+ python -m lidar_slam --result /working/result.json --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 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 0.025779523 Adjusted end_distance from 9.223372036854776e+18 to 109.115779523 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025779523 meters Centerline goodness : 0.967598 with order 1 Centerline is valid? [0, True] SLAMing on 0.085779523 meters Centerline goodness : 0.966726 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.02 [[ 0.99987365 -0.01589625 0. 0.0615342 ] [ 0.01589625 0.99987365 0. 0.00876253] [ 0. 0. 1. -0.01858739] [ 0. 0. 0. 1. ]] SLAMing on 0.145779523 meters Centerline goodness : 0.967984 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.02 [[ 0.99977781 -0.0210793 0. 0.12077973] [ 0.0210793 0.99977781 0. 0.01286684] [ 0. 0. 1. -0.02100997] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters Centerline goodness : 0.973239 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:-0.02 [[ 0.99978688 -0.02064456 0. 0.18160855] [ 0.02064456 0.99978688 0. 0.01015235] [ 0. 0. 1. -0.0190746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters Centerline goodness : 0.209319 with order 1 Centerline is valid? [True, False] Translation: X:0.24, Y:0.03, Z:-0.03 [[ 0.99904183 -0.02867932 -0.03305919 0.23814735] [ 0.02884234 0.999574 0.00446482 0.02722708] [ 0.03291706 -0.00541404 0.99944342 -0.0299163 ] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters Centerline goodness : 0.202609 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.04 [[ 0.99805525 -0.03057712 -0.0543208 0.28301196] [ 0.03106133 0.99948472 0.00809198 0.04162394] [ 0.05404538 -0.00976352 0.99849075 -0.03966704] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters Centerline goodness : 0.928790 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:0.07, Z:-0.06 [[ 0.99449571 -0.02840121 -0.10085461 0.35387651] [ 0.03047756 0.99935282 0.01910645 0.06766117] [ 0.1002467 -0.02207508 0.99471769 -0.0551368 ] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters Centerline goodness : 0.158246 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.09, Z:-0.07 [[ 0.99108948 -0.01407833 -0.13245166 0.41054737] [ 0.01827575 0.99936682 0.03052799 0.09293813] [ 0.13193801 -0.03267662 0.99071923 -0.07014752] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters Centerline goodness : 0.853383 with order 3 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.14 [[ 0.98171613 0.0714224 -0.17644343 0.48592222] [-0.09247544 0.98915283 -0.11412702 0.21732414] [ 0.16637829 0.12835702 0.9776721 -0.13962275] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters SLAMing on 0.625779523 meters Centerline goodness : 0.675746 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.27, Z:-0.09 [[ 0.27432027 0.74405956 0.60919928 -0.82365875] [-0.95624662 0.27805335 0.09098759 -0.26575468] [-0.10168971 -0.60750449 0.78778011 -0.09251824] [ 0. 0. 0. 1. ]] SLAMing on 0.6857795229999999 meters Centerline goodness : 0.688841 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.24, Z:-0.09 [[ 0.74250461 0.41360779 0.5268923 -1.32852824] [-0.39082775 0.906327 -0.16070172 0.23586472] [-0.5440042 -0.08660237 0.83460138 -0.09318086] [ 0. 0. 0. 1. ]] SLAMing on 0.7457795229999999 meters SLAMing on 0.805779523 meters SLAMing on 0.8657795229999999 meters Centerline goodness : 0.816708 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.30, Z:-0.01 [[ 0.80701518 0.12691839 0.57673063 -1.30324972] [-0.2210464 0.97055423 0.0957234 0.29994642] [-0.54759929 -0.20473447 0.81130685 -0.01195615] [ 0. 0. 0. 1. ]] SLAMing on 0.9257795229999999 meters Centerline goodness : 0.719461 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.38, Z:0.10 [[ 0.64637544 0.15176581 0.74777398 -1.45991888] [-0.27399578 0.96082048 0.04183677 0.38367013] [-0.71212716 -0.23192918 0.66263396 0.095518 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9857795229999999 meters Centerline goodness : 0.744400 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.10, Z:-0.00 [[ 0.67090741 0.02984009 0.74094049 -1.15206041] [-0.29255148 0.92879494 0.22749415 0.09585967] [-0.68139334 -0.36939075 0.63186517 -0.00480741] [ 0. 0. 0. 1. ]] SLAMing on 1.045779523 meters Centerline goodness : 0.200205 with order 1 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.20, Z:0.35 [[ 0.94673306 0.23031256 0.22506141 -0.70860503] [-0.28394683 0.92672094 0.24609449 0.20158454] [-0.15189047 -0.29689126 0.94275387 0.35155306] [ 0. 0. 0. 1. ]] SLAMing on 1.105779523 meters Centerline goodness : 0.303213 with order 2 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.17, Z:0.39 [[ 0.91690245 0.21548147 0.33594289 -0.59871441] [-0.2922177 0.93577084 0.19733665 0.1725226 ] [-0.27184317 -0.27910691 0.92097808 0.39309018] [ 0. 0. 0. 1. ]] SLAMing on 1.1657795229999999 meters Centerline goodness : 0.279865 with order 2 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.16, Z:0.41 [[ 0.91244728 0.21262205 0.34961668 -0.58375334] [-0.28989411 0.93889265 0.18558558 0.16444543] [-0.28879294 -0.27068887 0.91832792 0.40776397] [ 0. 0. 0. 1. ]] SLAMing on 1.225779523 meters Centerline goodness : 0.292860 with order 2 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.16, Z:0.41 [[ 0.91089575 0.20892695 0.35583489 -0.57819004] [-0.28333982 0.9435992 0.17128657 0.16023308] [-0.29997914 -0.2568464 0.91871782 0.41478875] [ 0. 0. 0. 1. ]] SLAMing on 1.285779523 meters Centerline goodness : 0.323322 with order 2 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.14, Z:0.42 [[ 0.90757858 0.21308231 0.36179698 -0.56301742] [-0.28371519 0.94641045 0.15431444 0.14269855] [-0.30952676 -0.24269978 0.91939654 0.4191386 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3457795229999998 meters Centerline goodness : 0.196531 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.14, Z:0.42 [[ 0.90864246 0.21035168 0.36072296 -0.56119034] [-0.28020248 0.94763524 0.15321233 0.13849004] [-0.30960532 -0.24029069 0.92000268 0.41983294] [ 0. 0. 0. 1. ]] SLAMing on 1.4057795229999999 meters Centerline goodness : 0.124087 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.12, Z:0.42 [[ 0.90573437 0.20832458 0.36911533 -0.55531972] [-0.28135672 0.94683672 0.1560084 0.11504779] [-0.31699156 -0.24515525 0.91619608 0.42335054] [ 0. 0. 0. 1. ]] SLAMing on 1.465779523 meters Centerline goodness : 0.125107 with order 1 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.09, Z:0.43 [[ 0.90268214 0.21268672 0.37407128 -0.54378006] [-0.28283298 0.94840828 0.14327332 0.0863075 ] [-0.32429996 -0.23512996 0.91626603 0.42852141] [ 0. 0. 0. 1. ]] SLAMing on 1.525779523 meters Centerline goodness : 0.124591 with order 1 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.07, Z:0.42 [[ 0.90575581 0.20767055 0.36943112 -0.53138335] [-0.2779544 0.94913479 0.14793413 0.07464551] [-0.31991836 -0.2366772 0.9174073 0.42407541] [ 0. 0. 0. 1. ]] SLAMing on 1.585779523 meters Centerline goodness : 0.123176 with order 1 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.42 [[ 0.90944017 0.20575966 0.36136067 -0.50083984] [-0.2742434 0.95000714 0.14925481 0.0607251 ] [-0.3125846 -0.2348391 0.92040288 0.41723131] [ 0. 0. 0. 1. ]] SLAMing on 1.6457795229999999 meters Centerline goodness : 0.204433 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.04, Z:0.41 [[ 0.91473207 0.21017301 0.34509788 -0.45360176] [-0.27272459 0.951328 0.14351424 0.03823542] [-0.29813846 -0.22539375 0.92752958 0.40603268] [ 0. 0. 0. 1. ]] SLAMing on 1.705779523 meters Centerline goodness : 0.131161 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:0.54 [[ 0.94949708 0.2962957 0.10326738 -0.18132468] [-0.29397432 0.95508251 -0.03736979 0.08238777] [-0.10970137 0.00512455 0.99395138 0.54225731] [ 0. 0. 0. 1. ]] SLAMing on 1.765779523 meters Centerline goodness : 0.129303 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:0.54 [[ 9.49097617e-01 2.97954313e-01 1.02161348e-01 -1.45354330e-01] [-2.96209204e-01 9.54580084e-01 -3.22020331e-02 7.95897773e-02] [-1.07115922e-01 3.01741412e-04 9.94246493e-01 5.36206580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8257795229999998 meters Centerline goodness : 0.128142 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:0.53 [[ 0.94962788 0.29930139 0.09287391 -0.1181858 ] [-0.29684495 0.95410634 -0.03954951 0.07554038] [-0.1004488 0.00998816 0.99489209 0.53394259] [ 0. 0. 0. 1. ]] SLAMing on 1.8857795229999998 meters Centerline goodness : 0.119535 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.07, Z:0.53 [[ 0.94951862 0.30002903 0.09163495 -0.08214627] [-0.29773022 0.95388836 -0.03812746 0.07140486] [-0.09884886 0.00892024 0.99506248 0.52513471] [ 0. 0. 0. 1. ]] SLAMing on 1.945779523 meters Centerline goodness : 0.118663 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.07, Z:0.52 [[ 0.94644605 0.30949746 0.09193039 -0.04607304] [-0.30684791 0.9508298 -0.04203636 0.06641781] [-0.1004203 0.0115765 0.99487776 0.5213728 ] [ 0. 0. 0. 1. ]] SLAMing on 2.005779523 meters Centerline goodness : 0.116925 with order 1 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:0.52 [[ 0.94245242 0.32211106 0.08959852 -0.0018627 ] [-0.31921371 0.94659598 -0.04537246 0.05947659] [-0.09942858 0.01416031 0.99494394 0.51787891] [ 0. 0. 0. 1. ]] SLAMing on 2.0657795230000002 meters Centerline goodness : 0.114671 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:0.52 [[ 0.9397695 0.32967689 0.09025762 0.03536455] [-0.32658782 0.94397186 -0.04751331 0.04942239] [-0.1008647 0.01517452 0.99478442 0.51590818] [ 0. 0. 0. 1. ]] SLAMing on 2.1257795230000003 meters Centerline goodness : 0.209847 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:0.51 [[ 0.94075906 0.32826324 0.08494485 0.04998383] [-0.32538485 0.9444544 -0.04615831 0.04670482] [-0.09537862 0.01578408 0.99531592 0.51484267] [ 0. 0. 0. 1. ]] SLAMing on 2.1857795230000003 meters Centerline goodness : 0.214777 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:0.51 [[ 0.94113763 0.32664443 0.08696772 0.07668586] [-0.32372166 0.94502269 -0.04622128 0.03701287] [-0.09728439 0.01534726 0.99513829 0.51404092] [ 0. 0. 0. 1. ]] SLAMing on 2.245779523 meters Centerline goodness : 0.216293 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:0.51 [[ 0.94136476 0.32428972 0.09310512 0.08752716] [-0.32077607 0.94578519 -0.05092231 0.03007063] [-0.10457103 0.01807058 0.99435323 0.51399836] [ 0. 0. 0. 1. ]] SLAMing on 2.305779523 meters Centerline goodness : 0.221551 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.51 [[ 0.9403022 0.32499791 0.10103532 0.09920604] [-0.32134788 0.94558832 -0.05097328 0.02395549] [-0.11210403 0.01546281 0.99357616 0.51122949] [ 0. 0. 0. 1. ]] SLAMing on 2.365779523 meters Centerline goodness : 0.221377 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.51 [[ 0.93891628 0.32864843 0.10210991 0.13346826] [-0.32498308 0.94433577 -0.05114647 0.00513645] [-0.11323525 0.01483826 0.9934574 0.51052926] [ 0. 0. 0. 1. ]] SLAMing on 2.425779523 meters Centerline goodness : 0.226919 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.50 [[ 0.93928808 0.32966832 0.0951667 0.159539 ] [-0.326564 0.94400656 -0.04698478 -0.01140502] [-0.10532738 0.01305422 0.99435191 0.50476253] [ 0. 0. 0. 1. ]] SLAMing on 2.485779523 meters Centerline goodness : 0.234170 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.50 [[ 0.94401395 0.31427141 0.10035507 0.19518004] [-0.31215226 0.94932778 -0.03657503 -0.03637611] [-0.10676434 0.00320127 0.9942792 0.50032079] [ 0. 0. 0. 