78666810e-01 8.15534665e-01 -6.92333329e-03 -1.73074102e+02] [-1.10871067e-02 6.21881297e-04 9.99938343e-01 3.61169737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.717628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:-173.11, Z:3.61 [[ 8.17290764e-01 5.76160099e-01 8.68035372e-03 2.82456073e+02] [-5.76118852e-01 8.17336593e-01 -6.92546914e-03 -1.73109451e+02] [-1.10849497e-02 6.59206544e-04 9.99938343e-01 3.61122461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.777628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.51, Y:-173.15, Z:3.61 [[ 8.17335385e-01 5.76096822e-01 8.67868060e-03 2.82506018e+02] [-5.76055550e-01 8.17381192e-01 -6.92756519e-03 -1.73147860e+02] [-1.10847386e-02 6.62742040e-04 9.99938343e-01 3.61404652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.837628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.55, Y:-173.19, Z:3.62 [[ 8.17577091e-01 5.75753776e-01 8.67692098e-03 2.82554604e+02] [-5.75712461e-01 8.17622859e-01 -6.92976844e-03 -1.73187224e+02] [-1.10842893e-02 6.70208388e-04 9.99938343e-01 3.61762405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.60, Y:-173.23, Z:3.62 [[ 8.17067717e-01 5.76476444e-01 8.67501224e-03 2.82604154e+02] [-5.76435145e-01 8.17113498e-01 -6.93215707e-03 -1.73225472e+02] [-1.10846949e-02 6.63459818e-04 9.99938343e-01 3.61647986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.957628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:-173.27, Z:3.62 [[ 8.14149657e-01 5.80590315e-01 8.67310488e-03 2.82649724e+02] [-5.80549221e-01 8.14195624e-01 -6.93454262e-03 -1.73267267e+02] [-1.10877323e-02 6.10591209e-04 9.99938343e-01 3.61723434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:-173.31, Z:3.62 [[ 8.11148374e-01 5.84776131e-01 8.67134405e-03 2.82696939e+02] [-5.84735252e-01 8.11194531e-01 -6.93674378e-03 -1.73308595e+02] [-1.10905891e-02 5.56287887e-04 9.99938343e-01 3.61549148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.74, Y:-173.35, Z:3.61 [[ 8.05792487e-01 5.92134536e-01 8.66949271e-03 2.82742607e+02] [-5.92094053e-01 8.05838992e-01 -6.93905679e-03 -1.73350661e+02] [-1.10950704e-02 4.58284753e-04 9.99938343e-01 3.61282539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.79, Y:-173.39, Z:3.61 [[ 8.01799926e-01 5.97529705e-01 8.66778162e-03 2.82789359e+02] [-5.97489512e-01 8.01846683e-01 -6.94119351e-03 -1.73391505e+02] [-1.10978012e-02 3.86539834e-04 9.99938343e-01 3.61490705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.84, Y:-173.43, Z:3.62 [[ 7.97234339e-01 6.03607741e-01 8.66617629e-03 2.82835782e+02] [-6.03567884e-01 7.97281382e-01 -6.94319721e-03 -1.73433830e+02] [-1.11003486e-02 3.04729555e-04 9.99938343e-01 3.61727835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:282.88, Y:-173.47, Z:3.61 [[ 7.95832769e-01 6.05454467e-01 8.66557979e-03 2.82884313e+02] [-6.05414710e-01 7.95879897e-01 -6.94394159e-03 -1.73474509e+02] [-1.11010012e-02 2.79946787e-04 9.99938343e-01 3.61332108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.93, Y:-173.51, Z:3.61 [[ 7.93757158e-01 6.08173097e-01 8.66363292e-03 2.82934982e+02] [-6.08133476e-01 7.93804399e-01 -6.94636977e-03 -1.73508709e+02] [-1.11018251e-02 2.45085520e-04 9.99938343e-01 3.61461423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:-173.55, Z:3.61 [[ 7.93553070e-01 6.08439392e-01 8.66207655e-03 2.82984576e+02] [-6.08399765e-01 7.93600307e-01 -6.94831000e-03 -1.73545346e+02] [-1.11018521e-02 2.43847397e-04 9.99938343e-01 3.61150966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.03, Y:-173.58, Z:3.61 [[ 7.93913477e-01 6.07969068e-01 8.66041542e-03 2.83034881e+02] [-6.07929391e-01 7.93960672e-01 -6.95037983e-03 -1.73582304e+02] [-1.11016452e-02 2.53079154e-04 9.99938343e-01 3.60681501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.08, Y:-173.62, Z:3.61 [[ 7.94046393e-01 6.07795485e-01 8.65877519e-03 2.83082689e+02] [-6.07755775e-01 7.94093560e-01 -6.95242263e-03 -1.73621668e+02] [-1.11015287e-02 2.58125480e-04 9.99938343e-01 3.60914300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.13, Y:-173.66, Z:3.60 [[ 7.96206370e-01 6.04963198e-01 8.65714080e-03 2.83134842e+02] [-6.04923298e-01 7.96253376e-01 -6.95445718e-03 -1.73657477e+02] [-1.11004682e-02 3.00276941e-04 9.99938343e-01 3.60129198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.19, Y:-173.70, Z:3.60 [[ 7.98254231e-01 6.02258473e-01 8.65528945e-03 2.83185533e+02] [-6.02218389e-01 7.98301081e-01 -6.95676054e-03 -1.73695472e+02] [-1.10992949e-02 3.40889070e-04 9.99938343e-01 3.59722327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.23, Y:-173.73, Z:3.59 [[ 7.99099404e-01 6.01136642e-01 8.65337625e-03 2.83234789e+02] [-6.01096467e-01 7.99146175e-01 -6.95913952e-03 -1.73732930e+02] [-1.10987063e-02 3.59530349e-04 9.99938343e-01 3.59467133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.737628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.28, Y:-173.77, Z:3.59 [[ 7.96982641e-01 6.03940245e-01 8.65161026e-03 2.83282020e+02] [-6.03900211e-01 7.97029532e-01 -6.96133431e-03 -1.73772281e+02] [-1.10998188e-02 3.23353348e-04 9.99938343e-01 3.59257287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:-173.81, Z:3.60 [[ 7.96864800e-01 6.04095738e-01 8.65045466e-03 2.83329374e+02] [-6.04055697e-01 7.96911686e-01 -6.96277000e-03 -1.73812222e+02] [-1.10998281e-02 3.23029904e-04 9.99938343e-01 3.59527176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.38, Y:-173.85, Z:3.60 [[ 7.94438627e-01 6.07282857e-01 8.64866099e-03 2.83376260e+02] [-6.07242980e-01 7.94485653e-01 -6.96499726e-03 -1.73853739e+02] [-1.11009605e-02 2.81424192e-04 9.99938343e-01 3.59855738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.917628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:-173.89, Z:3.60 [[ 7.92476684e-01 6.09840915e-01 8.64663039e-03 2.83422910e+02] [-6.09801162e-01 7.92523814e-01 -6.96751723e-03 -1.73892401e+02] [-1.11017376e-02 2.48869688e-04 9.99938343e-01 3.59642900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.977628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.47, Y:-173.93, Z:3.60 [[ 7.90707052e-01 6.12133653e-01 8.64575554e-03 2.83471291e+02] [-6.12094025e-01 7.90754288e-01 -6.96860262e-03 -1.73932013e+02] [-1.11023844e-02 2.18107931e-04 9.99938343e-01 3.59719785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.037628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.52, Y:-173.97, Z:3.60 [[ 7.88972057e-01 6.14368276e-01 8.64376272e-03 2.83520336e+02] [-6.14328755e-01 7.89019382e-01 -6.97107362e-03 -1.73971528e+02] [-1.11029028e-02 1.89870300e-04 9.99938343e-01 3.59723975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.097628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.57, Y:-174.01, Z:3.59 [[ 7.87681899e-01 6.16021546e-01 8.64177733e-03 2.83570257e+02] [-6.15982097e-01 7.87729285e-01 -6.97353396e-03 -1.74010051e+02] [-1.11032282e-02 1.69746355e-04 9.99938343e-01 3.59495295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:-174.05, Z:3.59 [[ 7.86330996e-01 6.17745028e-01 8.63973623e-03 2.83618216e+02] [-6.17705655e-01 7.86378445e-01 -6.97606183e-03 -1.74048992e+02] [-1.11035299e-02 1.48679713e-04 9.99938343e-01 3.59390881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.217628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.67, Y:-174.09, Z:3.59 [[ 7.83552766e-01 6.21265201e-01 8.63785282e-03 2.83667809e+02] [-6.21226016e-01 7.83600370e-01 -6.97839312e-03 -1.74087440e+02] [-1.11040575e-02 1.01880342e-04 9.99938343e-01 3.59022838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.277628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.72, Y:-174.13, Z:3.59 [[ 7.82300953e-01 6.22840783e-01 8.63589249e-03 2.83717232e+02] [-6.22801667e-01 7.82348613e-01 -6.98081822e-03 -1.74126864e+02] [-1.11042168e-02 8.26525113e-05 9.99938343e-01 3.58894488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.337628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:-174.17, Z:3.59 [[ 7.81167683e-01 6.24261569e-01 8.63392932e-03 2.83765454e+02] [-6.24222513e-01 7.81215392e-01 -6.98324543e-03 -1.74166583e+02] [-1.11043302e-02 6.55925922e-05 9.99938343e-01 3.58803653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.397628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:283.82, Y:-174.20, Z:3.59 [[ 7.84295351e-01 6.20327569e-01 8.63193182e-03 2.83815536e+02] [-6.20288246e-01 7.84342841e-01 -6.98571366e-03 -1.74204480e+02] [-1.11038247e-02 1.24576897e-04 9.99938343e-01 3.58628745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.457628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.86, Y:-174.25, Z:3.59 [[ 7.84071432e-01 6.20610600e-01 8.62978459e-03 2.83861376e+02] [-6.20571265e-01 7.84118912e-01 -6.98836523e-03 -1.74246498e+02] [-1.11038308e-02 1.23981204e-04 9.99938343e-01 3.58558243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.91, Y:-174.29, Z:3.59 [[ 7.82467022e-01 6.22632251e-01 8.62781286e-03 2.83909203e+02] [-6.22593012e-01 7.82514581e-01 -6.99079868e-03 -1.74288070e+02] [-1.11040861e-02 9.84534251e-05 9.99938343e-01 3.58579152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:283.96, Y:-174.33, Z:3.58 [[ 7.78812764e-01 6.27197157e-01 8.62579491e-03 2.83958571e+02] [-6.27158169e-01 7.78860530e-01 -6.99328769e-03 -1.74327320e+02] [-1.11044614e-02 3.67239695e-05 9.99938343e-01 3.58333616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:-174.37, Z:3.59 [[ 7.78612187e-01 6.27446168e-01 8.62379949e-03 2.84007529e+02] [-6.27407168e-01 7.78659942e-01 -6.99574749e-03 -1.74366740e+02] [-1.11044622e-02 3.63406387e-05 9.99938343e-01 3.58625932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:284.06, Y:-174.41, Z:3.59 [[ 7.81334554e-01 6.24052866e-01 8.62181247e-03 2.84055242e+02] [-6.24013632e-01 7.81382117e-01 -6.99819550e-03 -1.74407342e+02] [-1.11041740e-02 8.78034406e-05 9.99938343e-01 3.58571904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:-174.45, Z:3.59 [[ 7.80854703e-01 6.24653209e-01 8.61980746e-03 2.84103668e+02] [-6.24613984e-01 7.80902274e-01 -7.00066425e-03 -1.74447546e+02] [-1.11042146e-02 8.24493208e-05 9.99938343e-01 3.58970837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:-174.49, Z:3.59 [[ 7.79085117e-01 6.26858926e-01 8.61782662e-03 2.84152548e+02] [-6.26819809e-01 7.79132777e-01 -7.00310181e-03 -1.74487486e+02] [-1.11043881e-02 5.41879684e-05 9.99938343e-01 3.58887551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.20, Y:-174.53, Z:3.59 [[ 7.78602216e-01 6.27458650e-01 8.61578387e-03 2.84201092e+02] [-6.27419542e-01 7.78649883e-01 -7.00561407e-03 -1.74525716e+02] [-1.11044122e-02 4.88754732e-05 9.99938343e-01 3.58682864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.25, Y:-174.56, Z:3.58 [[ 7.79415227e-01 6.26448488e-01 8.61371498e-03 2.84251299e+02] [-6.26409290e-01 7.79462820e-01 -7.00815694e-03 -1.74563123e+02] [-1.11043199e-02 6.65531462e-05 9.99938343e-01 3.58423531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99762799999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.30, Y:-174.60, Z:3.58 [[ 7.78922659e-01 6.27060867e-01 8.61162228e-03 2.84298672e+02] [-6.27021678e-01 7.78970259e-01 -7.01072751e-03 -1.74604337e+02] [-1.11043505e-02 6.11406586e-05 9.99938343e-01 3.58438134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.35, Y:-174.65, Z:3.58 [[ 7.77211226e-01 6.29180884e-01 8.60961965e-03 2.84346101e+02] [-6.29141798e-01 7.77258910e-01 -7.01318600e-03 -1.74645374e+02] [-1.11044662e-02 3.40552994e-05 9.99938343e-01 3.58456675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11762799999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.40, Y:-174.68, Z:3.58 [[ 7.76167230e-01 6.30468350e-01 8.60763746e-03 2.84396071e+02] [-6.30429315e-01 7.76214957e-01 -7.01561800e-03 -1.74682310e+02] [-1.11045020e-02 1.87858052e-05 9.99938343e-01 3.58335190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:284.44, Y:-174.72, Z:3.58 [[ 7.76334461e-01 6.30262442e-01 8.60577790e-03 2.84444797e+02] [-6.30223369e-01 7.76382157e-01 -7.01789831e-03 -1.74720292e+02] [-1.11044901e-02 2.46739550e-05 9.99938343e-01 3.57854941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.237628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:284.49, Y:-174.76, Z:3.58 [[ 7.76334496e-01 6.30262425e-01 8.60381805e-03 2.84491999e+02] [-6.30223326e-01 7.76382170e-01 -7.02030023e-03 -1.74761797e+02] [-1.11044824e-02 2.77744084e-05 9.99938343e-01 3.58105735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.297628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:284.54, Y:-174.80, Z:3.58 [[ 7.77238796e-01 6.29146933e-01 8.60180394e-03 2.84540173e+02] [-6.29107739e-01 7.77286391e-01 -7.02276719e-03 -1.74801643e+02] [-1.11044176e-02 4.69056867e-05 9.99938343e-01 3.58173557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:-174.84, Z:3.59 [[ 7.77042837e-01 6.29388968e-01 8.59978563e-03 2.84587795e+02] [-6.29349761e-01 7.77090423e-01 -7.02523786e-03 -1.74841843e+02] [-1.11044183e-02 4.66377338e-05 9.99938343e-01 3.58676083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.64, Y:-174.88, Z:3.59 [[ 7.76014967e-01 6.30655886e-01 8.59791973e-03 2.84636785e+02] [-6.30616731e-01 7.76062596e-01 -7.02752072e-03 -1.74881804e+02] [-1.11044712e-02 3.14692237e-05 9.99938343e-01 3.58576006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.477628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:284.68, Y:-174.92, Z:3.58 [[ 7.74375376e-01 6.32668070e-01 8.59595924e-03 2.84683936e+02] [-6.32629012e-01 7.74423084e-01 -7.02991795e-03 -1.74921864e+02] [-1.11045139e-02 5.74215951e-06 9.99938343e-01 3.58129436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.73, Y:-174.96, Z:3.58 [[ 7.72272569e-01 6.35233201e-01 8.59414802e-03 2.84732931e+02] [-6.35194277e-01 7.72320386e-01 -7.03213149e-03 -1.74959788e+02] [-1.11044791e-02 -2.82313915e-05 9.99938343e-01 3.58198196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.597628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:284.78, Y:-175.00, Z:3.57 [[ 7.71585655e-01 6.36067409e-01 8.59236932e-03 2.84782654e+02] [-6.36028512e-01 7.71633495e-01 -7.03430417e-03 -1.74998773e+02] [-1.11044516e-02 -3.74236875e-05 9.99938343e-01 3.57313618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.83, Y:-175.04, Z:3.57 [[ 7.72087563e-01 6.35458104e-01 8.59034212e-03 2.84832038e+02] [-6.35419142e-01 7.72135350e-01 -7.03677892e-03 -1.75035956e+02] [-1.11044850e-02 -2.54583364e-05 9.99938343e-01 3.57435261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.88, Y:-175.08, Z:3.57 [[ 7.71394327e-01 6.36299482e-01 8.58846974e-03 2.84880258e+02] [-6.36260547e-01 7.71442136e-01 -7.03906344e-03 -1.75075882e+02] [-1.11044599e-02 -3.46108511e-05 9.99938343e-01 3.57324749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.777628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:-175.12, Z:3.57 [[ 7.68008446e-01 6.40382151e-01 8.58648488e-03 2.84929569e+02] [-6.40343443e-01 7.68056439e-01 -7.04148381e-03 -1.75115016e+02] [-1.11041455e-02 -9.03802525e-05 9.99938343e-01 3.57189216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.837628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:284.98, Y:-175.15, Z:3.57 [[ 7.64835632e-01 6.44168272e-01 8.58451332e-03 2.84978426e+02] [-6.44129774e-01 7.64883793e-01 -7.04388659e-03 -1.75154897e+02] [-1.11036034e-02 -1.42125178e-04 9.99938343e-01 3.56684796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.897628 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:285.03, Y:-175.19, Z:3.56 [[ 7.64773041e-01 6.44242608e-01 8.58246879e-03 2.85028248e+02] [-6.44204087e-01 7.64821184e-01 -7.04637682e-03 -1.75192360e+02] [-1.11036301e-02 -1.39982440e-04 9.99938343e-01 3.56338182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.957628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.08, Y:-175.23, Z:3.57 [[ 7.67018323e-01 6.41567810e-01 8.58120794e-03 2.85077288e+02] [-6.41529104e-01 7.67066317e-01 -7.04791197e-03 -1.75232339e+02] [-1.11040690e-02 -9.92170286e-05 9.99938343e-01 3.56975530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-175.26, Z:3.58 [[ 7.78930707e-01 6.27051315e-01 8.57917809e-03 2.85138657e+02] [-6.27011687e-01 7.78977943e-01 -7.05038197e-03 -1.75255851e+02] [-1.11039418e-02 1.12514081e-04 9.99938343e-01 3.57541350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:285.18, Y:-175.31, Z:3.57 [[ 7.72019637e-01 6.35540800e-01 8.57740465e-03 2.85175541e+02] [-6.35501669e-01 7.72067284e-01 -7.05253885e-03 -1.75308016e+02] [-1.11045097e-02 -6.25649132e-06 9.99938343e-01 3.56859676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:285.23, Y:-175.35, Z:3.56 [[ 7.71460206e-01 6.36219784e-01 8.57544194e-03 2.85225159e+02] [-6.36180667e-01 7.71507866e-01 -7.05492458e-03 -1.75347178e+02] [-1.11045035e-02 -1.29368003e-05 9.99938343e-01 3.56297718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.29, Y:-175.37, Z:3.57 [[ 7.75845912e-01 6.30864181e-01 8.57348940e-03 2.85291104e+02] [-6.30824710e-01 7.75893279e-01 -7.05729660e-03 -1.75366233e+02] [-1.11043084e-02 6.70057531e-05 9.99938343e-01 3.56537380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:285.33, Y:-175.42, Z:3.56 [[ 7.64581817e-01 6.44469685e-01 8.57152323e-03 2.85326975e+02] [-6.44431029e-01 7.64629851e-01 -7.05968383e-03 -1.75421028e+02] [-1.11037947e-02 -1.26049643e-04 9.99938343e-01 3.56310431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.37, Y:-175.46, Z:3.56 [[ 7.64268233e-01 6.44841536e-01 8.57092589e-03 2.85374230e+02] [-6.44802896e-01 7.64316280e-01 -7.06040896e-03 -1.75461924e+02] [-1.11037432e-02 -1.30511549e-04 9.99938343e-01 3.56320290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.43, Y:-175.49, Z:3.56 [[ 7.68311995e-01 6.40018162e-01 8.56918185e-03 2.85434810e+02] [-6.39979197e-01 7.68359778e-01 -7.06252507e-03 -1.75485700e+02] [-1.11043590e-02 -5.78753958e-05 9.99938343e-01 3.56490153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:-175.53, Z:3.56 [[ 7.70990442e-01 6.36789084e-01 8.56742664e-03 2.85483116e+02] [-6.36749895e-01 7.71038042e-01 -7.06465363e-03 -1.75525919e+02] [-1.11045062e-02 -8.52758411e-06 9.99938343e-01 3.55982826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49762799999996 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:285.53, Y:-175.57, Z:3.56 [[ 7.69893921e-01 6.38114397e-01 8.56540536e-03 2.85527775e+02] [-6.38075263e-01 7.69941566e-01 -7.06710345e-03 -1.75569084e+02] [-1.11044821e-02 -2.44532891e-05 9.99938343e-01 3.56384221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55762799999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:285.57, Y:-175.61, Z:3.57 [[ 7.72692028e-01 6.34723314e-01 8.56415954e-03 2.85573685e+02] [-6.34683953e-01 7.72739487e-01 -7.06861285e-03 -1.75612285e+02] [-1.11044776e-02 2.63261650e-05 9.99938343e-01 3.56781431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61762799999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:285.62, Y:-175.66, Z:3.57 [[ 7.70007957e-01 6.37976830e-01 8.56215457e-03 2.85616257e+02] [-6.37937643e-01 7.70055559e-01 -7.07104063e-03 -1.75659251e+02] [-1.11044948e-02 -1.73631465e-05 9.99938343e-01 3.57086626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67762799999997 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:285.66, Y:-175.70, Z:3.58 [[ 7.74253645e-01 6.32817523e-01 8.56014245e-03 2.85663605e+02] [-6.32777992e-01 7.74300962e-01 -7.07347564e-03 -1.75698482e+02] [-1.11043459e-02 5.99945473e-05 9.99938343e-01 3.57556006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.737628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:285.71, Y:-175.74, Z:3.58 [[ 7.79831524e-01 6.25930944e-01 8.55852468e-03 2.85710300e+02] [-6.25890973e-01 7.79878470e-01 -7.07543252e-03 -1.75741193e+02] [-1.11033413e-02 1.60941984e-04 9.99938343e-01 3.57557470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.797628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.76, Y:-175.78, Z:3.57 [[ 7.81675774e-01 6.23626306e-01 8.55651555e-03 2.85758726e+02] [-6.23586171e-01 7.81722580e-01 -7.07786139e-03 -1.75780655e+02] [-1.11027620e-02 1.96868016e-04 9.99938343e-01 3.57398069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.857628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.81, Y:-175.82, Z:3.57 [[ 7.84592180e-01 6.19953164e-01 8.55478200e-03 2.85805539e+02] [-6.19912787e-01 7.84638777e-01 -7.07995605e-03 -1.75820114e+02] [-1.11016548e-02 2.51659398e-04 9.99938343e-01 3.56999964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.917628 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:285.84, Y:-175.87, Z:3.57 [[ 7.91503410e-01 6.11104897e-01 8.55319474e-03 2.85844310e+02] [-6.11063978e-01 7.91549532e-01 -7.08187307e-03 -1.75870722e+02] [-1.10980446e-02 3.78777476e-04 9.99938343e-01 3.56967745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.977628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:285.90, Y:-175.90, Z:3.56 [[ 7.97380555e-01 6.03416204e-01 8.55199013e-03 2.85902231e+02] [-6.03374825e-01 7.97426264e-01 -7.08332745e-03 -1.75899435e+02] [-1.10937761e-02 4.88052029e-04 9.99938343e-01 3.56276349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.037628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:285.94, Y:-175.95, Z:3.56 [[ 8.06641292e-01 5.90979461e-01 8.55002572e-03 2.85940774e+02] [-5.90937353e-01 8.06686331e-01 -7.08569783e-03 -1.75949633e+02] [-1.10846908e-02 6.63086882e-04 9.99938343e-01 3.56363633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.097628 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:285.99, Y:-175.99, Z:3.57 [[ 8.09649696e-01 5.86851171e-01 8.54822843e-03 2.85988491e+02] [-5.86808812e-01 8.09694498e-01 -7.08786542e-03 -1.75990185e+02] [-1.10809757e-02 7.22512310e-04 9.99938343e-01 3.56563371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.157628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.04, Y:-176.03, Z:3.57 [[ 8.09351383e-01 5.87262548e-01 8.54627149e-03 2.86035592e+02] [-5.87220186e-01 8.09396183e-01 -7.09022424e-03 -1.76030883e+02] [-1.10811427e-02 7.19939656e-04 9.99938343e-01 3.56847571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.217628 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:-176.07, Z:3.57 [[ 8.09308446e-01 5.87321745e-01 8.54446606e-03 2.86083180e+02] [-5.87279364e-01 8.09353228e-01 -7.09239930e-03 -1.76071110e+02] [-1.10810115e-02 7.21950061e-04 9.99938343e-01 3.56579427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.277628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:286.14, Y:-176.10, Z:3.57 [[ 8.12566103e-01 5.82806444e-01 8.54269494e-03 2.86136598e+02] [-5.82763792e-01 8.12610627e-01 -7.09453195e-03 -1.76103761e+02] [-1.10766236e-02 7.86402887e-04 9.99938343e-01 3.56531646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.337628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:286.18, Y:-176.15, Z:3.57 [[ 8.08463921e-01 5.88483763e-01 8.54099183e-03 2.86176644e+02] [-5.88441403e-01 8.08508723e-01 -7.09658170e-03 -1.76152272e+02] [-1.10816895e-02 7.11457057e-04 9.99938343e-01 3.56838119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.397628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:-176.19, Z:3.57 [[ 8.06981617e-01 5.90514818e-01 8.53930189e-03 2.86223421e+02] [-5.90472549e-01 8.07026504e-01 -7.09861463e-03 -1.76193410e+02] [-1.10832801e-02 6.86228163e-04 9.99938343e-01 3.56926418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.457628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.27, Y:-176.23, Z:3.57 [[ 8.03546195e-01 5.95181168e-01 8.53761109e-03 2.86270194e+02] [-5.95139138e-01 8.03591306e-01 -7.10064759e-03 -1.76233090e+02] [-1.10869218e-02 6.24631849e-04 9.99938343e-01 3.56888055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.32, Y:-176.27, Z:3.57 [[ 8.02159490e-01 5.97048815e-01 8.53606298e-03 2.86318166e+02] [-5.97006870e-01 8.02204682e-01 -7.10250818e-03 -1.76272220e+02] [-1.10882138e-02 6.01256096e-04 9.99938343e-01 3.56729832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:286.36, Y:-176.31, Z:3.57 [[ 8.02266665e-01 5.96904818e-01 8.53439510e-03 2.86364383e+02] [-5.96862844e-01 8.02311829e-01 -7.10451174e-03 -1.76313248e+02] [-1.10879634e-02 6.05849609e-04 9.99938343e-01 3.56821539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:286.41, Y:-176.35, Z:3.57 [[ 8.04005086e-01 5.94561194e-01 8.53274438e-03 2.86412784e+02] [-5.94519068e-01 8.04050108e-01 -7.10649376e-03 -1.76351426e+02] [-1.10859994e-02 6.40777895e-04 9.99938343e-01 3.56583684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:286.46, Y:-176.39, Z:3.56 [[ 8.05852044e-01 5.92055489e-01 8.53111319e-03 2.86461483e+02] [-5.92013203e-01 8.05896915e-01 -7.10845140e-03 -1.76389294e+02] [-1.10837955e-02 6.77828458e-04 9.99938343e-01 3.56265264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.51, Y:-176.43, Z:3.56 [[ 8.09148985e-01 5.87541631e-01 8.52947745e-03 2.86509681e+02] [-5.87499073e-01 8.09193599e-01 -7.11041359e-03 -1.76429911e+02] [-1.10796626e-02 7.42323842e-04 9.99938343e-01 3.56263099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.56, Y:-176.47, Z:3.56 [[ 8.13136701e-01 5.82010296e-01 8.52759288e-03 2.86558784e+02] [-5.81967412e-01 8.13181001e-01 -7.11267306e-03 -1.76468944e+02] [-1.10741255e-02 8.20794355e-04 9.99938343e-01 3.56047563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:286.61, Y:-176.51, Z:3.56 [[ 8.17749390e-01 5.75511293e-01 8.52566422e-03 2.86609317e+02] [-5.75468034e-01 8.17793323e-01 -7.11498412e-03 -1.76505071e+02] [-1.10669850e-02 9.12026697e-04 9.99938343e-01 3.56100052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.65, Y:-176.55, Z:3.56 [[ 8.18309885e-01 5.74714080e-01 8.52398336e-03 2.86653723e+02] [-5.74670756e-01 8.18353756e-01 -7.11699727e-03 -1.76546627e+02] [-1.10658723e-02 9.25425261e-04 9.99938343e-01 3.56052569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.70, Y:-176.59, Z:3.56 [[ 8.17634586e-01 5.75674432e-01 8.52245517e-03 2.86700663e+02] [-5.75631142e-01 8.17678489e-01 -7.11882677e-03 -1.76587875e+02] [-1.10667548e-02 9.14808376e-04 9.99938343e-01 3.56008778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.75, Y:-176.63, Z:3.56 [[ 8.16955481e-01 5.76637788e-01 8.52076286e-03 2.86748997e+02] [-5.76594528e-01 8.16999415e-01 -7.12085178e-03 -1.76628901e+02] [-1.10676105e-02 9.04393650e-04 9.99938343e-01 3.55957529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:286.80, Y:-176.67, Z:3.56 [[ 8.14404094e-01 5.80235643e-01 8.51883606e-03 2.86796327e+02] [-5.80192554e-01 8.14448194e-01 -7.12315611e-03 -1.76667573e+02] [-1.10712597e-02 8.58562247e-04 9.99938343e-01 3.55726929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17762799999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:286.84, Y:-176.71, Z:3.56 [[ 8.11233798e-01 5.84659885e-01 8.51729489e-03 2.86843952e+02] [-5.84617017e-01 8.11278114e-01 -7.12499844e-03 -1.76706701e+02] [-1.10755957e-02 8.00684022e-04 9.99938343e-01 3.55674406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.237628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:-176.75, Z:3.56 [[ 8.06864870e-01 5.90674670e-01 8.51561599e-03 2.86890644e+02] [-5.90632111e-01 8.06909484e-01 -7.12700445e-03 -1.76746019e+02] [-1.10810723e-02 7.20933273e-04 9.99938343e-01 3.55800826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.297628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:-176.78, Z:3.56 [[ 8.05016691e-01 5.93191064e-01 8.51407954e-03 2.86937247e+02] [-5.93148626e-01 8.05061418e-01 -7.12883945e-03 -1.76784973e+02] [-1.10831208e-02 6.88720165e-04 9.99938343e-01 3.55843324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.357628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:286.98, Y:-176.83, Z:3.56 [[ 8.04146301e-01 5.94370475e-01 8.51257825e-03 2.86984425e+02] [-5.94328084e-01 8.04191074e-01 -7.13063171e-03 -1.76825715e+02] [-1.10839764e-02 6.74806791e-04 9.99938343e-01 3.55690571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.417628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:287.03, Y:-176.86, Z:3.56 [[ 8.05645480e-01 5.92336835e-01 8.51085633e-03 2.87032594e+02] [-5.92294309e-01 8.05690124e-01 -7.13268634e-03 -1.76864879e+02] [-1.10820657e-02 7.05484737e-04 9.99938343e-01 3.55649421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.477628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:287.08, Y:-176.90, Z:3.56 [[ 8.07128464e-01 5.90314525e-01 8.50910546e-03 2.87080321e+02] [-5.90271865e-01 8.07172980e-01 -7.13477447e-03 -1.76904410e+02] [-1.10800810e-02 7.35994007e-04 9.99938343e-01 3.55616897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.537628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.13, Y:-176.94, Z:3.56 [[ 8.08314605e-01 5.88689329e-01 8.50725510e-03 2.87127262e+02] [-5.88646557e-01 8.08359013e-01 -7.13698009e-03 -1.76944186e+02] [-1.10783804e-02 7.61158815e-04 9.99938343e-01 3.56048955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.597628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:287.18, Y:-176.98, Z:3.55 [[ 8.09183049e-01 5.87495065e-01 8.50544674e-03 2.87176850e+02] [-5.87452204e-01 8.09227372e-01 -7.13913453e-03 -1.76981608e+02] [-1.10770466e-02 7.80323209e-04 9.99938343e-01 3.54998650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.657628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.22, Y:-177.02, Z:3.55 [[ 