1. ]] SLAMing on 2.545779523 meters SLAMing on 2.6057795230000003 meters SLAMing on 2.665779523 meters SLAMing on 2.725779523 meters SLAMing on 2.785779523 meters Centerline goodness : 0.303867 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:0.48 [[ 9.58320071e-01 2.53537774e-01 1.31686137e-01 2.62652336e-01] [-2.51231109e-01 9.67325411e-01 -3.41244529e-02 -1.22514470e-01] [-1.36035184e-01 -3.81505985e-04 9.90703933e-01 4.80749482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845779523 meters Centerline goodness : 0.906195 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:0.47 [[ 0.95952441 0.24563663 0.1377518 0.30777002] [-0.24485413 0.96929028 -0.0228649 -0.13863306] [-0.13913794 -0.01178967 0.99020283 0.47175227] [ 0. 0. 0. 1. ]] SLAMing on 2.905779523 meters Centerline goodness : 0.922219 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:0.47 [[ 0.96023367 0.24604698 0.13195526 0.33531323] [-0.24456737 0.96924051 -0.02756143 -0.1482544 ] [-0.13467779 -0.00580654 0.99087243 0.46592368] [ 0. 0. 0. 1. ]] SLAMing on 2.965779523 meters Centerline goodness : 0.921466 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:0.46 [[ 0.9605265 0.24660841 0.12873667 0.34230759] [-0.24493873 0.96910785 -0.02889627 -0.14892195] [-0.13188578 -0.00377697 0.99125772 0.46333136] [ 0. 0. 0. 1. ]] SLAMing on 3.025779523 meters SLAMing on 3.0857795230000002 meters Centerline goodness : 0.941459 with order 3 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:0.44 [[ 0.95594931 0.26202049 0.13231091 0.42177918] [-0.26066247 0.96502982 -0.02779422 -0.15909195] [-0.13496663 -0.00791862 0.9908185 0.44295022] [ 0. 0. 0. 1. ]] SLAMing on 3.1457795230000003 meters Centerline goodness : 0.950712 with order 3 Centerline is valid? [False, True] Translation: X:0.45, Y:-0.16, Z:0.44 [[ 0.95299867 0.27310949 0.13116688 0.45151449] [-0.26980405 0.96196838 -0.04269208 -0.16198668] [-0.137838 0.00529614 0.99044063 0.44083439] [ 0. 0. 0. 1. ]] SLAMing on 3.205779523 meters Centerline goodness : 0.959366 with order 2 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.23, Z:0.41 [[ 0.95106635 0.27335881 0.14404084 0.60655739] [-0.27651885 0.96100641 0.00200082 -0.22933525] [-0.13787723 -0.04173292 0.98956972 0.40797546] [ 0. 0. 0. 1. ]] SLAMing on 3.265779523 meters Centerline goodness : 0.961297 with order 2 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.24, Z:0.41 [[ 0.94404457 0.29891352 0.13939356 0.6503099 ] [-0.3000677 0.95382712 -0.01316085 -0.23893387] [-0.13689131 -0.02940307 0.9901496 0.41049565] [ 0. 0. 0. 1. ]] SLAMing on 3.325779523 meters Centerline goodness : 0.965611 with order 1 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.29, Z:0.37 [[ 0.94002914 0.31125541 0.13951803 0.77870576] [-0.31259609 0.94980036 -0.01276587 -0.2877375 ] [-0.13648772 -0.0316125 0.99013724 0.37100776] [ 0. 0. 0. 1. ]] SLAMing on 3.385779523 meters Centerline goodness : 0.970946 with order 2 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.27, Z:0.40 [[ 0.93184119 0.33887093 0.1297632 0.76369903] [-0.33619777 0.94082489 -0.04265668 -0.26800139] [-0.13653956 -0.00387684 0.99062703 0.39836684] [ 0. 0. 0. 1. ]] SLAMing on 3.445779523 meters Centerline goodness : 0.964874 with order 1 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.33, Z:0.35 [[ 0.93007327 0.3411019 0.13643023 0.88198064] [-0.3414254 0.93965705 -0.02175594 -0.33353138] [-0.13561862 -0.02634613 0.99041076 0.35288 ] [ 0. 0. 0. 1. ]] SLAMing on 3.505779523 meters Centerline goodness : 0.968966 with order 1 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.34, Z:0.35 [[ 0.93170314 0.33931048 0.12960579 0.94259682] [-0.33664654 0.94066625 -0.04261598 -0.34445807] [-0.13637584 -0.0039259 0.99064939 0.34504126] [ 0. 0. 0. 1. ]] SLAMing on 3.5657795230000002 meters Centerline goodness : 0.977385 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.37, Z:0.36 [[ 0.93406752 0.33274702 0.12960438 1.0000418 ] [-0.3300195 0.94301148 -0.04262026 -0.37494959] [-0.13640018 -0.00296177 0.99064939 0.35900129] [ 0. 0. 0. 1. ]] SLAMing on 3.625779523 meters Centerline goodness : 0.979613 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.38, Z:0.35 [[ 0.93684322 0.32485045 0.12960312 1.06074804] [-0.32204699 0.94576367 -0.04262409 -0.38405395] [-0.13642038 -0.0018062 0.99064939 0.3491944 ] [ 0. 0. 0. 1. ]] SLAMing on 3.685779523 meters Centerline goodness : 0.980888 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.40, Z:0.34 [[ 9.39988857e-01 3.15633165e-01 1.29601905e-01 1.11932683e+00] [-3.12741716e-01 9.48881179e-01 -4.26277802e-02 -3.98272948e-01] [-1.36431549e-01 -4.62283672e-04 9.90649392e-01 3.38356739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745779523 meters Centerline goodness : 0.981913 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.42, Z:0.32 [[ 9.41196454e-01 3.12014297e-01 1.29600590e-01 1.17653211e+00] [-3.09088107e-01 9.50077404e-01 -4.26317755e-02 -4.16071056e-01] [-1.36432316e-01 6.68748472e-05 9.90649392e-01 3.24565792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805779523 meters Centerline goodness : 0.964995 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.43, Z:0.30 [[ 9.42678529e-01 3.07508074e-01 1.29599291e-01 1.23153457e+00] [-3.04538888e-01 9.51545196e-01 -4.26357240e-02 -4.31758474e-01] [-1.36430413e-01 7.23757460e-04 9.90649392e-01 2.97263049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.865779523 meters Centerline goodness : 0.982577 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.45, Z:0.31 [[ 0.94619129 0.29652346 0.1295989 1.29222001] [-0.29345119 0.95502277 -0.0426369 -0.44923391] [-0.13641275 0.00231171 0.99064939 0.30557939] [ 0. 0. 0. 1. ]] SLAMing on 3.925779523 meters Centerline goodness : 0.987725 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.48, Z:0.32 [[ 0.94650021 0.29553668 0.12959715 1.34885815] [-0.29245447 0.95532823 -0.04264224 -0.48092421] [-0.13641016 0.00245962 0.99064939 0.31732433] [ 0. 0. 0. 1. ]] SLAMing on 3.985779523 meters Centerline goodness : 0.989310 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.50, Z:0.31 [[ 0.94932685 0.28632757 0.12959573 1.40555329] [-0.28315915 0.9581243 -0.04264655 -0.50455751] [-0.1363797 0.0037893 0.99064939 0.30723593] [ 0. 0. 0. 1. ]] SLAMing on 4.045779522999999 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.52, Z:0.30 [[ 0.95162996 0.27857861 0.1295931 1.46354379] [-0.27533749 0.96040088 -0.04265454 -0.52033191] [-0.13634397 0.0049095 0.99064939 0.29705968] [ 0. 0. 0. 1. ]] SLAMing on 4.105779523 meters Centerline goodness : 0.989648 with order 1 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.54, Z:0.28 [[ 0.95322289 0.27307878 0.12959209 1.51907972] [-0.26978665 0.96197479 -0.04265761 -0.53997871] [-0.13631321 0.00569999 0.99064939 0.27627689] [ 0. 0. 0. 1. ]] SLAMing on 4.165779522999999 meters Centerline goodness : 0.992951 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.57, Z:0.28 [[ 0.95836457 0.2544478 0.1295904 1.57438035] [-0.25098503 0.96705036 -0.04266274 -0.57121323] [-0.13617588 0.00836121 0.99064939 0.27799236] [ 0. 0. 0. 1. ]] SLAMing on 4.225779523 meters Centerline goodness : 0.992958 with order 1 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.60, Z:0.27 [[ 0.9567486 0.26045886 0.12958896 1.62903714] [-0.25705009 0.96545573 -0.04266711 -0.60228196] [-0.13622543 0.00751085 0.99064939 0.27189736] [ 0. 0. 0. 1. ]] SLAMing on 4.2857795229999995 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.63, Z:0.26 [[ 0.96190622 0.24071723 0.12958257 1.68444828] [-0.23712742 0.97054029 -0.04268651 -0.62901288] [-0.13604048 0.01033284 0.99064939 0.26287404] [ 0. 0. 0. 1. ]] SLAMing on 4.345779523 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.65, Z:0.25 [[ 0.96382573 0.23291724 0.12957437 1.74253949] [-0.22925429 0.97242902 -0.0427114 -0.64723773] [-0.1359501 0.01146086 0.99064939 0.24859716] [ 0. 0. 0. 1. ]] SLAMing on 4.405779523 meters Centerline goodness : 0.988652 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.68, Z:0.23 [[ 0.96219504 0.23956935 0.12956554 1.7939372 ] [-0.23596233 0.97082193 -0.04273817 -0.676775 ] [-0.13602382 0.01054987 0.99064939 0.22769089] [ 0. 0. 0. 1. ]] SLAMing on 4.465779522999999 meters Centerline goodness : 0.982390 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.69, Z:0.21 [[ 0.96617074 0.22299614 0.12956395 1.85115057] [-0.21924074 0.97473408 -0.04274299 -0.69443995] [-0.13582192 0.01289133 0.99064939 0.21342559] [ 0. 0. 0. 1. ]] SLAMing on 4.525779523 meters Centerline goodness : 0.998301 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.72, Z:0.25 [[ 0.96666212 0.22085696 0.12956295 1.9124827 ] [-0.21708221 0.97521695 -0.04274601 -0.71808126] [-0.13579274 0.01319514 0.99064939 0.24556824] [ 0. 0. 0. 1. ]] SLAMing on 4.585779522999999 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.74, Z:0.27 [[ 0.96356005 0.23402134 0.12956098 1.97497592] [-0.23036283 0.97216523 -0.04275197 -0.73591502] [-0.13595956 0.01134805 0.99064939 0.26803943] [ 0. 0. 0. 1. ]] SLAMing on 4.645779523 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.75, Z:0.26 [[ 0.95937506 0.2506267 0.12955983 2.03421885] [-0.24711688 0.96804195 -0.04275546 -0.75460003] [-0.13613501 0.0090021 0.99064939 0.26484375] [ 0. 0. 0. 1. ]] SLAMing on 4.7057795229999995 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.77, Z:0.24 [[ 0.95724679 0.25864105 0.12955071 2.09115327] [-0.25520011 0.96594126 -0.04278308 -0.77402745] [-0.13620384 0.00789261 0.99064939 0.24335052] [ 0. 0. 0. 1. ]] SLAMing on 4.765779523 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.78, Z:0.22 [[ 0.95841766 0.25426976 0.12954721 2.15007389] [-0.25078775 0.96709576 -0.04279368 -0.78419447] [-0.13616569 0.00852537 0.99064939 0.22108311] [ 0. 0. 0. 1. ]] SLAMing on 4.825779523 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.81, Z:0.23 [[ 0.96097263 0.24443755 0.12954492 2.20815617] [-0.24086588 0.96961422 -0.04280061 -0.80734624] [-0.13607067 0.00992726 0.99064939 0.2332961 ] [ 0. 0. 0. 1. ]] SLAMing on 4.885779522999999 meters Centerline goodness : 0.996635 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.82, Z:0.20 [[ 0.96383355 0.23290302 0.12954179 2.26297826] [-0.22922679 0.97243117 -0.04281007 -0.82441461] [-0.13594107 0.01156734 0.99064939 0.20242595] [ 0. 0. 0. 1. ]] SLAMing on 4.945779523 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.85, Z:0.22 [[ 0.9673069 0.21802938 0.12953975 2.31981935] [-0.21422033 0.97584651 -0.04281626 -0.85353275] [-0.13574611 0.01366641 0.99064939 0.22087608] [ 0. 0. 0. 1. ]] SLAMing on 5.005779522999999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.87, Z:0.21 [[ 0.96838118 0.21320752 0.12953933 2.37736472] [-0.20935581 0.97690164 -0.04281751 -0.87360764] [-0.1356762 0.01434386 0.99064939 0.20879882] [ 0. 0. 0. 1. ]] SLAMing on 5.065779523 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.89, Z:0.20 [[ 0.96733586 0.21790645 0.12953037 2.43495506] [-0.21409256 0.97587331 -0.04284461 -0.89373893] [-0.13574135 0.01371364 0.99064939 0.2026799 ] [ 0. 0. 0. 1. ]] SLAMing on 5.125779522999999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.92, Z:0.20 [[ 0.96552163 0.22581219 0.1295254 2.49212066] [-0.22206627 0.97408913 -0.04285962 -0.92237607] [-0.13584751 0.01261867 0.99064939 0.20025247] [ 0. 0. 0. 1. ]] SLAMing on 5.185779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.94, Z:0.18 [[ 0.96321064 0.23548045 0.12951533 2.54798671] [-0.23181656 0.97181353 -0.04289003 -0.94302432] [-0.13596452 0.01128833 0.9906494 0.18398421] [ 0. 0. 0. 1. ]] SLAMing on 5.2457795229999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.96, Z:0.18 [[ 0.96334494 0.2349311 0.12951408 2.60398299] [-0.2312618 0.97194552 -0.04289381 -0.9627223 ] [-0.13595772 0.01136987 0.9906494 0.17690932] [ 0. 0. 0. 1. ]] SLAMing on 5.305779522999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.99, Z:0.18 [[ 0.96457574 0.22982718 0.12951107 2.66163122] [-0.22611117 0.97315625 -0.0429029 -0.98809577] [-0.13589476 0.0120992 0.9906494 0.1790092 ] [ 0. 0. 0. 1. ]] SLAMing on 5.365779523 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:-1.00, Z:0.15 [[ 0.96689556 0.21986864 0.12950194 2.71834021] [-0.21606071 0.97543567 -0.04293044 -1.00165687] [-0.13575987 0.01352897 0.9906494 0.15425521] [ 0. 0. 0. 1. ]] SLAMing on 5.425779522999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:-1.01, Z:0.14 [[ 0.96743058 0.21750711 0.12949415 2.77865776] [-0.21367523 0.97595997 -0.04295393 -1.01282074] [-0.13572389 0.01388525 0.9906494 0.14359486] [ 0. 0. 0. 1. ]] SLAMing on 5.485779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:-1.03, Z:0.13 [[ 0.96680804 0.22026268 0.1294858 2.83864207] [-0.21645178 0.97534682 -0.04297907 -1.02558086] [-0.13576025 0.01352508 0.9906494 0.13277608] [ 0. 0. 0. 1. ]] SLAMing on 5.545779522999999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:-1.04, Z:0.14 [[ 0.96430752 0.23096877 0.12947755 2.90138055] [-0.22724948 0.9728866 -0.04300392 -1.03779789] [-0.13589954 0.01204529 0.9906494 0.13550474] [ 0. 0. 0. 1. ]] SLAMing on 5.605779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-1.05, Z:0.14 [[ 0.96272363 0.23748978 0.12946742 2.96434185] [-0.23382457 0.97132596 -0.04303439 -1.05003174] [-0.13597529 0.01115756 0.9906494 0.13633137] [ 0. 0. 0. 1. ]] SLAMing on 5.665779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:-1.05, Z:0.13 [[ 0.95903581 0.25197547 0.12945527 3.0293033 ] [-0.24843545 0.96769041 -0.04307092 -1.05191819] [-0.13612544 0.00914528 0.9906494 0.12887192] [ 0. 0. 0. 1. ]] SLAMing on 5.725779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.07, Z:0.12 [[ 0.95614447 0.26273577 0.12945143 3.08968083] [-0.25929166 0.96483767 -0.04308244 -1.06808665] [-0.13621892 0.00762736 0.9906494 0.12486302] [ 0. 0. 0. 1. ]] SLAMing on 5.7857795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.08, Z:0.11 [[ 0.95751392 0.25770566 0.12944065 3.14967467] [-0.25421154 0.96618715 -0.04311481 -1.08217034] [-0.13617483 0.00837772 0.9906494 0.10903107] [ 0. 0. 0. 1. ]] SLAMing on 5.845779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.10, Z:0.10 [[ 0.96094073 0.24462462 0.12942841 3.20923342] [-0.24100764 0.96956344 -0.04315152 -1.09842034] [-0.13604498 0.01027282 0.9906494 0.09877478] [ 0. 0. 0. 1. ]] SLAMing on 5.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.12, Z:0.10 [[ 0.96469614 0.2293749 0.12941605 3.26710126] [-0.22561688 0.97325833 -0.04318857 -1.1216567 ] [-0.13586162 0.0124654 0.9906494 0.10224572] [ 0. 0. 0. 1. ]] SLAMing on 5.965779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.15, Z:0.11 [[ 0.96733852 0.21796843 0.12940617 3.32215841] [-0.21410567 0.97585396 -0.04321814 -1.15319332] [-0.13570172 0.01409998 0.9906494 0.10537832] [ 0. 0. 0. 1. ]] SLAMing on 6.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.17, Z:0.10 [[ 0.9659798 0.22391653 0.12940021 3.37995562] [-0.22010388 0.97451779 -0.04323599 -1.17405576] [-0.13578406 0.0132836 0.9906494 0.09679799] [ 0. 0. 0. 1. ]] SLAMing on 6.085779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.19, Z:0.08 [[ 0.96344173 0.23460231 0.12939009 3.43661869] [-0.23088042 0.97201968 -0.04326626 -1.19421708] [-0.13592008 0.01181088 0.9906494 0.08356368] [ 0. 0. 0. 1. ]] SLAMing on 6.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.21, Z:0.07 [[ 0.96221154 0.23960292 0.12938079 3.49593461] [-0.23592193 0.97080712 -0.04329403 -1.21436428] [-0.13597717 0.01113425 0.9906494 0.0745919 ] [ 0. 0. 0. 1. ]] SLAMing on 6.2057795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.24, Z:0.07 [[ 0.96063718 0.24584496 0.12936952 3.55409224] [-0.24221535 0.96925458 -0.04332769 -1.23755616] [-0.1360439 0.01028691 0.9906494 0.07256195] [ 0. 0. 0. 1. ]] SLAMing on 6.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.25, Z:0.06 [[ 0.96123242 0.24351273 0.12935917 3.61304638] [-0.23985809 0.96983923 -0.04335857 -1.25304202] [-0.13601596 0.01064982 0.9906494 0.06326403] [ 0. 0. 0. 1. ]] SLAMing on 6.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.27, Z:0.04 [[ 0.96177946 0.24134817 0.12934965 3.66931857] [-0.23767037 0.97037641 -0.04338696 -1.27092196] [-0.13598921 0.01098611 0.9906494 0.03761872] [ 0. 0. 0. 1. ]] SLAMing on 6.385779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:-1.29, Z:0.03 [[ 0.96283331 0.23711423 0.12934009 3.72678684] [-0.23339485 0.97141235 -0.04341545 -1.29364424] [-0.13593698 0.01161453 0.9906494 0.03288685] [ 0. 0. 0. 1. ]] SLAMing on 6.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.31, Z:0.03 [[ 0.96413954 0.23175098 0.12933067 3.78591845] [-0.22798017 0.9726961 -0.0434435 -1.31185049] [-0.13586751 0.01240076 0.9906494 0.02827342] [ 0. 0. 0. 1. ]] SLAMing on 6.505779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.34, Z:0.02 [[ 0.96622701 0.22289354 0.12932068 3.84263906] [-0.21904044 0.97474682 -0.04347319 -1.337455 ] [-0.13574482 0.01367851 0.9906494 0.01681398] [ 0. 0. 0. 1. ]] SLAMing on 6.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-1.37, Z:0.01 [[ 0.9669761 0.21962781 0.12930915 3.89736945] [-0.21574142 0.97548077 -0.04350748 -1.36653597] [-0.13569404 0.01417335 0.99064941 0.01004995] [ 0. 0. 0. 1. ]] SLAMing on 6.625779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-1.38, Z:0.00 [[ 9.66968589e-01 2.19667130e-01 1.29298488e-01 3.95820465e+00] [-2.15776899e-01 9.75471513e-01 -4.35391321e-02 -1.38208085e+00] [-1.35691108e-01 1.42013464e-02 9.90649406e-01 3.36663484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.02, Y:-1.40, Z:-0.01 [[ 0.96609223 0.22349637 0.12928716 4.01743137] [-0.21963541 0.97460849 -0.04357273 -1.39518852] [-0.13574271 0.01369924 0.99064941 -0.01119692] [ 0. 0. 0. 1. ]] SLAMing on 6.7457795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.42, Z:-0.03 [[ 0.96485436 0.22878688 0.12927732 4.07272426] [-0.22496877 0.97338991 -0.04360193 -1.42089257] [-0.13581279 0.01298615 0.99064941 -0.02622491] [ 0. 0. 0. 1. ]] SLAMing on 6.805779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.44, Z:-0.03 [[ 0.96365192 0.23380556 0.12926692 4.13090299] [-0.23002784 0.97220542 -0.04363274 -1.44044066] [-0.13587557 0.01231178 0.99064941 -0.02862004] [ 0. 0. 0. 1. ]] SLAMing on 6.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-1.45, Z:-0.04 [[ 0.96160864 0.24207522 0.129261 4.19079868] [-0.23836877 0.97019327 -0.04365026 -1.45265587] [-0.1359748 0.01116268 0.99064941 -0.04092295] [ 0. 0. 0. 1. ]] SLAMing on 6.925779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.46, Z:-0.04 [[ 0.9601613 0.24775864 0.12925147 4.25341255] [-0.24409926 0.96876609 -0.04367847 -1.46246034] [-0.13603616 0.01038819 0.99064941 -0.04498936] [ 0. 0. 0. 1. ]] SLAMing on 6.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.48, Z:-0.04 [[ 0.95956127 0.25007769 0.12924134 4.31339687] [-0.24643511 0.96817318 -0.04370841 -1.48335157] [-0.1360585 0.01009129 0.99064941 -0.04206341] [ 0. 0. 0. 1. ]] SLAMing on 7.045779522999999 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-1.50, Z:-0.04 [[ 0.96112302 0.24401233 0.1292305 4.37469435] [-0.24031115 0.96970992 -0.04374046 -1.49510772] [-0.1359893 0.01098443 0.99064941 -0.0422578 ] [ 0. 0. 0. 1. ]] SLAMing on 7.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.50, Z:-0.07 [[ 0.96228248 0.23940442 0.12922056 4.43386046] [-0.23565823 0.97084984 -0.04376979 -1.5047644 ] [-0.13593244 0.01166702 0.99064941 -0.06615819] [ 0. 0. 0. 1. ]] SLAMing on 7.165779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-1.53, Z:-0.07 [[ 0.96415424 0.23175718 0.12920998 4.49162535] [-0.22793894 0.97268973 -0.04380101 -1.5274568 ] [-0.13583242 0.01277894 0.99064941 -0.07423814] [ 0. 0. 0. 1. ]] SLAMing on 7.225779522999999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.55, Z:-0.08 [[ 0.96710564 0.21912134 0.12919952 4.55004128] [-0.21518768 0.97558856 -0.04383182 -1.55087673] [-0.13565006 0.01458785 0.99064941 -0.07556979] [ 0. 0. 0. 1. ]] SLAMing on 7.2857795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-1.56, Z:-0.10 [[ 0.96802278 0.21503533 0.12919636 4.60802994] [-0.21106465 0.97648844 -0.04384114 -1.56335024] [-0.13558615 0.01517044 0.99064941 -0.10056184] [ 0. 0. 0. 1. ]] SLAMing on 7.345779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-1.59, Z:-0.11 [[ 0.96726514 0.21842463 0.12918525 4.66472047] [-0.21447932 0.97574264 -0.04387387 -1.58741267] [-0.13563469 0.0147301 0.99064941 -0.10678122] [ 0. 0. 0. 1. ]] SLAMing on 7.405779523 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.61, Z:-0.10 [[ 0.96546593 0.22625104 0.12917428 4.72442582] [-0.22237025 0.97397316 -0.04390614 -1.60824734] [-0.13574609 0.01366537 0.99064941 -0.10216894] [ 0. 0. 0. 1. ]] SLAMing on 7.465779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.63, Z:-0.11 [[ 0.96305936 0.23628729 0.12917036 4.78506989] [-0.23249372 0.97160584 -0.04391767 -1.62537657] [-0.13587986 0.01226402 0.99064941 -0.10994365] [ 0. 0. 0. 1. ]] SLAMing on 7.525779523 meters Centerline goodness : 0.997292 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-1.65, Z:-0.12 [[ 0.9599439 0.24865037 0.1291538 4.84407888] [-0.24496049 0.96853566 -0.04396631 -1.64606829] [-0.1360223 0.01056762 0.99064941 -0.12021381] [ 0. 0. 0. 1. ]] SLAMing on 7.585779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-1.67, Z:-0.13 [[ 0.95674194 0.26070712 0.12913815 4.90106905] [-0.25711946 0.96537687 -0.04401224 -1.66717153] [-0.13614128 0.00890442 0.99064941 -0.13376425] [ 0. 0. 0. 1. ]] SLAMing on 7.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.68, Z:-0.14 [[ 0.9551368 0.26653437 0.12912443 4.9605342 ] [-0.262994 0.96379123 -0.04405244 -1.67955119] [-0.13619048 0.00811716 0.99064942 -0.14357756] [ 0. 0. 0. 1. ]] SLAMing on 7.7057795229999995 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-1.69, Z:-0.16 [[ 0.95505539 0.26683072 0.12911454 5.02089822] [-0.26328913 0.96370933 -0.04408141 -1.6892671 ] [-0.13619116 0.00810573 0.99064942 -0.15845167] [ 0. 0. 0. 1. ]] SLAMing on 7.765779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.72, Z:-0.18 [[ 0.95185853 0.27802256 0.12910769 5.07138267] [-0.27458008 0.96055236 -0.04410146 -1.72467464] [-0.1362759 0.00652796 0.99064942 -0.18046073] [ 0. 0. 0. 1. ]] SLAMing on 7.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.75, Z:-0.18 [[ 0.95009955 0.28398151 0.12909437 5.12590406] [-0.28058829 0.95881272 -0.04414041 -1.75351782] [-0.13631239 0.00571542 0.99064942 -0.17625885] [ 0. 0. 0. 1. ]] SLAMing on 7.885779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.76, Z:-0.19 [[ 0.95043755 0.28284812 0.12909453 5.18646891] [-0.27944457 0.9591467 -0.04413994 -1.76248595] [-0.1363055 0.00587749 0.99064942 -0.18918593] [ 0. 0. 0. 1. ]] SLAMing on 7.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.79, Z:-0.19 [[ 0.95246841 0.27593286 0.12909295 5.24143745] [-0.27246548 0.96115234 -0.04414457 -1.79419668] [-0.13625893 0.00687293 0.99064942 -0.19267312] [ 0. 0. 0. 1. ]] SLAMing on 8.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.82, Z:-0.20 [[ 0.95362614 0.27190987 0.12908219 5.29767323] [-0.26840162 0.96229364 -0.044176 -1.82305306] [-0.13622687 0.00748152 0.99064942 -0.19677559] [ 0. 0. 0. 1. ]] SLAMing on 8.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.83, Z:-0.21 [[ 0.95709357 0.25944642 0.12907154 5.35825251] [-0.25582122 0.96571281 -0.04420711 -1.83033487] [-0.13611542 0.0092911 0.99064942 -0.21393572] [ 0. 0. 0. 1. ]] SLAMing on 8.