8.09104893e-01 5.87602722e-01 8.50371682e-03 2.87224742e+02] [-5.87559847e-01 8.09149201e-01 -7.14119452e-03 -1.77018789e+02] [-1.10769610e-02 7.81532875e-04 9.99938343e-01 3.54771114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.717628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.27, Y:-177.06, Z:3.55 [[ 8.09121743e-01 5.87579533e-01 8.50285007e-03 2.87271328e+02] [-5.87536645e-01 8.09166040e-01 -7.14222640e-03 -1.77060407e+02] [-1.10768436e-02 7.83194668e-04 9.99938343e-01 3.54597458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.777628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:287.32, Y:-177.10, Z:3.54 [[ 8.07174482e-01 5.90251715e-01 8.50109686e-03 2.87318053e+02] [-5.90208952e-01 8.07218900e-01 -7.14431256e-03 -1.77100967e+02] [-1.10791888e-02 7.49283326e-04 9.99938343e-01 3.54158278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.837628 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:287.37, Y:-177.14, Z:3.54 [[ 8.03213677e-01 5.95630381e-01 8.49934626e-03 2.87366768e+02] [-5.95587894e-01 8.03258358e-01 -7.14639458e-03 -1.77140556e+02] [-1.10837806e-02 6.77974134e-04 9.99938343e-01 3.54050025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.897628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.41, Y:-177.18, Z:3.54 [[ 8.01212907e-01 5.98319039e-01 8.49735598e-03 2.87414160e+02] [-5.98276677e-01 8.01257707e-01 -7.14876032e-03 -1.77181374e+02] [-1.10858114e-02 6.43909139e-04 9.99938343e-01 3.54443048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.957628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:287.46, Y:-177.22, Z:3.55 [[ 7.98524652e-01 6.01902155e-01 8.49562436e-03 2.87459787e+02] [-6.01859972e-01 7.98569621e-01 -7.15081760e-03 -1.77224135e+02] [-1.10884400e-02 5.96927894e-04 9.99938343e-01 3.54557454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:287.51, Y:-177.26, Z:3.55 [[ 7.97927399e-01 6.02693720e-01 8.49385760e-03 2.87507503e+02] [-6.02651560e-01 7.97972389e-01 -7.15291557e-03 -1.77263831e+02] [-1.10888811e-02 5.88670779e-04 9.99938343e-01 3.54545876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.55, Y:-177.30, Z:3.54 [[ 7.96373297e-01 6.04745778e-01 8.49208554e-03 2.87554950e+02] [-6.04703711e-01 7.96418375e-01 -7.15501877e-03 -1.77303187e+02] [-1.10902204e-02 5.62870246e-04 9.99938343e-01 3.54419291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:287.60, Y:-177.34, Z:3.54 [[ 7.95464632e-01 6.05940536e-01 8.49032958e-03 2.87602177e+02] [-6.05898515e-01 7.95509752e-01 -7.15710183e-03 -1.77342819e+02] [-1.10909181e-02 5.48943286e-04 9.99938343e-01 3.54425265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:287.65, Y:-177.38, Z:3.54 [[ 7.94611322e-01 6.07059133e-01 8.48856524e-03 2.87649142e+02] [-6.07017154e-01 7.94656480e-01 -7.15919379e-03 -1.77383450e+02] [-1.10915474e-02 5.36071726e-04 9.99938343e-01 3.54234932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:-177.42, Z:3.55 [[ 7.92195977e-01 6.10207758e-01 8.48680826e-03 2.87694793e+02] [-6.10165935e-01 7.92241281e-01 -7.16127598e-03 -1.77423747e+02] [-1.10934660e-02 4.94772727e-04 9.99938343e-01 3.54621716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:287.74, Y:-177.46, Z:3.54 [[ 7.91485992e-01 6.11128404e-01 8.48520278e-03 2.87742608e+02] [-6.11086614e-01 7.91531326e-01 -7.16317777e-03 -1.77462542e+02] [-1.10939252e-02 4.84361026e-04 9.99938343e-01 3.53929159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:287.79, Y:-177.50, Z:3.53 [[ 7.93986548e-01 6.07876131e-01 8.48357977e-03 2.87790302e+02] [-6.07834134e-01 7.94031691e-01 -7.16509943e-03 -1.77500151e+02] [-1.10917241e-02 5.32383203e-04 9.99938343e-01 3.53361133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43762799999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:287.84, Y:-177.54, Z:3.53 [[ 7.99054020e-01 6.01199399e-01 8.48269136e-03 2.87838040e+02] [-6.01157015e-01 7.99098799e-01 -7.16615106e-03 -1.77540668e+02] [-1.10867942e-02 6.26712393e-04 9.99938343e-01 3.53387872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49762799999996 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:287.88, Y:-177.58, Z:3.54 [[ 8.05440298e-01 5.92616237e-01 8.48065873e-03 2.87884512e+02] [-5.92573351e-01 8.05484597e-01 -7.16855573e-03 -1.77581206e+02] [-1.10792425e-02 7.48431302e-04 9.99938343e-01 3.53659587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55762799999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:287.93, Y:-177.62, Z:3.54 [[ 8.13519177e-01 5.81476274e-01 8.47890064e-03 2.87931718e+02] [-5.81432761e-01 8.13562859e-01 -7.17063458e-03 -1.77621413e+02] [-1.10676725e-02 9.03538134e-04 9.99938343e-01 3.53968807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61762799999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:287.98, Y:-177.66, Z:3.54 [[ 8.16547026e-01 5.77216677e-01 8.47715604e-03 2.87979761e+02] [-5.77172916e-01 8.16590459e-01 -7.17269646e-03 -1.77661385e+02] [-1.10625648e-02 9.64059096e-04 9.99938343e-01 3.54049206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67762799999997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:288.03, Y:-177.70, Z:3.54 [[ 8.16988677e-01 5.76591423e-01 8.47542814e-03 2.88026368e+02] [-5.76547607e-01 8.17032056e-01 -7.17473761e-03 -1.77702717e+02] [-1.10615886e-02 9.75191575e-04 9.99938343e-01 3.54222314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.737628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:288.07, Y:-177.74, Z:3.54 [[ 8.14288317e-01 5.80398771e-01 8.47369975e-03 2.88073649e+02] [-5.80355137e-01 8.14331879e-01 -7.17677834e-03 -1.77743907e+02] [-1.10657972e-02 9.26211580e-04 9.99938343e-01 3.54076605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.797628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:288.12, Y:-177.79, Z:3.54 [[ 8.09414560e-01 5.87176549e-01 8.47172983e-03 2.88120615e+02] [-5.87133256e-01 8.09458461e-01 -7.17910295e-03 -1.77786026e+02] [-1.10729143e-02 8.36836140e-04 9.99938343e-01 3.54020346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.857628 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:288.17, Y:-177.83, Z:3.54 [[ 7.99310979e-01 6.00857906e-01 8.46972172e-03 2.88166713e+02] [-6.00815341e-01 7.99355586e-01 -7.18147129e-03 -1.77827267e+02] [-1.10853632e-02 6.51490095e-04 9.99938343e-01 3.54180455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.917628 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:288.22, Y:-177.87, Z:3.54 [[ 7.94801131e-01 6.06810890e-01 8.46797950e-03 2.88215429e+02] [-6.06768638e-01 7.94846034e-01 -7.18352503e-03 -1.77866155e+02] [-1.10897811e-02 5.71369431e-04 9.99938343e-01 3.53958053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.977628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:288.26, Y:-177.91, Z:3.54 [[ 7.91984442e-01 6.10482568e-01 8.46621812e-03 2.88263928e+02] [-6.10440502e-01 7.92029520e-01 -7.18560032e-03 -1.77905446e+02] [-1.10921784e-02 5.22761216e-04 9.99938343e-01 3.53747919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.037628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:288.31, Y:-177.94, Z:3.54 [[ 7.91008325e-01 6.11746829e-01 8.46440239e-03 2.88309909e+02] [-6.11704812e-01 7.91053449e-01 -7.18773856e-03 -1.77944852e+02] [-1.10928710e-02 5.07845364e-04 9.99938343e-01 