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.87, Z:-0.19 [[ 0.95731342 0.25863888 0.12906181 5.41483778] [-0.25500261 0.96592799 -0.04423551 -1.86572582] [-0.13610543 0.00943615 0.99064942 -0.18905894] [ 0. 0. 0. 1. ]] SLAMing on 8.185779523 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:5.47, Y:-1.88, Z:-0.21 [[ 0.96003107 0.24836227 0.1290602 5.47224007] [-0.24463324 0.9686059 -0.04424021 -1.88107379] [-0.13599606 0.01089956 0.99064942 -0.20683857] [ 0. 0. 0. 1. ]] SLAMing on 8.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.89, Z:-0.23 [[ 0.96195811 0.24079598 0.12904997 5.53137229] [-0.23699559 0.97050155 -0.04427002 -1.8918723 ] [-0.13590324 0.01200163 0.99064942 -0.23389533] [ 0. 0. 0. 1. ]] SLAMing on 8.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-1.90, Z:-0.26 [[ 0.9618491 0.2412343 0.12904389 5.59265652] [-0.23743545 0.97039322 -0.04428774 -1.89839683] [-0.13590704 0.01195852 0.99064942 -0.25529927] [ 0. 0. 0. 1. ]] SLAMing on 8.365779523 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:5.66, Y:-1.91, Z:-0.26 [[ 0.96135353 0.24320764 0.12903267 5.65547374] [-0.23942197 0.96990351 -0.04432041 -1.90800212] [-0.1359283 0.01171433 0.99064942 -0.25602632] [ 0. 0. 0. 1. ]] SLAMing on 8.425779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.72, Y:-1.92, Z:-0.26 [[ 0.96210694 0.24021724 0.12901901 5.71560785] [-0.23639973 0.97064275 -0.04436011 -1.92440914] [-0.13588744 0.01217911 0.99064942 -0.25862052] [ 0. 0. 0. 1. ]] SLAMing on 8.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.78, Y:-1.94, Z:-0.27 [[ 0.96527009 0.22717894 0.12900922 5.77654952] [-0.22324254 0.97375173 -0.04438859 -1.93829978] [-0.1357071 0.01404663 0.99064942 -0.26753051] [ 0. 0. 0. 1. ]] SLAMing on 8.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-1.96, Z:-0.28 [[ 0.96741487 0.21786992 0.12900065 5.83318091] [-0.21384872 0.97585663 -0.04441348 -1.96419416] [-0.1355625 0.01537964 0.99064942 -0.27568786] [ 0. 0. 0. 1. ]] SLAMing on 8.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-1.99, Z:-0.28 [[ 0.96731242 0.21833217 0.12898735 5.88838871] [-0.21430994 0.97575369 -0.04445207 -1.99076691] [-0.1355652 0.01535577 0.99064942 -0.28054039] [ 0. 0. 0. 1. ]] SLAMing on 8.665779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.95, Y:-2.01, Z:-0.28 [[ 0.96475232 0.22938362 0.12898104 5.94750586] [-0.2254558 0.97323793 -0.04447038 -2.01248182] [-0.13573001 0.01382338 0.99064942 -0.2793127 ] [ 0. 0. 0. 1. ]] SLAMing on 8.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.01, Y:-2.03, Z:-0.28 [[ 0.96358731 0.23423544 0.12897001 6.0060249 ] [-0.23034613 0.97209064 -0.04450234 -2.03025634] [-0.13579456 0.01317415 0.99064942 -0.28450165] [ 0. 0. 0. 1. ]] SLAMing on 8.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-2.05, Z:-0.30 [[ 0.96183016 0.24135469 0.12895988 6.0628332 ] [-0.23752448 0.97036027 -0.04453166 -2.05002303] [-0.13588547 0.01220076 0.99064942 -0.30129493] [ 0. 0. 0. 1. ]] SLAMing on 8.845779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-2.07, Z:-0.31 [[ 0.96190978 0.24103928 0.12895598 6.11992577] [-0.23720476 0.97043795 -0.04454297 -2.06987568] [-0.13588038 0.01225735 0.99064942 -0.31333277] [ 0. 0. 0. 1. ]] SLAMing on 8.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-2.09, Z:-0.32 [[ 0.96409632 0.23214578 0.12894424 6.17898776] [-0.22822819 0.97258665 -0.04457691 -2.09020922] [-0.13575779 0.01354773 0.99064942 -0.32152826] [ 0. 0. 0. 1. ]] SLAMing on 8.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-2.12, Z:-0.32 [[ 0.96543703 0.22651259 0.12893168 6.23514088] [-0.2225407 0.9739021 -0.0446132 -2.12153928] [-0.13567229 0.01437869 0.99064942 -0.31813832] [ 0. 0. 0. 1. ]] SLAMing on 9.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:-2.14, Z:-0.33 [[ 0.96649535 0.22195967 0.1289211 6.29284114] [-0.2179439 0.97493968 -0.04464378 -2.13935295] [-0.13559941 0.01505044 0.99064943 -0.33318163] [ 0. 0. 0. 1. ]] SLAMing on 9.085779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:-2.16, Z:-0.34 [[ 0.9660135 0.22405382 0.12891003 6.35221486] [-0.22005215 0.97446454 -0.04467571 -2.15802463] [-0.13562802 0.01479041 0.99064943 -0.34498065] [ 0. 0. 0. 1. ]] SLAMing on 9.145779523 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:-2.19, Z:-0.34 [[ 0.96525271 0.22731245 0.12890407 6.40926907] [-0.22333706 0.97371613 -0.04469291 -2.18605349] [-0.13567523 0.01435089 0.99064943 -0.34467081] [ 0. 0. 0. 1. ]] SLAMing on 9.205779523 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:-2.21, Z:-0.35 [[ 0.96528967 0.22716527 0.12888675 6.46422465] [-0.22318201 0.97374939 -0.0447428 -2.21416651] [-0.1356674 0.01442456 0.99064943 -0.35120928] [ 0. 0. 0. 1. ]] SLAMing on 9.265779523 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:-2.23, Z:-0.34 [[ 0.96473186 0.22953177 0.12887046 6.5259857 ] [-0.22556308 0.97319843 -0.04478967 -2.2273911 ] [-0.13569718 0.0141416 0.99064943 -0.34397438] [ 0. 0. 0. 1. ]] SLAMing on 9.325779523 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:-2.25, Z:-0.37 [[ 0.96468893 0.2297128 0.12886933 6.57718249] [-0.22574528 0.97315603 -0.04479292 -2.25194951] [-0.13569947 0.01411959 0.99064943 -0.37269727] [ 0. 0. 0. 1. ]] SLAMing on 9.385779523 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-2.27, Z:-0.37 [[ 0.96507095 0.22810265 0.12886913 6.63689884] [-0.22412092 0.97353138 -0.04479348 -2.27101306] [-0.13567566 0.01434662 0.99064943 -0.36947986] [ 0. 0. 0. 1. ]] SLAMing on 9.445779523 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:-2.29, Z:-0.39 [[ 0.96528756 0.22718566 0.12886661 6.69403178] [-0.22319494 0.97374376 -0.04480075 -2.28587695] [-0.13566114 0.01448324 0.99064943 -0.38689746] [ 0. 0. 0. 1. ]] SLAMing on 9.505779523000001 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:-2.31, Z:-0.40 [[ 0.96667901 0.2211913 0.12886469 6.74914116] [-0.21714745 0.97510993 -0.04480626 -2.30618087] [-0.135568 0.01533063 0.99064943 -0.40468873] [ 0. 0. 0. 1. ]] SLAMing on 9.565779523 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-2.33, Z:-0.41 [[ 0.96740897 0.2179775 0.12886309 6.80594549] [-0.21390506 0.97582612 -0.04481086 -2.332561 ] [-0.13551573 0.01578596 0.99064943 -0.40696659] [ 0. 0. 0. 1. ]] SLAMing on 9.625779523 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:-2.34, Z:-0.42 [[ 0.96715107 0.21912571 0.12885158 6.86783391] [-0.21505892 0.97557095 -0.04484393 -2.3419186 ] [-0.13553032 0.01566017 0.99064943 -0.41862091] [ 0. 0. 0. 1. ]] SLAMing on 9.685779523 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:-2.36, Z:-0.43 [[ 0.96537652 0.22682265 0.12883964 6.92672305] [-0.22281854 0.97382639 -0.04487821 -2.35657499] [-0.13564684 0.01461651 0.99064943 -0.4324466 ] [ 0. 0. 0. 1. ]] SLAMing on 9.745779523 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:-2.38, Z:-0.43 [[ 0.96268455 0.23799505 0.12882861 6.98305791] [-0.23408494 0.97117833 -0.04490987 -2.38445011] [-0.13580388 0.0130772 0.99064943 -0.43210498] [ 0. 0. 0. 1. ]] SLAMing on 9.805779523 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:-2.40, Z:-0.44 [[ 0.96211847 0.24027922 0.12881751 7.04361268] [-0.23638506 0.97061957 -0.04494168 -2.39931767] [-0.13583135 0.01278868 0.99064943 -0.43820424] [ 0. 0. 0. 1. ]] SLAMing on 9.865779523 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:-2.41, Z:-0.44 [[ 0.9635948 0.23429465 0.12880633 7.10650961] [-0.2303435 0.97206956 -0.04497368 -2.40560058] [-0.13574581 0.0136667 0.99064943 -0.43967362] [ 0. 0. 0. 1. ]] SLAMing on 9.925779523000001 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:-2.43, Z:-0.45 [[ 0.96413734 0.23205764 0.12879612 7.16337469] [-0.22808297 0.9726011 -0.04500292 -2.43080635] [-0.13571052 0.01401279 0.99064943 -0.44573869] [ 0. 0. 0. 1. ]] SLAMing on 9.985779523 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:7.22, Y:-2.46, Z:-0.46 [[ 0.96442898 0.23084892 0.12878473 7.21907472] [-0.22685936 0.97288573 -0.04503547 -2.45544675] [-0.13568922 0.01421749 0.99064943 -0.45872003] [ 0. 0. 0. 1. ]] SLAMing on 10.045779523 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-2.46, Z:-0.48 [[ 0.96422905 0.23168843 0.12877427 7.28151944] [-0.22770229 0.9726874 -0.04506536 -2.46049294] [-0.13569824 0.01413114 0.99064943 -0.47638301] [ 0. 0. 0. 1. ]] SLAMing on 10.105779523 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-2.48, Z:-0.49 [[ 0.96409892 0.23223513 0.12876381 7.3386703 ] [-0.22824984 0.97255767 -0.04509525 -2.47975896] [-0.13570293 0.01408596 0.99064943 -0.49108322] [ 0. 0. 0. 1. ]] SLAMing on 10.165779523 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-2.51, Z:-0.49 [[ 0.96433891 0.2312378 0.12876158 7.39408671] [-0.22724292 0.97279314 -0.0451016 -2.50819961] [-0.13568758 0.01423307 0.99064943 -0.48985274] [ 0. 0. 0. 1. ]] SLAMing on 10.225779523 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-2.53, Z:-0.49 [[ 0.96643568 0.22231724 0.12875213 7.45366633] [-0.21824087 0.97485093 -0.04512856 -2.52596395] [-0.13554699 0.01551487 0.99064943 -0.48849547] [ 0. 0. 0. 1. ]] SLAMing on 10.285779523 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-2.54, Z:-0.50 [[ 0.967418 0.2180085 0.12874282 7.51458437] [-0.21389119 0.97581329 -0.04515512 -2.53938587] [-0.13547315 0.01614692 0.99064943 -0.49927023] [ 0. 0. 0. 1. ]] SLAMing on 10.345779523000001 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-2.55, Z:-0.52 [[ 0.96772648 0.21664174 0.12873152 7.57228767] [-0.21250838 0.97611388 -0.0451873 -2.55360235] [-0.13544608 0.01637242 0.99064944 -0.5175944 ] [ 0. 0. 0. 1. ]] SLAMing on 10.405779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-2.58, Z:-0.52 [[ 0.96821361 0.21445962 0.12872249 7.62924393] [-0.21030399 0.97658999 -0.04521303 -2.57920743] [-0.13540546 0.01670502 0.99064944 -0.52321455] [ 0. 0. 0. 1. ]] SLAMing on 10.465779523 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-2.59, Z:-0.53 [[ 0.96851289 0.21311038 0.12871188 7.69131806] [-0.20893914 0.97688151 -0.04524321 -2.58860949] [-0.13537805 0.01692568 0.99064944 -0.52786382] [ 0. 0. 0. 1. ]] SLAMing on 10.525779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-2.60, Z:-0.54 [[ 0.96777289 0.21645183 0.12870213 7.75114755] [-0.21230587 0.97615406 -0.04527093 -2.60444115] [-0.13543208 0.01648776 0.99064944 -0.5380541 ] [ 0. 0. 0. 1. ]] SLAMing on 10.585779523 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-2.63, Z:-0.54 [[ 0.96713965 0.21927091 0.12869021 7.80907324] [-0.21514496 0.97553069 -0.04530477 -2.6281446 ] [-0.13547527 0.01612899 0.99064944 -0.54355094] [ 0. 0. 0. 1. ]] SLAMing on 10.645779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:-2.64, Z:-0.55 [[ 0.96483192 0.22921896 0.12867803 7.8699624 ] [-0.22517509 0.97326282 -0.04533935 -2.6426326 ] [-0.13563018 0.01476976 0.99064944 -0.54566777] [ 0. 0. 0. 1. ]] SLAMing on 10.705779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:-2.65, Z:-0.56 [[ 0.96370096 0.23393429 0.12866705 7.93222387] [-0.22992758 0.97214959 -0.0453705 -2.65193955] [-0.13569733 0.01413949 0.99064944 -0.55918594] [ 0. 0. 0. 1. ]] SLAMing on 10.765779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:-2.67, Z:-0.57 [[ 0.96345506 0.23495188 0.12865445 7.98965641] [-0.23094939 0.97190568 -0.04540619 -2.67189089] [-0.13570826 0.01403416 0.99064944 -0.56917611] [ 0. 0. 0. 1. ]] SLAMing on 10.825779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:-2.71, Z:-0.58 [[ 0.96409329 0.23232553 0.1286428 8.04413043] [-0.22829568 0.97253091 -0.04543917 -2.70535855] [-0.13566578 0.01443901 0.99064944 -0.57635261] [ 0. 0. 0. 