3.54016453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.097628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.36, Y:-177.99, Z:3.54 [[ 7.89984291e-01 6.13068664e-01 8.46364553e-03 2.88356322e+02] [-6.13026714e-01 7.90029475e-01 -7.18862965e-03 -1.77985307e+02] [-1.10936530e-02 4.90463691e-04 9.99938343e-01 3.54226184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.157628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:288.40, Y:-178.02, Z:3.54 [[ 7.90078552e-01 6.12947187e-01 8.46325239e-03 2.88403247e+02] [-6.12905225e-01 7.90123726e-01 -7.18909247e-03 -1.78023334e+02] [-1.10935505e-02 4.92776165e-04 9.99938343e-01 3.54422380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.217628 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:288.45, Y:-178.06, Z:3.54 [[ 7.90066389e-01 6.12962876e-01 8.46248503e-03 2.88450808e+02] [-6.12920904e-01 7.90111555e-01 -7.18999565e-03 -1.78063108e+02] [-1.10935076e-02 4.93739921e-04 9.99938343e-01 3.54421524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.277628 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:288.50, Y:-178.10, Z:3.54 [[ 7.88662440e-01 6.14768207e-01 8.46210334e-03 2.88498699e+02] [-6.14726335e-01 7.88707697e-01 -7.19044483e-03 -1.78103219e+02] [-1.10945829e-02 4.68955996e-04 9.99938343e-01 3.54235855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.337628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:288.55, Y:-178.14, Z:3.54 [[ 7.89619616e-01 6.13538336e-01 8.46003118e-03 2.88548674e+02] [-6.13496366e-01 7.89664784e-01 -7.19288204e-03 -1.78140715e+02] [-1.10936976e-02 4.89442373e-04 9.99938343e-01 3.53904531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.397628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.60, Y:-178.18, Z:3.54 [[ 7.90859471e-01 6.11939339e-01 8.45824197e-03 2.88596384e+02] [-6.11897256e-01 7.90904533e-01 -7.19498539e-03 -1.78181156e+02] [-1.10925565e-02 5.14647286e-04 9.99938343e-01 3.53816252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.457628 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:288.65, Y:-178.22, Z:3.53 [[ 7.96402774e-01 6.04707458e-01 8.45647621e-03 2.88647403e+02] [-6.04664944e-01 7.96447429e-01 -7.19706014e-03 -1.78216611e+02] [-1.10872547e-02 6.18423945e-04 9.99938343e-01 3.53210518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:288.69, Y:-178.26, Z:3.53 [[ 7.97348094e-01 6.03460448e-01 8.45603450e-03 2.88693132e+02] [-6.03417859e-01 7.97392678e-01 -7.19757908e-03 -1.78256519e+02] [-1.10862343e-02 6.36453735e-04 9.99938343e-01 3.53051594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:288.74, Y:-178.30, Z:3.53 [[ 7.98234409e-01 6.02287580e-01 8.45569328e-03 2.88742242e+02] [-6.02244921e-01 7.98278926e-01 -7.19797993e-03 -1.78295772e+02] [-1.10852557e-02 6.53276925e-04 9.99938343e-01 3.52811494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:-178.33, Z:3.53 [[ 7.96990893e-01 6.03932160e-01 8.45362747e-03 2.88790125e+02] [-6.03889567e-01 7.97035473e-01 -7.20040528e-03 -1.78334265e+02] [-1.10863973e-02 6.33600003e-04 9.99938343e-01 3.52794274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:288.84, Y:-178.37, Z:3.52 [[ 7.96550445e-01 6.04512979e-01 8.45265167e-03 2.88839712e+02] [-6.04470407e-01 7.96595045e-01 -7.20155061e-03 -1.78371076e+02] [-1.10867712e-02 6.27020544e-04 9.99938343e-01 3.52204613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:288.89, Y:-178.41, Z:3.52 [[ 7.96482507e-01 6.04602514e-01 8.45084807e-03 2.88888968e+02] [-6.04559924e-01 7.96527090e-01 -7.20366647e-03 -1.78409846e+02] [-1.10866843e-02 6.28550258e-04 9.99938343e-01 3.51863296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:288.94, Y:-178.45, Z:3.52 [[ 7.95075491e-01 6.06451612e-01 8.45020090e-03 2.88936823e+02] [-6.06409118e-01 7.95120166e-01 -7.20442554e-03 -1.78448173e+02] [-1.10880606e-02 6.03783301e-04 9.99938343e-01 3.51712513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:288.98, Y:-178.49, Z:3.51 [[ 7.95205581e-01 6.06281045e-01 8.44855098e-03 2.88984170e+02] [-6.06238522e-01 7.95250227e-01 -7.20635987e-03 -1.78488099e+02] [-1.10877915e-02 6.08700537e-04 9.99938343e-01 3.51475322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93762799999996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:289.04, Y:-178.52, Z:3.51 [[ 8.00595763e-01 5.99145268e-01 8.44817012e-03 2.89037751e+02] [-5.99102342e-01 8.00640022e-01 -7.20680633e-03 -1.78519571e+02] [-1.10818670e-02 7.08420100e-04 9.99938343e-01 3.50764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99762799999996 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:289.08, Y:-178.57, Z:3.51 [[ 7.98089219e-01 6.02480067e-01 8.44791771e-03 2.89078407e+02] [-6.02437323e-01 7.98133654e-01 -7.20710220e-03 -1.78567573e+02] [-1.10847028e-02 6.62569641e-04 9.99938343e-01 3.50672840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05762799999997 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:-178.61, Z:3.50 [[ 7.98768587e-01 6.01579095e-01 8.44617619e-03 2.89126483e+02] [-6.01536279e-01 7.98812953e-01 -7.20914255e-03 -1.78606908e+02] [-1.10837844e-02 6.77755217e-04 9.99938343e-01 3.50215140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11762799999997 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:-178.65, Z:3.50 [[ 7.99323665e-01 6.00841385e-01 8.44444066e-03 2.89174925e+02] [-6.00798507e-01 7.99367971e-01 -7.21117490e-03 -1.78645657e+02] [-1.10829877e-02 6.90655403e-04 9.99938343e-01 3.49509636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17762799999997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:289.22, Y:-178.69, Z:3.49 [[ 7.99521596e-01 6.00578003e-01 8.44269123e-03 2.89222504e+02] [-6.00535089e-01 7.99565867e-01 -7.21322251e-03 -1.78685425e+02] [-1.10825905e-02 6.96994839e-04 9.99938343e-01 3.48889962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.237628 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:-178.73, Z:3.48 [[ 8.00943775e-01 5.98680065e-01 8.44093478e-03 2.89268339e+02] [-5.98637024e-01 8.00987923e-01 -7.21527733e-03 -1.78727102e+02] [-1.10807295e-02 7.25975380e-04 9.99938343e-01 3.48208243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.297628 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:289.32, Y:-178.76, Z:3.49 [[ 8.04710244e-01 5.93607786e-01 8.43918974e-03 2.89318363e+02] [-5.93564447e-01 8.04754098e-01 -7.21731779e-03 -1.78763340e+02] [-1.10757286e-02 7.98646565e-04 9.99938343e-01 3.49487081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.357628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.36, Y:-178.81, Z:3.50 [[ 8.05823495e-01 5.92095667e-01 8.43893777e-03 2.89361380e+02] [-5.92052242e-01 8.05867265e-01 -7.21761240e-03 -1.78806227e+02] [-1.10741807e-02 8.19829626e-04 9.99938343e-01 3.49997548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.417628 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.41, Y:-178.85, Z:3.51 [[ 8.06632753e-01 5.90992715e-01 8.43881344e-03 2.89406642e+02] [-5.90949228e-01 8.06676462e-01 -7.21775776e-03 -1.78847776e+02] [-1.10730344e-02 8.35169523e-04 9.99938343e-01 3.50640082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.477628 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:289.46, Y:-178.89, Z:3.50 [[ 8.08533588e-01 5.88389521e-01 8.43856924e-03 2.89456143e+02] [-5.88345890e-01 8.08577153e-01 -7.21804325e-03 -1.78886680e+02] [-1.10702553e-02 