1. ]] SLAMing on 10.885779523 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:-2.73, Z:-0.59 [[ 0.96454051 0.23046864 0.12863053 8.10163674] [-0.22641799 0.97296815 -0.04547387 -2.72766962] [-0.13563371 0.01473713 0.99064944 -0.58502777] [ 0. 0. 0. 1. ]] SLAMing on 10.945779523 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:-2.74, Z:-0.60 [[ 0.96470138 0.22980067 0.12861919 8.15962781] [-0.22573996 0.97312419 -0.04550593 -2.74441175] [-0.13561974 0.01486515 0.99064944 -0.59572338] [ 0. 0. 0. 1. ]] SLAMing on 11.005779523000001 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:-2.77, Z:-0.61 [[ 0.96553106 0.22629274 0.12861328 8.21528546] [-0.22219925 0.97393798 -0.04552262 -2.77111626] [-0.1355628 0.01537573 0.99064944 -0.60726762] [ 0. 0. 0. 1. ]] SLAMing on 11.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:-2.80, Z:-0.61 [[ 0.96759538 0.21730266 0.12860298 8.27135864] [-0.21312736 0.97596197 -0.04555171 -2.7968791 ] [-0.13541012 0.01666682 0.99064944 -0.61329521] [ 0. 0. 0. 1. ]] SLAMing on 11.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:-2.82, Z:-0.62 [[ 0.96751271 0.21767372 0.12859745 8.32943931] [-0.21349959 0.97587988 -0.0455673 -2.817436 ] [-0.13541447 0.01663144 0.99064944 -0.61701487] [ 0. 0. 0. 1. ]] SLAMing on 11.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-2.84, Z:-0.62 [[ 0.96494991 0.22877245 0.12858788 8.38791291] [-0.22469115 0.97336275 -0.04559429 -2.84213906] [-0.13559337 0.01510365 0.99064944 -0.61909411] [ 0. 0. 0. 1. ]] SLAMing on 11.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-2.85, Z:-0.64 [[ 0.96235697 0.23945197 0.1285761 8.44883064] [-0.23545976 0.97081246 -0.0456275 -2.85406783] [-0.13574887 0.01363544 0.99064944 -0.63653636] [ 0. 0. 0. 1. ]] SLAMing on 11.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:-2.88, Z:-0.65 [[ 0.96206888 0.24061339 0.12856386 8.50519039] [-0.23662684 0.97052703 -0.04566195 -2.8782564 ] [-0.13576158 0.01350828 0.99064944 -0.64713614] [ 0. 0. 0. 1. ]] SLAMing on 11.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:-2.91, Z:-0.66 [[ 0.96235507 0.2394723 0.1285525 8.56152009] [-0.23547151 0.97080649 -0.04569392 -2.90536982] [-0.13574203 0.01370332 0.99064944 -0.65691315] [ 0. 0. 0. 1. ]] SLAMing on 11.425779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:-2.93, Z:-0.67 [[ 0.96225737 0.23987099 0.12854054 8.61931665] [-0.23586925 0.97070834 -0.04572754 -2.92575274] [-0.13574409 0.0136829 0.99064944 -0.67141009] [ 0. 0. 0. 1. ]] SLAMing on 11.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-2.95, Z:-0.67 [[ 0.96064289 0.24625904 0.12853684 8.67631158] [-0.24231217 0.96911963 -0.04573794 -2.9499254 ] [-0.13583096 0.01279179 0.99064944 -0.67485942] [ 0. 0. 0. 1. ]] SLAMing on 11.545779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:-2.98, Z:-0.67 [[ 0.95918994 0.2518642 0.12852661 8.73562703] [-0.24796308 0.96768782 -0.04576668 -2.97571204] [-0.13590062 0.01202908 0.99064944 -0.66978784] [ 0. 0. 0. 1. ]] SLAMing on 11.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:-3.00, Z:-0.68 [[ 0.95636672 0.26238633 0.128515 8.79389043] [-0.25857445 0.96490501 -0.04579924 -2.99597118] [-0.13602186 0.01057018 0.99064945 -0.68363306] [ 0. 0. 0. 1. ]] SLAMing on 11.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:-3.02, Z:-0.70 [[ 0.95507382 0.26705966 0.12850347 8.85122217] [-0.26328524 0.96362874 -0.04583157 -3.01857178] [-0.1360694 0.00993947 0.99064945 -0.69880565] [ 0. 0. 0. 1. ]] SLAMing on 11.725779523 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:-3.04, Z:-0.70 [[ 0.95474712 0.2682314 0.12849068 8.90759071] [-0.26446269 0.96330455 -0.04586739 -3.04473924] [-0.13607874 0.00981077 0.99064945 -0.70103712] [ 0. 0. 0. 1. ]] SLAMing on 11.785779523 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:-3.07, Z:-0.70 [[ 0.95554483 0.26538135 0.12847886 8.96406561] [-0.2615827 0.96408902 -0.04590049 -3.07093511] [-0.13604619 0.01025212 0.99064945 -0.7028417 ] [ 0. 0. 0. 1. ]] SLAMing on 11.845779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:-3.09, Z:-0.72 [[ 0.95665179 0.26136835 0.12846762 9.0236502 ] [-0.25752969 0.96517808 -0.04593193 -3.08933445] [-0.13599928 0.01085664 0.99064945 -0.71534457] [ 0. 0. 0. 1. ]] SLAMing on 11.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-3.12, Z:-0.73 [[ 0.9570428 0.25993935 0.12845471 9.07670306] [-0.25608315 0.96556117 -0.045968 -3.11884544] [-0.13597977 0.01109826 0.99064945 -0.72546515] [ 0. 0. 0. 1. ]] SLAMing on 11.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:-3.15, Z:-0.73 [[ 0.95841963 0.25481909 0.12844857 9.13122696] [-0.25091513 0.96691621 -0.04598516 -3.15257866] [-0.1359169 0.01184339 0.99064945 -0.73441693] [ 0. 0. 0. 1. ]] SLAMing on 12.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:-3.17, Z:-0.75 [[ 0.95945513 0.25089845 0.12843602 9.19009634] [-0.24695514 0.96793352 -0.04602017 -3.16765414] [-0.13586392 0.01243635 0.99064945 -0.74862307] [ 0. 0. 0. 1. ]] SLAMing on 12.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:-3.19, Z:-0.76 [[ 0.96056177 0.24663384 0.12842445 9.24711171] [-0.24264863 0.96902054 -0.04605245 -3.19236931] [-0.13580402 0.0130742 0.99064945 -0.7558363 ] [ 0. 0. 0. 1. ]] SLAMing on 12.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:-3.22, Z:-0.76 [[ 0.96005228 0.24861556 0.12841311 9.30134976] [-0.24464363 0.9685173 -0.04608405 -3.22442495] [-0.13582753 0.01282765 0.99064945 -0.76066391] [ 0. 0. 0. 1. ]] SLAMing on 12.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:-3.24, Z:-0.77 [[ 0.95953051 0.25062749 0.12840191 9.36098949] [-0.24666919 0.96800191 -0.04611522 -3.24300115] [-0.13585104 0.01257617 0.99064945 -0.76793168] [ 0. 0. 0. 1. ]] SLAMing on 12.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:-3.25, Z:-0.78 [[ 0.96067262 0.24622017 0.12838902 9.42295998] [-0.24221827 0.96912351 -0.0461511 -3.25489652] [-0.13578815 0.01323793 0.99064945 -0.77666516] [ 0. 0. 0. 1. ]] SLAMing on 12.325779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-3.28, Z:-0.79 [[ 0.96144966 0.24317506 0.1283762 9.47967751] [-0.2391417 0.96988558 -0.04618673 -3.27907099] [-0.13574168 0.01370612 0.99064945 -0.78647657] [ 0. 0. 0. 1. ]] SLAMing on 12.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-3.30, Z:-0.79 [[ 0.96249438 0.23901077 0.12836829 9.53742829] [-0.23493804 0.97091136 -0.04620868 -3.30247602] [-0.13567861 0.014317 0.99064945 -0.79306232] [ 0. 0. 0. 1. ]] SLAMing on 12.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-3.32, Z:-0.80 [[ 0.96244779 0.23920503 0.1283558 9.59820922] [-0.23512943 0.97086338 -0.04624336 -3.31686237] [-0.13567759 0.0143266 0.99064945 -0.80074458] [ 0. 0. 0. 1. ]] SLAMing on 12.505779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-3.33, Z:-0.81 [[ 0.96156077 0.2427527 0.12834336 9.65941084] [-0.23870361 0.96998915 -0.04627787 -3.33185661] [-0.13572574 0.01386296 0.99064945 -0.8055722 ] [ 0. 0. 0. 1. ]] SLAMing on 12.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:-3.35, Z:-0.81 [[ 0.95999089 0.2488949 0.12833087 9.71840469] [-0.2448952 0.96844282 -0.04631246 -3.35268497] [-0.13580805 0.01303193 0.99064945 -0.81485625] [ 0. 0. 0. 1. ]] SLAMing on 12.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:-3.37, Z:-0.83 [[ 0.95792194 0.25674881 0.12831839 9.77527901] [-0.25281388 0.96640421 -0.04634702 -3.37470435] [-0.13590698 0.01195615 0.99064946 -0.8292536 ] [ 0. 0. 0. 1. ]] SLAMing on 12.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:-3.39, Z:-0.84 [[ 0.95556555 0.26538978 0.12830723 9.83613788] [-0.2615275 0.96408115 -0.0463779 -3.38815884] [-0.1360068 0.01076126 0.99064946 -0.83985257] [ 0. 0. 0. 1. ]] SLAMing on 12.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:-3.41, Z:-0.84 [[ 9.52703589e-01 2.75493090e-01 1.28294307e-01 9.89513389e+00] [-2.71716404e-01 9.61257495e-01 -4.64136247e-02 -3.40925178e+00] [-1.36110497e-01 9.35875911e-03 9.90649457e-01 -8.37893961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:-3.43, Z:-0.84 [[ 9.51149008e-01 2.80816998e-01 1.28286315e-01 9.95391391e+00] [-2.77085247e-01 9.59722612e-01 -4.64357036e-02 -3.43230615e+00] [-1.36159212e-01 8.62102815e-03 9.90649457e-01 -8.44148611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:-3.45, Z:-0.87 [[ 9.49465673e-01 2.86462447e-01 1.28273937e-01 1.00119128e+01] [-2.82777095e-01 9.58059323e-01 -4.64698722e-02 -3.44930311e+00] [-1.36205914e-01 7.84861730e-03 9.90649458e-01 -8.66291948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:-3.49, Z:-0.86 [[ 9.48885192e-01 2.88385243e-01 1.28260842e-01 1.00634931e+01] [-2.84712443e-01 9.57484213e-01 -4.65059856e-02 -3.49159897e+00] [-1.36219372e-01 7.61138336e-03 9.90649458e-01 -8.62111707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985779523 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:10.12, Y:-3.51, Z:-0.87 [[ 9.48372527e-01 2.90072489e-01 1.28247811e-01 1.01220758e+01] [-2.86410149e-01 9.56976007e-01 -4.65418953e-02 -3.51467038e+00] [-1.36230601e-01 7.40758035e-03 9.90649459e-01 -8.69576272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.17, Y:-3.54, Z:-0.90 [[ 9.47253149e-01 2.93713137e-01 1.28234414e-01 1.01745179e+01] [-2.90078891e-01 9.55868534e-01 -4.65787783e-02 -3.54086890e+00] [-1.36256040e-01 6.92379787e-03 9.90649460e-01 -8.97566670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:-3.59, Z:-0.90 [[ 9.46451607e-01 2.96290350e-01 1.28223959e-01 1.02242635e+01] [-2.92675681e-01 9.55075224e-01 -4.66075417e-02 -3.58501755e+00] [-1.36272891e-01 6.58374833e-03 9.90649460e-01 -9.02844721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:-3.62, Z:-0.90 [[ 9.43966712e-01 3.04119040e-01 1.28212546e-01 1.02772862e+01] [-3.00571665e-01 9.52618227e-01 -4.66389149e-02 -3.61877106e+00] [-1.36321391e-01 5.48852460e-03 9.90649461e-01 -9.01284452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:-3.64, Z:-0.91 [[ 9.41965283e-01 3.10266379e-01 1.28203664e-01 1.03365190e+01] [-3.06772162e-01 9.50638404e-01 -4.66633193e-02 -3.63681895e+00] [-1.36353386e-01 4.62591161e-03 9.90649461e-01 -9.12984257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285779523 meters Centerline goodness : 0.996888 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-3.67, Z:-0.92 [[ 9.40134285e-01 3.15776403e-01 1.28190441e-01 1.03904088e+01] [-3.12328084e-01 9.48825755e-01 -4.66996152e-02 -3.66874190e+00] [-1.36377029e-01 3.86643434e-03 9.90649462e-01 -9.21338080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:-3.72, Z:-0.93 [[ 9.36990020e-01 3.24993292e-01 1.28175907e-01 1.04394118e+01] [-3.21625039e-01 9.45712830e-01 -4.67394737e-02 -3.71727479e+00] [-1.36407615e-01 2.56983929e-03 9.90649463e-01 -9.27060045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:-3.74, Z:-0.94 [[ 9.36053634e-01 3.27686867e-01 1.28159711e-01 1.04964842e+01] [-3.24337643e-01 9.44783767e-01 -4.67838426e-02 -3.73872254e+00] [-1.36413665e-01 2.22516748e-03 9.90649464e-01 -9.35551640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.55, Y:-3.76, Z:-0.95 [[ 9.37789976e-01 3.22689520e-01 1.28146148e-01 1.05526409e+01] [-3.19288709e-01 9.46500142e-01 -4.68209620e-02 -3.76467543e+00] [-1.36398981e-01 2.99261054e-03 9.90649465e-01 -9.50484119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-3.82, Z:-0.95 [[ 9.40180499e-01 3.15662381e-01 1.28132318e-01 1.06003777e+01] [-3.12191332e-01 9.48862913e-01 -4.68587795e-02 -3.81745155e+00] [-1.36371559e-01 4.05391147e-03 9.90649466e-01 -9.49912201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:-3.84, Z:-0.97 [[ 9.41152652e-01 3.12756965e-01 1.28120125e-01 1.06555445e+01] [-3.09254586e-01 9.49822474e-01 -4.68920956e-02 -3.84308127e+00] [-1.36357203e-01 4.51088399e-03 9.90649466e-01 -9.68989756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:-3.86, Z:-0.99 [[ 9.41077798e-01 