8.71232874e-04 9.99938343e-01 3.49677268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.537628 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:289.50, Y:-178.93, Z:3.49 [[ 8.10610202e-01 5.85525340e-01 8.43655415e-03 2.89502238e+02] [-5.85481532e-01 8.10653589e-01 -7.22039775e-03 -1.78926607e+02] [-1.10668488e-02 9.13481431e-04 9.99938343e-01 3.49333165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.597628 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:289.55, Y:-178.97, Z:3.49 [[ 8.09790955e-01 5.86657873e-01 8.43494424e-03 2.89547557e+02] [-5.86614106e-01 8.09834384e-01 -7.22227798e-03 -1.78969121e+02] [-1.10679141e-02 9.00478110e-04 9.99938343e-01 3.48537713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.657628 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:289.59, Y:-179.01, Z:3.47 [[ 8.03344569e-01 5.95454772e-01 8.43312841e-03 2.89593250e+02] [-5.95411459e-01 8.03388451e-01 -7.22439762e-03 -1.79008779e+02] [-1.10768800e-02 7.82499300e-04 9.99938343e-01 3.46933127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.717628 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:289.65, Y:-179.04, Z:3.48 [[ 8.01953767e-01 5.97326581e-01 8.43270699e-03 2.89646213e+02] [-5.97283366e-01 8.01997744e-01 -7.22488949e-03 -1.79041864e+02] [-1.10786305e-02 7.57311725e-04 9.99938343e-01 3.47634906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.777628 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:-179.08, Z:3.47 [[ 8.07107923e-01 5.90343710e-01 8.43240058e-03 2.89694543e+02] [-5.90300111e-01 8.07151519e-01 -7.22524709e-03 -1.79081904e+02] [-1.10716041e-02 8.53907179e-04 9.99938343e-01 3.46738043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.837628 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:289.74, Y:-179.12, Z:3.47 [[ 8.07112740e-01 5.90337154e-01 8.43030184e-03 2.89740425e+02] [-5.90293529e-01 8.07156310e-01 -7.22769504e-03 -1.79122939e+02] [-1.10713483e-02 8.57212119e-04 9.99938343e-01 3.47233898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.897628 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:289.79, Y:-179.16, Z:3.47 [[ 8.07089235e-01 5.90369312e-01 8.42862892e-03 2.89787307e+02] [-5.90325669e-01 8.07132788e-01 -7.22964540e-03 -1.79164741e+02] [-1.10711835e-02 8.59332973e-04 9.99938343e-01 3.46822204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.957628 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:289.83, Y:-179.21, Z:3.47 [[ 8.03783593e-01 5.94862108e-01 8.42656610e-03 2.89832110e+02] [-5.94818684e-01 8.03827364e-01 -7.23204894e-03 -1.79206350e+02] [-1.10755763e-02 8.00723332e-04 9.99938343e-01 3.47333066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:289.88, Y:-179.24, Z:3.47 [[ 8.04128862e-01 5.94395318e-01 8.42491464e-03 2.89879871e+02] [-5.94351848e-01 8.04172587e-01 -7.23397229e-03 -1.79244322e+02] [-1.10749247e-02 8.09682314e-04 9.99938343e-01 3.47155908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters Centerline goodness : 0.995590 with order 1 Centerline is valid? [True, True] Translation: X:289.92, Y:-179.29, Z:3.46 [[ 7.99832872e-01 6.00163666e-01 8.42329139e-03 2.89924118e+02] [-6.00120492e-01 7.99876889e-01 -7.23586191e-03 -1.79286911e+02] [-1.10802975e-02 7.32490440e-04 9.99938343e-01 3.46076816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters Centerline goodness : 0.996981 with order 1 Centerline is valid? [True, True] Translation: X:289.97, Y:-179.32, Z:3.47 [[ 7.99574412e-01 6.00507963e-01 8.42294073e-03 2.89972835e+02] [-6.00464804e-01 7.99618444e-01 -7.23627007e-03 -1.79324537e+02] [-1.10805766e-02 7.28256931e-04 9.99938343e-01 3.46765306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters Centerline goodness : 0.994373 with order 1 Centerline is valid? [True, True] Translation: X:290.02, Y:-179.37, Z:3.46 [[ 7.98569767e-01 6.01843337e-01 8.42171293e-03 2.90016906e+02] [-6.01800236e-01 7.98613856e-01 -7.23769873e-03 -1.79367509e+02] [-1.10816574e-02 7.11618564e-04 9.99938343e-01 3.46092645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:290.06, Y:-179.41, Z:3.47 [[ 7.98603062e-01 6.01799160e-01 8.42140742e-03 2.90061964e+02] [-6.01756053e-01 7.98647145e-01 -7.23805419e-03 -1.79407864e+02] [-1.10815879e-02 7.12699348e-04 9.99938343e-01 3.47238609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters Centerline goodness : 0.994895 with order 1 Centerline is valid? [True, True] Translation: X:290.11, Y:-179.45, Z:3.48 [[ 7.97119236e-01 6.03763204e-01 8.42126993e-03 2.90105990e+02] [-6.03720204e-01 7.97163423e-01 -7.23821416e-03 -1.79450829e+02] [-1.10832957e-02 6.85628938e-04 9.99938343e-01 3.47798044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters Centerline goodness : 0.995283 with order 1 Centerline is valid? [True, True] Translation: X:290.15, Y:-179.49, Z:3.48 [[ 7.96116105e-01 6.05085321e-01 8.42033607e-03 2.90152558e+02] [-6.05042383e-01 7.96160353e-01 -7.23930037e-03 -1.79491622e+02] [-1.10843321e-02 6.68663413e-04 9.99938343e-01 3.47823774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43762799999996 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:290.20, Y:-179.53, Z:3.48 [[ 7.96128183e-01 6.05069454e-01 8.41858522e-03 2.90198306e+02] [-6.05026494e-01 7.96172409e-01 -7.24133585e-03 -1.79533352e+02] [-1.10841564e-02 6.71564452e-04 9.99938343e-01 3.47727895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49762799999996 meters Centerline goodness : 0.994554 with order 1 Centerline is valid? [True, True] Translation: X:290.25, Y:-179.57, Z:3.47 [[ 7.98168051e-01 6.02376062e-01 8.41684765e-03 2.90245879e+02] [-6.02332931e-01 7.98212111e-01 -7.24335493e-03 -1.79570507e+02] [-1.10816533e-02 7.11669969e-04 9.99938343e-01 3.47126729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55762799999997 meters Centerline goodness : 0.991389 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:-179.61, Z:3.47 [[ 8.00578792e-01 5.99168386e-01 8.41675420e-03 2.90292389e+02] [-5.99125078e-01 8.00622678e-01 -7.24346352e-03 -1.79610811e+02] [-1.10786986e-02 7.56274755e-04 9.99938343e-01 3.46991971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61762799999997 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:-179.65, Z:3.47 [[ 8.05163435e-01 5.92993260e-01 8.41643840e-03 2.90338355e+02] [-5.92949612e-01 8.05206982e-01 -7.24383044e-03 -1.79652988e+02] [-1.10725176e-02 8.41943506e-04 9.99938343e-01 3.47473643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67762799999997 meters Centerline goodness : 0.992013 with order 1 Centerline is valid? [True, True] Translation: X:290.39, Y:-179.69, Z:3.47 [[ 8.08639144e-01 5.88244786e-01 8.41468106e-03 2.90385662e+02] [-5.88200861e-01 8.08682413e-01 -7.24587125e-03 -1.79691532e+02] [-1.10671506e-02 9.09772482e-04 9.99938343e-01 3.47183002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.737628 meters Centerline goodness : 0.993990 with order 1 Centerline is valid? [True, True] Translation: X:290.43, Y:-179.73, Z:3.48 [[ 8.09262687e-01 5.87386671e-01 8.41442211e-03 2.90430288e+02] [-5.87342698e-01 8.09305905e-01 -7.24617195e-03 -1.79734064e+02] [-1.10661463e-02 9.21907202e-04 9.99938343e-01 3.48079450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.797628 meters Centerline goodness : 0.991147 with order 1 Centerline is valid? [True, True] Translation: X:290.48, Y:-179.77, Z:3.47 [[ 8.12775369e-01 5.82516441e-01 8.41402221e-03 2.90480837e+02] [-5.82472204e-01 8.12818318e-01 -7.24663627e-03 -1.79766830e+02] [-1.10603561e-02 9.88953409e-04 9.99938343e-01 3.47089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.857628 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:290.53, Y:-179.81, Z:3.47 [[ 8.12890988e-01 5.82355089e-01 8.41374496e-03 2.90528865e+02] [-5.82310840e-01 8.12933925e-01 -7.24695816e-03 -1.79805473e+02] [-1.10601217e-02 9.91572084e-04 9.99938343e-01 3.47256498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.917628 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:290.58, Y:-179.84, Z:3.47 [[ 8.13938969e-01 5.80889484e-01 8.41200983e-03 2.90578671e+02] [-5.80845138e-01 8.13981805e-01 -7.24897168e-03 -1.79841255e+02] [-1.10580744e-02 1.01414553e-03 9.99938343e-01 3.46540701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.977628 meters Centerline goodness : 0.994171 with order 1 Centerline is valid? [True, True] Translation: X:290.63, Y:-179.88, Z:3.46 [[ 8.14653406e-01 5.79887118e-01 8.41175814e-03 2.90627795e+02] [-5.79842716e-01 8.14696185e-01 -7.24926373e-03 -1.79880052e+02] [-1.10567819e-02 1.02814071e-03 9.99938343e-01 3.46488091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.037628 meters Centerline goodness : 0.993980 with order 1 Centerline is valid? [True, True] Translation: X:290.68, Y:-179.92, Z:3.47 [[ 8.15210494e-01 5.79103727e-01 8.40976620e-03 2.90675578e+02] [-5.79059260e-01 8.15253205e-01 -7.25157381e-03 -1.79919803e+02] [-1.10555023e-02 1.04180608e-03 9.99938343e-01 3.46569089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.097628 meters Centerline goodness : 0.993654 with order 1 Centerline is valid? [True, True] Translation: X:290.72, Y:-179.96, Z:3.47 [[ 8.17090990e-01 5.76447412e-01 8.40805124e-03 2.90721252e+02] [-5.76402787e-01 8.17133535e-01 -7.25356173e-03 -1.79961110e+02] [-1.10517975e-02 1.08039576e-03 9.99938343e-01 3.46828369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.157628 meters Centerline goodness : 0.993125 with order 1 Centerline is valid? [True, True] Translation: X:290.77, Y:-180.00, Z:3.47 [[ 8.18424856e-01 5.74552057e-01 8.40768594e-03 2.90766517e+02] [-5.74507328e-01 8.18467293e-01 -7.25398513e-03 -1.80002588e+02] [-1.10492080e-02 1.10656455e-03 9.99938343e-01 3.47164679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.217628 meters Centerline goodness : 0.993017 with order 1 Centerline is valid? [True, True] Translation: X:290.82, Y:-180.04, Z:3.47 [[ 8.20339357e-01 5.71815227e-01 8.40744406e-03 2.90816175e+02] [-5.71770354e-01 8.20381642e-01 -7.25426545e-03 -1.80038272e+02] [-1.10454122e-02 1.14383219e-03 9.99938343e-01 3.47242347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.277628 meters Centerline goodness : 0.985071 with order 1 Centerline is valid? [True, True] Translation: X:290.87, Y:-180.07, Z:3.47 [[ 8.24791072e-01 5.65375102e-01 8.40727848e-03 2.90866873e+02] [-5.65329897e-01 8.24833001e-01 -7.25445735e-03 -1.80073026e+02] [-1.10360903e-02 1.23052578e-03 9.99938343e-01 3.46808141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.337628 meters Centerline goodness : 0.978762 with order 1 Centerline is valid? [True, True] Translation: X:290.92, Y:-180.11, Z:3.48 [[ 8.27120726e-01 5.61961410e-01 8.40701795e-03 2.90918335e+02] [-5.61916029e-01 8.27162466e-01 -7.25475926e-03 -1.80106797e+02] [-1.10308644e-02 1.27652360e-03 9.99938343e-01 3.47627194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.397628 meters Centerline goodness : 0.968791 with order 1 Centerline is valid? [True, True] Translation: X:290.97, Y:-180.14, Z:3.48 [[ 8.26318680e-01 5.63140096e-01 8.40667931e-03 2.90968371e+02] [-5.63094771e-01 8.26360479e-01 -7.25515165e-03 -1.80141927e+02] [-1.10326143e-02 1.26131017e-03 9.99938343e-01 3.48155603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.457628 meters Centerline goodness : 0.964484 with order 1 Centerline is valid? [True, True] Translation: X:291.01, Y:-180.18, Z:3.49 [[ 8.22208565e-01 5.69124248e-01 8.40638554e-03 2.91014563e+02] [-5.69079224e-01 8.22250688e-01 -7.25549202e-03 -1.80182162e+02] [-1.10414327e-02 1.18162832e-03 9.99938343e-01 3.49295935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters Centerline goodness : 0.960449 with order 1 Centerline is valid? [True, True] Translation: X:291.06, Y:-180.23, Z:3.50 [[ 8.27301812e-01 5.61694801e-01 8.40609268e-03 2.91058157e+02] [-5.61649397e-01 8.27343525e-01 -7.25583130e-03 -1.80225284e+02] [-1.10302891e-02 1.28148551e-03 9.99938343e-01 3.49538078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters Centerline goodness : 0.949516 with order 1 Centerline is valid? [True, False] Translation: X:291.06, Y:-180.21, Z:3.49 [[ 8.33691605e-01 5.52207020e-01 -5.07101127e-03 2.91058310e+02] [-5.52212867e-01 8.33557161e-01 -1.56015816e-02 -1.80211437e+02] [-4.38832512e-03 1.58071853e-02 9.99865429e-01 3.49317922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637628 meters Centerline goodness : 0.952349 with order 1 Centerline is valid? [False, True] Translation: X:291.08, Y:-180.21, Z:3.49 [[ 8.30461217e-01 5.56869504e-01 -1.51829768e-02 2.91076403e+02] [-5.57074719e-01 8.30218014e-01 -2.01446506e-02 -1.80209303e+02] [ 1.38723928e-03 2.51874036e-02 9.99681785e-01 3.48769272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters Centerline goodness : 0.956957 with order 1 Centerline is valid? [True, True] Translation: X:291.12, Y:-180.25, Z:3.49 [[ 8.25732052e-01 5.64061672e-01 1.00418649e-03 2.91122607e+02] [-5.64061058e-01 8.25732653e-01 -8.42084169e-04 -1.80246908e+02] [-1.30417698e-03 1.28913397e-04 9.99999141e-01 3.49435201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters Centerline goodness : 0.945704 with order 1 Centerline is valid? [True, False] Translation: X:291.15, Y:-180.25, Z:3.48 [[ 8.18097346e-01 5.74976827e-01 -1.08803038e-02 2.91153003e+02] [-5.75048652e-01 8.18103456e-01 -5.07768320e-03 -1.80248227e+02] [ 5.98166393e-03 1.04107432e-02 9.99927915e-01 3.47925611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters Centerline goodness : 0.947435 with order 1 Centerline is valid? [False, False] Translation: X:291.17, Y:-180.25, Z:3.47 [[ 8.17616931e-01 5.75257693e-01 -2.41068542e-02 2.91174243e+02] [-5.75618823e-01 8.17631572e-01 -1.18988616e-02 -1.80246818e+02] [ 1.28656134e-02 2.36050698e-02 9.99638573e-01 3.47144238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters Centerline goodness : 0.948347 with order 3 Centerline is valid? [False, False] Translation: X:291.20, Y:-180.24, Z:3.46 [[ 8.13531348e-01 5.80470908e-01 -3.49323729e-02 2.91200455e+02] [-5.81120860e-01 8.13731582e-01 -1.18092650e-02 -1.80243479e+02] [ 2.15706403e-02 2.99071378e-02 9.99319904e-01 3.45752101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93762799999996 meters Centerline goodness : 0.961828 with order 1 Centerline is valid? [False, True] Translation: X:291.23, Y:-180.25, Z:3.44 [[ 8.09889468e-01 5.84635120e-01 -4.77579969e-02 2.91227191e+02] [-5.85645169e-01 8.10511738e-01 -9.51100166e-03 -1.80246573e+02] [ 3.31479515e-02 3.56721002e-02 9.98813654e-01 3.44433344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2770.77 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%| | 0/11466 [00:00