3.12983767e-01 1.28116116e-01 1.07148192e+01] [-3.09481988e-01 9.49747863e-01 -4.69030450e-02 -3.85830664e+00] [-1.36357899e-01 4.48978394e-03 9.90649466e-01 -9.87852201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-3.90, Z:-0.99 [[ 9.40809808e-01 3.13793794e-01 1.28102926e-01 1.07659231e+01] [-3.10294584e-01 9.49480909e-01 -4.69390444e-02 -3.89674627e+00] [-1.36360463e-01 4.41106932e-03 9.90649467e-01 -9.87892006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:-3.94, Z:-0.98 [[ 9.43363353e-01 3.06033791e-01 1.28097240e-01 1.08182632e+01] [-3.02461175e-01 9.52004468e-01 -4.69545542e-02 -3.94059396e+00] [-1.36318826e-01 5.55076383e-03 9.90649467e-01 -9.78065744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:-3.96, Z:-0.99 [[ 9.44899556e-01 3.01262247e-01 1.28085473e-01 1.08755248e+01] [-2.97641667e-01 9.53520684e-01 -4.69866318e-02 -3.95740885e+00] [-1.36287446e-01 6.27407373e-03 9.90649468e-01 -9.94314890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:-3.99, Z:-1.02 [[ 9.44737009e-01 3.01776771e-01 1.28073277e-01 1.09273821e+01] [-2.98156393e-01 9.53358222e-01 -4.70198534e-02 -3.98559681e+00] [-1.36289211e-01 6.23552950e-03 9.90649468e-01 -1.01872455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945779523 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:-4.02, Z:-1.02 [[ 9.41134875e-01 3.12834211e-01 1.28062110e-01 1.09798329e+01] [-3.09311045e-01 9.49796268e-01 -4.70502477e-02 -4.02132595e+00] [-1.36351841e-01 4.66960389e-03 9.90649469e-01 -1.02380875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:-4.05, Z:-1.02 [[ 9.33383324e-01 3.35259924e-01 1.28048250e-01 1.10373814e+01] [-3.31939808e-01 9.42124562e-01 -4.70879375e-02 -4.04663667e+00] [-1.36424100e-01 1.44678415e-03 9.90649470e-01 -1.02220932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:-4.06, Z:-1.04 [[ 9.33318318e-01 3.35446156e-01 1.28034346e-01 1.10949898e+01] [-3.32122603e-01 9.42058249e-01 -4.71257136e-02 -4.06394645e+00] [-1.36423951e-01 1.46019162e-03 9.90649470e-01 -1.03750494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125779523 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:-4.09, Z:-1.04 [[ 9.33095986e-01 3.36066690e-01 1.28027577e-01 1.11525065e+01] [-3.32746426e-01 9.41837167e-01 -4.71440948e-02 -4.08721050e+00] [-1.36424691e-01 1.38924678e-03 9.90649471e-01 -1.04303758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:-4.11, Z:-1.05 [[ 9.27511814e-01 3.51188997e-01 1.28016105e-01 1.12081247e+01] [-3.48006956e-01 9.36304254e-01 -4.71752277e-02 -4.11147762e+00] [-1.36429444e-01 -7.94913770e-04 9.90649471e-01 -1.04745951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:-4.13, Z:-1.07 [[ 9.24373303e-01 3.59370732e-01 1.28010444e-01 1.12666687e+01] [-3.56264379e-01 9.33192767e-01 -4.71905829e-02 -4.12808832e+00] [-1.36417335e-01 -1.98384631e-03 9.90649471e-01 -1.06530161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:-4.14, Z:-1.08 [[ 9.23889728e-01 3.60616866e-01 1.27997054e-01 1.13251794e+01] [-3.57517381e-01 9.32711609e-01 -4.72268726e-02 -4.14448433e+00] [-1.36415145e-01 -2.12874914e-03 9.90649472e-01 -1.08264416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-4.17, Z:-1.09 [[ 9.28888320e-01 3.47543102e-01 1.27985473e-01 1.13818369e+01] [-3.44315111e-01 9.37663993e-01 -4.72582387e-02 -4.16898803e+00] [-1.36431644e-01 -1.69706191e-04 9.90649473e-01 -1.08739159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:-4.19, Z:-1.09 [[ 9.30436694e-01 3.43377859e-01 1.27981264e-01 1.14390807e+01] [-3.40109015e-01 9.39197232e-01 -4.72696335e-02 -4.19115504e+00] [-1.36430994e-01 4.53819959e-04 9.90649473e-01 -1.09346656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485779523 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:-4.22, Z:-1.10 [[ 9.31413358e-01 3.40724504e-01 1.27968629e-01 1.14965809e+01] [-3.37426007e-01 9.40162773e-01 -4.73038151e-02 -4.21645682e+00] [-1.36428910e-01 8.79461837e-04 9.90649473e-01 -1.09661889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.55, Y:-4.24, Z:-1.10 [[ 9.29038488e-01 3.47152432e-01 1.27955760e-01 1.15543685e+01] [-3.43909681e-01 9.37808716e-01 -4.73386002e-02 -4.24155802e+00] [-1.36431737e-01 -2.58428638e-05 9.90649474e-01 -1.09897370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.61, Y:-4.26, Z:-1.11 [[ 9.27853260e-01 3.50312740e-01 1.27942614e-01 1.16141707e+01] [-3.47094964e-01 9.36632682e-01 -4.73741039e-02 -4.25680216e+00] [-1.36430985e-01 -4.52020141e-04 9.90649475e-01 -1.11159601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665779523 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:11.67, Y:-4.28, Z:-1.12 [[ 9.29104335e-01 3.46985793e-01 1.27929648e-01 1.16711184e+01] [-3.43731762e-01 9.37870382e-01 -4.74090904e-02 -4.27943980e+00] [-1.36431709e-01 7.45080779e-05 9.90649475e-01 -1.12440822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:11.73, Y:-4.31, Z:-1.13 [[ 9.29485002e-01 3.45969744e-01 1.27916254e-01 1.17286236e+01] [-3.42701160e-01 9.38245633e-01 -4.74452030e-02 -4.30683378e+00] [-1.36431471e-01 2.62555986e-04 9.90649476e-01 -1.12528917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-4.32, Z:-1.14 [[ 9.29299853e-01 3.46471679e-01 1.27902929e-01 1.17859322e+01] [-3.43202886e-01 9.38060405e-01 -4.74810986e-02 -4.32352743e+00] [-1.36431529e-01 2.27523665e-04 9.90649477e-01 -1.13738720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845779523000001 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:-4.34, Z:-1.16 [[ 9.30710927e-01 3.42667074e-01 1.27892324e-01 1.18441140e+01] [-3.39358548e-01 9.39456550e-01 -4.75096442e-02 -4.33655246e+00] [-1.36429273e-01 8.16391478e-04 9.90649477e-01 -1.16179321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:-4.36, Z:-1.16 [[ 9.32542953e-01 3.37653806e-01 1.27880994e-01 1.19007517e+01] [-3.34294087e-01 9.41269037e-01 -4.75401232e-02 -4.36456099e+00] [-1.36422523e-01 1.58334683e-03 9.90649478e-01 -1.16121512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965779523 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:-4.39, Z:-1.16 [[ 9.40301035e-01 3.15409836e-01 1.27869458e-01 1.19590167e+01] [-3.11839601e-01 9.48943123e-01 -4.75711322e-02 -4.38998275e+00] [-1.36345245e-01 4.85642423e-03 9.90649478e-01 -1.15750192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:-4.40, Z:-1.17 [[ 9.46118634e-01 2.97509488e-01 1.27857871e-01 1.20194824e+01] [-2.93771709e-01 9.54689587e-01 -4.76022540e-02 -4.40386726e+00] [-1.36226700e-01 7.47635427e-03 9.90649479e-01 -1.16928031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:-4.43, Z:-1.17 [[ 9.49602797e-01 2.86199684e-01 1.27844704e-01 1.20774714e+01] [-2.82355173e-01 9.58126409e-01 -4.76375914e-02 -4.42879346e+00] [-1.36125250e-01 9.13917661e-03 9.90649480e-01 -1.17464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:-4.45, Z:-1.18 [[ 9.46790727e-01 2.95375102e-01 1.27831408e-01 1.21374030e+01] [-2.91608454e-01 9.55349031e-01 -4.76732428e-02 -4.44863017e+00] [-1.36205101e-01 7.85986501e-03 9.90649480e-01 -1.17807638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:-4.46, Z:-1.20 [[ 9.44850235e-01 3.01530378e-01 1.27818096e-01 1.22001011e+01] [-2.97814694e-01 9.53430788e-01 -4.77089078e-02 -4.45648987e+00] [-1.36251393e-01 7.01166557e-03 9.90649481e-01 -1.19547891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:-4.48, Z:-1.21 [[ 9.43262007e-01 3.06468080e-01 1.27804937e-01 1.22592053e+01] [-3.02792565e-01 9.51859843e-01 -4.77441336e-02 -4.47534991e+00] [-1.36284440e-01 6.33684271e-03 9.90649482e-01 -1.20798704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-4.51, Z:-1.21 [[ 9.42955451e-01 3.07415680e-01 1.27791305e-01 1.23135228e+01] [-3.03743876e-01 9.51554871e-01 -4.77805916e-02 -4.50909233e+00] [-1.36288942e-01 6.23914282e-03 9.90649483e-01 -1.20663016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:-4.52, Z:-1.23 [[ 9.41095903e-01 3.13067256e-01 1.27778693e-01 1.23753129e+01] [-3.09442541e-01 9.49715277e-01 -4.78142976e-02 -4.51739461e+00] [-1.36322467e-01 5.45767630e-03 9.90649483e-01 -1.22643865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:-4.53, Z:-1.24 [[ 9.37293801e-01 3.24278129e-01 1.27765509e-01 1.24349909e+01] [-3.20751761e-01 9.45953875e-01 -4.78495003e-02 -4.53373812e+00] [-1.36376825e-01 3.86802803e-03 9.90649484e-01 -1.23836962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505779523 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:-4.57, Z:-1.23 [[ 9.32343844e-01 3.38251790e-01 1.27752427e-01 1.24907178e+01] [-3.34850478e-01 9.41053793e-01 -4.78844015e-02 -4.57018944e+00] [-1.36418891e-01 1.86676560e-03 9.90649485e-01 -1.22971660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565779523 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:-4.59, Z:-1.24 [[ 9.30570339e-01 3.43105674e-01 1.27739350e-01 1.25501551e+01] [-3.39745010e-01 9.39296051e-01 -4.79192623e-02 -4.58897155e+00] [-1.36426438e-01 1.19343732e-03 9.90649485e-01 -1.23862901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:-4.60, Z:-1.27 [[ 9.29761447e-01 3.45296600e-01 1.27725919e-01 1.26061485e+01] [-3.41951584e-01 9.38493169e-01 -4.79550345e-02 -4.60377443e+00] [-1.36428613e-01 9.10661874e-04 9.90649486e-01 -1.26577123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-4.65, Z:-1.27 [[ 9.30888492e-01 3.42249009e-01 1.27719344e-01 1.26575002e+01] [-3.38873006e-01 9.39608281e-01 -4.79725408e-02 -4.64538284e+00] [-1.36424708e-01 1.37644822e-03 9.90649486e-01 -1.26747285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:-4.68, Z:-1.27 [[ 9.32700273e-01 3.37284648e-01 1.27707743e-01 1.27129245e+01] [-3.33858012e-01 9.41400288e-01 -4.80034026e-02 -4.67800898e+00] [-1.36414917e-01 2.13653336e-03 9.90649487e-01 -1.26776049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-4.69, Z:-1.29 [[ 9.34336345e-01 3.32730619e-01 1.27694674e-01 1.27740129e+01] [-3.29256836e-01 9.43017642e-01 -4.80381450e-02 -4.68958597e+00] [-1.36402092e-01 2.83944062e-03 9.90649487e-01 -1.28556741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:-4.71, Z:-1.30 [[ 9.34608350e-01 3.31970857e-01 1.27681568e-01 1.28319297e+01] [-3.28485263e-01 9.43284911e-01 -4.80729534e-02 -4.71120665e+00] [-1.36398916e-01 2.98787005e-03 9.90649488e-01 -1.29711823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:-4.74, Z:-1.30 [[ 9.33117955e-01 3.36142304e-01 1.27668453e-01 1.28894649e+01] [-3.32690742e-01 9.41808109e-01 -4.81077581e-02 -4.73940555e+00] [-1.36410237e-01 2.41610046e-03 9.90649489e-01 -1.29780354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:-4.76, Z:-1.31 [[ 9.32566240e-01 3.37674832e-01 1.27655455e-01 1.29477282e+01] [-3.34232835e-01 9.41260186e-01 -4.81422238e-02 -4.75886937e+00] [-1.36413415e-01 2.22916786e-03 9.90649489e-01 -1.30974354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:-4.78, Z:-1.33 [[ 9.32409411e-01 3.38112021e-01 1.27643844e-01 1.30058920e+01] [-3.34669889e-01 9.41103304e-01 -4.81729897e-02 -4.77703630e+00] [-1.36413911e-01 2.19839772e-03 9.90649490e-01 -1.32555792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-4.80, Z:-1.33 [[ 9.32876916e-01 3.36824340e-01 1.27632378e-01 1.30631746e+01] [-3.33366056e-01 9.41564395e-01 -4.82033508e-02 -4.80012548e+00] [-1.36410164e-01 2.41949076e-03 9.90649491e-01 -1.32676918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-4.82, Z:-1.34 [[ 9.33120927e-01 3.36151739e-01 1.27621874e-01 1.31195924e+01] [-3.32683393e-01 9.41804394e-01 -4.82311442e-02 -4.81879758e+00] [-1.36407825e-01 2.54781186e-03 9.90649491e-01 -1.34189031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-4.84, Z:-1.36 [[ 9.31524654e-01 3.40554119e-01 1.27611561e-01 1.31759084e+01] [-3.37123078e-01 9.40222929e-01 -4.82584167e-02 -4.83599526e+00] [-1.36417918e-01 1.93310281e-03 9.90649491e-01 -1.36373751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:-4.86, Z:-1.37 [[ 9.30067668e-01 3.44516394e-01 1.27603243e-01 1.32322934e+01] [-3.41119396e-01 9.38779293e-01 -4.82804007e-02 -4.85715481e+00] [-1.36424672e-01 1.37609859e-03 9.90649492e-01 -1.37246527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:-4.89, Z:-1.36 [[ 9.28419562e-01 3.48937152e-01 1.27593029e-01 1.32894950e+01] [-3.45577929e-01 9.37145822e-01 -4.83073776e-02 -4.88521756e+00] [-1.36429513e-01 7.56179526e-04 9.90649492e-01 -1.36141035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:-4.92, Z:-1.35 [[ 9.31596357e-01 3.40368516e-01 1.27583308e-01 1.33455279e+01] [-3.36925524e-01 9.40289907e-01 -4.83330400e-02 -4.91818066e+00] [-1.36416341e-01 2.04081133e-03 9.90649492e-01 -1.35499432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.40, Y:-4.94, Z:-1.37 [[ 9.31895382e-01 3.39553556e-01 1.27571075e-01 1.34037263e+01] [-3.36098545e-01 9.40584162e-01 -4.83653064e-02 -4.93728676e+00] [-1.36413944e-01 2.19495312e-03 9.90649493e-01 -1.36775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.46, Y:-4.95, Z:-1.39 [[ 9.28101032e-01 3.49795626e-01 1.27559766e-01 1.34624744e+01] [-3.46432416e-01 9.36825755e-01 -4.83951135e-02 -4.95239850e+00] [-1.36429673e-01 7.24716841e-04 9.90649494e-01 -1.38988873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.52, Y:-4.98, Z:-1.40 [[ 9.26292127e-01 3.54562678e-01 1.27546863e-01 1.35207934e+01] [-3.51239688e-01 9.35032248e-01 -4.84290963e-02 -4.97582244e+00] [-1.36431580e-01 5.99701465e-05 9.90649494e-01 -1.39870520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-5.00, Z:-1.41 [[ 9.26805617e-01 3.53220295e-01 1.27541253e-01 1.35784643e+01] [-3.49882614e-01 9.35540137e-01 -4.84438657e-02 -4.99808632e+00] [-1.36431318e-01 2.73579684e-04 9.90649494e-01 -1.40522195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-5.02, Z:-1.41 [[ 9.27960248e-01 3.50179936e-01 1.27529570e-01 1.36361089e+01] [-3.46809413e-01 9.36682146e-01 -4.84746041e-02 -5.02323952e+00] [-1.36429505e-01 7.54050397e-04 9.90649495e-01 -1.41081878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:-5.05, Z:-1.42 [[ 9.30656263e-01 3.42955696e-01 1.27515922e-01 1.36922227e+01] [-3.39512559e-01 9.39349752e-01 -4.85104775e-02 -5.04560226e+00] [-1.36418995e-01 1.85332262e-03 9.90649496e-01 -1.42287061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:-5.06, Z:-1.44 [[ 9.32885847e-01 3.36847844e-01 1.27505003e-01 1.37511247e+01] [-3.33343877e-01 9.41554996e-01 -4.85391603e-02 -5.06434383e+00] [-1.36403284e-01 2.77848357e-03 9.90649496e-01 -1.43566259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:-5.08, Z:-1.44 [[ 9.35235937e-01 3.30271984e-01 1.27491796e-01 1.38093204e+01] [-3.26702351e-01 9.43878254e-01 -4.85738254e-02 -5.08441500e+00] [-1.36379308e-01 3.77611759e-03 9.90649497e-01 -1.44440525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:-5.10, Z:-1.45 [[ 9.37331951e-01 3.24280225e-01 1.27479999e-01 1.38684871e+01] [-3.20651156e-01 9.45949477e-01 -4.86047670e-02 -5.10089641e+00] [-1.36351203e-01 4.68219204e-03 9.90649497e-01 -1.45203888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:-5.12, Z:-1.46 [[ 9.38782030e-01 3.20062701e-01 1.27468297e-01 1.39274165e+01] [-3.16390767e-01 9.47381379e-01 -4.86354374e-02 -5.12003556e+00] [-1.36327480e-01 5.32828247e-03 9.90649498e-01 -1.46128250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:-5.15, Z:-1.46 [[ 9.41002776e-01 3.13478831e-01 1.27455083e-01 1.39823562e+01] [-3.09742074e-01 9.49574154e-01 -4.86700420e-02 -5.15415301e+00] [-1.36285080e-01 6.32044291e-03 9.90649498e-01 -1.45738822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:-5.17, Z:-1.46 [[ 9.42186461e-01 3.09907705e-01 1.27443660e-01 1.40413318e+01] [-3.06134435e-01 9.50741828e-01 -4.86999352e-02 -5.17482700e+00] [-1.36258503e-01 6.86952680e-03 9.90649499e-01 -1.46411069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.10, Y:-5.18, Z:-1.49 [[ 9.42893030e-01 3.07756813e-01 1.27430288e-01 1.41025451e+01] [-3.03959319e-01 9.51437671e-01 -4.87349005e-02 -5.18186617e+00] [-1.36240474e-01 7.21817457e-03 9.90649500e-01 -1.48545158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:-5.21, Z:-1.50 [[ 9.40663702e-01 3.14509630e-01 1.27418575e-01 1.41572944e+01] [-3.10769364e-01 9.49233548e-01 -4.87655060e-02 -5.20760529e+00] [-1.36287207e-01 6.27415199e-03 9.90649500e-01 -1.50059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:-5.23, Z:-1.50 [[ 9.36674370e-01 3.26203421e-01 1.27406645e-01 1.42143499e+01] [-3.22565972e-01 9.45288358e-01 -4.87966545e-02 -5.23394279e+00] [-1.36353654e-01 4.60952743e-03 9.90649501e-01 -1.49945545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.27, Y:-5.25, Z:-1.50 [[ 9.32939814e-01 3.36740357e-01 1.27394016e-01 1.42744565e+01] [-3.33195734e-01 9.41592413e-01 -4.88296013e-02 -5.25070537e+00] [-1.36396137e-01 3.10793630e-03 9.90649501e-01 -1.50002317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:-5.27, Z:-1.51 [[ 9.29583542e-01 3.45902075e-01 1.27382074e-01 1.43355922e+01] [-3.42438479e-01 9.38268893e-01 -4.88607370e-02 -5.26534413e+00] [-1.36419668e-01 1.79961340e-03 9.90649502e-01 -1.51066025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:-5.29, Z:-1.53 [[ 9.28177427e-01 3.49662731e-01 1.27368120e-01 1.43915590e+01] [-3.46229340e-01 9.36874762e-01 -4.88970832e-02 -5.29120218e+00] [-1.36425465e-01 1.28658864e-03 9.90649503e-01 -1.52505847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:-5.32, Z:-1.55 [[ 9.25573150e-01 3.56504174e-01 1.27354303e-01 1.44438948e+01] [-3.53130124e-01 9.34293676e-01 -4.89330460e-02 -5.31629073e+00] [-1.36431155e-01 3.18472896e-04 9.90649503e-01 -1.54543570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605779523 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:-5.35, Z:-1.55 [[ 9.24510706e-01 3.59253010e-01 1.27346883e-01 1.44979613e+01] [-3.55902230e-01 9.33240200e-01 -4.89523467e-02 -5.34553469e+00] [-1.36431509e-01 -6.60711976e-05 9.90649504e-01 -1.54901492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:-5.37, Z:-1.55 [[ 9.24722245e-01 3.58711997e-01 1.27336066e-01 1.45558148e+01] [-3.55352236e-01 9.33448285e-01 -4.89804701e-02 -5.37068425e+00] [-1.36431514e-01 4.41745996e-05 9.90649504e-01 -1.54534859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-5.39, Z:-1.56 [[ 9.25355720e-01 3.57076866e-01 1.27329895e-01 1.46140243e+01] [-3.53699481e-01 9.34074954e-01 -4.89965057e-02 -5.39203062e+00] [-1.36431185e-01 3.02679069e-04 9.90649504e-01 -1.55780164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:-5.42, Z:-1.57 [[ 9.21944887e-01 3.65798250e-01 1.27315614e-01 1.46687207e+01] [-3.62498222e-01 9.30693691e-01 -4.90335877e-02 -5.41813894e+00] [-1.36428239e-01 -9.45418115e-04 9.90649505e-01 -1.56969972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-5.45, Z:-1.57 [[ 9.22526886e-01 3.64332374e-01 1.27303050e-01 1.47256514e+01] [-3.61013945e-01 9.31268726e-01 -4.90661856e-02 -5.44715566e+00] [-1.36429749e-01 -6.93300775e-04 9.90649506e-01 -1.56626528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:-5.46, Z:-1.59 [[ 9.25962969e-01 3.55513701e-01 1.27289385e-01 1.47868421e+01] [-3.52107146e-01 9.34670846e-01 -4.91016096e-02 -5.45828086e+00] [-1.36429972e-01 6.46770132e-04 9.90649506e-01 -1.58544354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:-5.47, Z:-1.60 [[ 9.29972531e-01 3.44894197e-01 1.27275627e-01 1.48456877e+01] [-3.41383340e-01 9.38638879e-01 -4.91372471e-02 -5.47255232e+00] [-1.36413003e-01 2.24651143e-03 9.90649507e-01 -1.59909153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.90, Y:-5.50, Z:-1.60 [[ 9.34500019e-01 3.32435595e-01 1.27264641e-01 1.49012869e+01] [-3.28805369e-01 9.43117047e-01 -4.91656838e-02 -5.50293583e+00] [-1.36369876e-01 4.10003524e-03 9.90649508e-01 -1.60173495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:-5.52, Z:-1.61 [[ 9.39337107e-01 3.18516918e-01 1.27250824e-01 1.49592337e+01] [-3.14754257e-01 9.47897135e-01 -4.92014177e-02 -5.52329801e+00] [-1.36292176e-01 6.16397869e-03 9.90649508e-01 -1.61045554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145779523 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:15.02, Y:-5.54, Z:-1.61 [[ 9.43183282e-01 3.06945544e-01 1.27238870e-01 1.50180331e+01] [-3.03073786e-01 9.51694520e-01 -4.92323142e-02 -5.54310521e+00] [-1.36204175e-01 7.87232978e-03 9.90649509e-01 -1.61496578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205779523 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:-5.57, Z:-1.62 [[ 9.44630599e-01 3.02467047e-01 1.27227032e-01 1.50761176e+01] [-2.98550851e-01 9.53121481e-01 -4.92628869e-02 -5.56824570e+00] [-1.36163217e-01 8.55149166e-03 9.90649509e-01 -1.61906639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265779523 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:-5.58, Z:-1.63 [[ 9.46682261e-01 2.95988924e-01 1.27213420e-01 1.51371995e+01] [-2.92009960e-01 9.55143910e-01 -4.92980122e-02 -5.57760252e+00] [-1.36098789e-01 9.52196790e-03 9.90649510e-01 -1.62955656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:-5.59, Z:-1.65 [[ 9.45332389e-01 3.00276853e-01 1.27202536e-01 1.51952988e+01] [-2.96332526e-01 9.53810239e-01 -4.93260812e-02 -5.59342582e+00] [-1.36138562e-01 8.93529352e-03 9.90649510e-01 -1.64766862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:-5.62, Z:-1.65 [[ 9.39228649e-01 3.18860692e-01 1.27190421e-01 1.52513823e+01] [-3.15080099e-01 9.47780770e-01 -4.93573007e-02 -5.61619623e+00] [-1.36286738e-01 6.28262042e-03 9.90649511e-01 -1.65265827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445779523 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:-5.63, Z:-1.66 [[ 9.35146178e-01 3.30646402e-01 1.27179336e-01 1.53118483e+01] [-3.26969775e-01 9.43743506e-01 -4.93858470e-02 -5.63302049e+00] [-1.36353925e-01 4.59918722e-03 9.90649511e-01 -1.65716665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:-5.65, Z:-1.67 [[ 9.32038592e-01 3.39308964e-01 1.27175036e-01 1.53715568e+01] [-3.35710756e-01 9.40669035e-01 -4.93969165e-02 -5.65225946e+00] [-1.36390435e-01 3.34580485e-03 9.90649512e-01 -1.66509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:-5.68, Z:-1.68 [[ 9.30498974e-01 3.43513743e-01 1.27161185e-01 1.54284599e+01] [-3.39949673e-01 9.39143569e-01 -4.94325479e-02 -5.67673216e+00] [-1.36403369e-01 2.76853182e-03 9.90649512e-01 -1.67637794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-5.70, Z:-1.69 [[ 9.29820170e-01 3.45352013e-01 1.27147309e-01 1.54830254e+01] [-3.41800158e-01 9.38469791e-01 -4.94682140e-02 -5.70446993e+00] [-1.36407856e-01 2.53757292e-03 9.90649513e-01 -1.68525745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:-5.73, Z:-1.71 [[ 9.29920991e-01 3.45084534e-01 1.27136206e-01 1.55385992e+01] [-3.41526293e-01 9.38567986e-01 -4.94967333e-02 -5.72527836e+00] [-1.36406530e-01 2.60769425e-03 9.90649513e-01 -1.70745936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:-5.75, Z:-1.71 [[ 9.31113621e-01 3.41857944e-01 1.27124237e-01 1.55954622e+01] [-3.38265549e-01 9.39746481e-01 -4.95274541e-02 -5.75173685e+00] [-1.36395908e-01 3.11393722e-03 9.90649514e-01 -1.70759482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805779522999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:-5.78, Z:-1.71 [[ 9.36158230e-01 3.27796035e-01 1.27112266e-01 1.56513604e+01] [-3.24069870e-01 9.44734200e-01 -4.95581587e-02 -5.78114375e+00] [-1.36332273e-01 5.20102260e-03 9.90649515e-01 -1.70510335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:-5.81, Z:-1.72 [[ 9.39205729e-01 3.18964197e-01 1.27100116e-01 1.57064864e+01] [-3.15153219e-01 9.47744348e-01 -4.95893010e-02 -5.80681250e+00] [-1.36275628e-01 6.51854487e-03 9.90649515e-01 -1.71934352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:-5.84, Z:-1.73 [[ 9.40710207e-01 3.14504416e-01 1.27087680e-01 1.57578000e+01] [-3.10648680e-01 9.49228708e-01 -4.96211504e-02 -5.83937892e+00] [-1.36241346e-01 7.19950253e-03 9.90649516e-01 -1.73111761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:-5.86, Z:-1.74 [[ 9.40597471e-01 3.14844247e-01 1.27080674e-01 1.58154354e+01] [-3.10989173e-01 9.49116271e-01 -4.96390886e-02 -5.85846860e+00] [-1.36242916e-01 7.16968763e-03 9.90649516e-01 -1.74192884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:-5.87, Z:-1.76 [[ 9.40354059e-01 3.15574984e-01 1.27069561e-01 1.58737943e+01] [-3.11722699e-01 9.48874120e-01 -4.96675187e-02 -5.87415332e+00] [-1.36246845e-01 7.09458624e-03 9.90649516e-01 -1.75691122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:15.93, Y:-5.91, Z:-1.76 [[ 9.37074894e-01 3.25187259e-01 1.27058609e-01 1.59280494e+01] [-3.21418629e-01 9.45632286e-01 -4.96955200e-02 -5.90639351e+00] [-1.36311073e-01 5.72942011e-03 9.90649517e-01 -1.76226754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:-5.93, Z:-1.77 [[ 9.30783907e-01 3.42783399e-01 1.27046681e-01 1.59859151e+01] [-3.39172496e-01 9.39409040e-01 -4.97259965e-02 -5.92807170e+00] [-1.36394047e-01 3.19341757e-03 9.90649517e-01 -1.76655048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:-5.94, Z:-1.78 [[ 9.27495391e-01 3.51588497e-01 1.27034753e-01 1.60463341e+01] [-3.48055321e-01 9.36152653e-01 -4.97564504e-02 -5.94297174e+00] [-1.36417717e-01 1.93375673e-03 9.90649518e-01 -1.77841241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:-5.97, Z:-1.78 [[ 9.25303738e-01 3.57321586e-01 1.27020771e-01 1.61033984e+01] [-3.53837157e-01 9.33980734e-01 -4.97921197e-02 -5.96686127e+00] [-1.36426752e-01 1.12816613e-03 9.90649519e-01 -1.78272617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:-6.00, Z:-1.78 [[ 9.25342498e-01 3.57225525e-01 1.27008603e-01 1.61585782e+01] [-3.53735938e-01 9.34017420e-01 -4.98231367e-02 -5.99764599e+00] [-1.36426344e-01 1.17595836e-03 9.90649519e-01 -1.78353867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:-6.02, Z:-1.80 [[ 9.25492300e-01 3.56841607e-01 1.26996339e-01 1.62161408e+01] [-3.53344134e-01 9.34164046e-01 -4.98543777e-02 -6.01926505e+00] [-1.36425530e-01 1.26643111e-03 9.90649520e-01 -1.79894789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:-6.05, Z:-1.80 [[ 9.23129497e-01 3.62915159e-01 1.26982360e-01 1.62716491e+01] [-3.59469848e-01 9.31822097e-01 -4.98899589e-02 -6.04903583e+00] [-1.36430791e-01 4.08563023e-04 9.90649520e-01 -1.80371148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:-6.07, Z:-1.81 [[ 9.19724831e-01 3.71460406e-01 1.26977958e-01 1.63275269e+01] [-3.68094309e-01 9.28448412e-01 -4.99011600e-02 -6.07148925e+00] [-1.36428789e-01 -8.44527812e-04 9.90649520e-01 -1.81280663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:-6.09, Z:-1.82 [[ 9.17846744e-01 3.76080861e-01 1.26966694e-01 1.63844664e+01] [-3.72754714e-01 9.26585634e-01 -4.99298025e-02 -6.09422020e+00] [-1.36423158e-01 -1.49952728e-03 9.90649521e-01 -1.82375827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:-6.11, Z:-1.84 [[ 9.20715307e-01 3.69006571e-01 1.26954616e-01 1.64436381e+01] [-3.65609042e-01 9.29426693e-01 -4.99604958e-02 -6.11089361e+00] [-1.36430760e-01 -4.16362235e-04 9.90649521e-01 -1.83619165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:-6.13, Z:-1.85 [[ 9.23798749e-01 3.61222267e-01 1.26942288e-01 1.65006069e+01] [-3.57747031e-01 9.32479427e-01 -4.99917998e-02 -6.13465649e+00] [-1.36429223e-01 7.69135614e-04 9.90649522e-01 -1.84514774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:-6.17, Z:-1.84 [[ 9.27553129e-01 3.51473991e-01 1.26930010e-01 1.65562399e+01] [-3.47903271e-01 9.36194968e-01 -5.00229554e-02 -6.16649310e+00] [-1.36413004e-01 2.23958324e-03 9.90649523e-01 -1.84115703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:-6.18, Z:-1.85 [[ 9.30193507e-01 3.44430106e-01 1.26917061e-01 1.66146783e+01] [-3.40789480e-01 9.38806129e-01 -5.00557863e-02 -6.18376787e+00] [-1.36391235e-01 3.30956817e-03 9.90649523e-01 -1.85261636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:-6.20, Z:-1.86 [[ 9.31771119e-01 3.40143624e-01 1.26905070e-01 1.66735345e+01] [-3.36459248e-01 9.40365115e-01 -5.00861697e-02 -6.20315722e+00] [-1.36373592e-01 3.97046214e-03 9.90649524e-01 -1.85884876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:-6.22, Z:-1.88 [[ 9.35425292e-01 3.29966280e-01 1.26892774e-01 1.67301367e+01] [-3.26184225e-01 9.43976752e-01 -5.01173024e-02 -6.22031237e+00] [-1.36320848e-01 5.49057123e-03 9.90649524e-01 -1.87590320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:-6.24, Z:-1.88 [[ 9.38128440e-01 3.22205059e-01 1.26881554e-01 1.67895817e+01] [-3.18348457e-01 9.46646539e-01 -5.01456905e-02 -6.23906145e+00] [-1.36269179e-01 6.65055141e-03 9.90649525e-01 -1.88137034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:-6.27, Z:-1.88 [[ 9.39471305e-01 3.18269716e-01 1.26878113e-01 1.68458904e+01] [-3.14376269e-01 9.47972625e-01 -5.01543968e-02 -6.26749395e+00] [-1.36239603e-01 7.23114890e-03 9.90649525e-01 -1.87616584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-6.29, Z:-1.88 [[ 9.39269046e-01 3.18870492e-01 1.26867128e-01 1.69036975e+01] [-3.14978743e-01 9.47771144e-01 -5.01821667e-02 -6.29083876e+00] [-1.36242616e-01 7.17410724e-03 9.90649525e-01 -1.88191137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-6.30, Z:-1.90 [[ 9.36771434e-01 3.26140422e-01 1.26853083e-01 1.69638525e+01] [-3.22309889e-01 9.45301287e-01 -5.02176475e-02 -6.30203016e+00] [-1.36292387e-01 6.15645461e-03 9.90649526e-01 -1.90193409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-6.32, Z:-1.92 [[ 9.34012105e-01 3.33965310e-01 1.26840686e-01 1.70213794e+01] [-3.30202022e-01 9.42571837e-01 -5.02489403e-02 -6.31917224e+00] [-1.36337861e-01 5.05006758e-03 9.90649527e-01 -1.91817399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-6.34, Z:-1.92 [[ 9.28980224e-01 3.47721242e-01 1.26829341e-01 1.70793970e+01] [-3.44080859e-01 9.37592944e-01 -5.02775577e-02 -6.34323321e+00] [-1.36396871e-01 3.06730796e-03 9.90649527e-01 -1.91767857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:-6.36, Z:-1.92 [[ 9.25754525e-01 3.56224557e-01 1.26817287e-01 1.71388419e+01] [-3.52659136e-01 9.34398547e-01 -5.03079463e-02 -6.36090090e+00] [-1.36418814e-01 1.84953422e-03 9.90649528e-01 -1.92057063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:-6.39, Z:-1.93 [[ 9.22750140e-01 3.63940072e-01 1.26806165e-01 1.71927915e+01] [-3.60443082e-01 9.31422071e-01 -5.03359639e-02 -6.38775009e+00] [-1.36429335e-01 7.41112756e-04 9.90649528e-01 -1.93363619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485779523 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:-6.41, Z:-1.95 [[ 9.21360239e-01 3.67448353e-01 1.26795179e-01 1.72479150e+01] [-3.63980577e-01 9.30043894e-01 -5.03636232e-02 -6.41378971e+00] [-1.36431112e-01 2.52057620e-04 9.90649528e-01 -1.94623852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:-6.43, Z:-1.95 [[ 9.16538812e-01 3.79318542e-01 1.26783477e-01 1.73077486e+01] [-3.75959148e-01 9.25264967e-01 -5.03930630e-02 -6.42933933e+00] [-1.36423333e-01 -1.47820998e-03 9.90649529e-01 -1.95496676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.36, Y:-6.46, Z:-1.96 [[ 9.14286550e-01 3.84719482e-01 1.26771549e-01 1.73621905e+01] [-3.81407473e-01 9.23030799e-01 -5.04230522e-02 -6.45829594e+00] [-1.36412775e-01 -2.25049774e-03 9.90649529e-01 -1.96009966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.42, Y:-6.49, Z:-1.97 [[ 9.13817946e-01 3.85835380e-01 1.26758907e-01 1.74164472e+01] [-3.82529644e-01 9.22564569e-01 -5.04548131e-02 -6.48958999e+00] [-1.36410528e-01 -2.38252592e-03 9.90649530e-01 -1.96767129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:-6.52, Z:-1.99 [[ 9.16046274e-01 3.80519353e-01 1.26744804e-01 1.74688539e+01] [-3.77157955e-01 9.24771656e-01 -5.04902168e-02 -6.51625750e+00] [-1.36422507e-01 -1.55143597e-03 9.90649531e-01 -1.98748606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-6.54, Z:-2.00 [[ 9.16752946e-01 3.78817429e-01 1.26733543e-01 1.75248104e+01] [-3.75435927e-01 9.25470556e-01 -5.05184671e-02 -6.54036520e+00] [-1.36425438e-01 -1.26737157e-03 9.90649531e-01 -1.99952736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-6.57, Z:-1.99 [[ 9.20798535e-01 3.68878666e-01 1.26722486e-01 1.75809355e+01] [-3.65399248e-01 9.29477527e-01 -5.05461875e-02 -6.57249944e+00] [-1.36431113e-01 2.38554411e-04 9.90649532e-01 -1.98837030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-6.58, Z:-2.01 [[ 9.23328570e-01 3.62503520e-01 1.26710493e-01 1.76413953e+01] [-3.58960056e-01 9.31981611e-01 -5.05762328e-02 -6.57888834e+00] [-1.36425912e-01 1.21447484e-03 9.90649532e-01 -2.00989582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:-6.60, Z:-2.03 [[ 9.24653853e-01 3.59111902e-01 1.26703960e-01 1.76984705e+01] [-3.55534458e-01 9.33292901e-01 -5.05925963e-02 -6.60024181e+00] [-1.36420309e-01 1.73301561e-03 9.90649532e-01 -2.02565239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:-6.63, Z:-2.02 [[ 9.26768364e-01 3.53624121e-01 1.26690100e-01 1.77528124e+01] [-3.49990787e-01 9.35384054e-01 -5.06272798e-02 -6.63445010e+00] [-1.36406926e-01 2.57939368e-03 9.90649533e-01 -2.02220245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:-6.65, Z:-2.02 [[ 9.30575860e-01 3.43483932e-01 1.26678164e-01 1.78145405e+01] [-3.39752683e-01 9.39149599e-01 -5.06571261e-02 -6.64980722e+00] [-1.36369656e-01 4.10105248e-03 9.90649533e-01 -2.02281387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145779522999998 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:-6.66, Z:-2.04 [[ 9.31820429e-01 3.40098241e-01 1.26664416e-01 1.78756745e+01] [-3.36331181e-01 9.40378493e-01 -5.06914799e-02 -6.66180151e+00] [-1.36352576e-01 4.63416397e-03 9.90649534e-01 -2.03998139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:-6.70, Z:-2.04 [[ 9.32500146e-01 3.38235248e-01 1.26650682e-01 1.79286070e+01] [-3.34446440e-01 9.41048604e-01 -5.07257699e-02 -6.69684297e+00] [-1.36341691e-01 4.94391795e-03 9.90649535e-01 -2.04277765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:-6.71, Z:-2.06 [[ 9.35739501e-01 3.29172103e-01 1.26638512e-01 1.79886285e+01] [-3.25296436e-01 9.44248931e-01 -5.07561353e-02 -6.71034603e+00] [-1.36285784e-01 6.29946402e-03 9.90649535e-01 -2.05918884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:-6.73, Z:-2.08 [[ 9.35278913e-01 3.30483725e-01 1.26624892e-01 1.80469796e+01] [-3.26615406e-01 9.43791684e-01 -5.07900917e-02 -6.72665176e+00] [-1.36292819e-01 6.14526117e-03 9.90649536e-01 -2.07594202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:-6.76, Z:-2.08 [[ 9.29770479e-01 3.45682492e-01 1.26611501e-01 1.81018275e+01] [-3.41948884e-01 9.38343187e-01 -5.08234532e-02 -6.75676517e+00] [-1.36373817e-01 3.95948509e-03 9.90649537e-01 -2.08006300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:-6.78, Z:-2.08 [[ 9.24582290e-01 3.59332982e-01 1.26599354e-01 1.81609424e+01] [-3.55721845e-01 9.33207303e-01 -5.08536916e-02 -6.77680205e+00] [-1.36416851e-01 1.98426675e-03 9.90649537e-01 -2.08353990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:-6.79, Z:-2.09 [[ 9.19716112e-01 3.71615344e-01 1.26587161e-01 1.82215310e+01] [-3.68115227e-01 9.28386771e-01 -5.08840251e-02 -6.79439847e+00] [-1.36431130e-01 2.00196191e-04 9.90649538e-01 -2.08558092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:-6.83, Z:-2.10 [[ 9.19585192e-01 3.71943932e-01 1.26573241e-01 1.82751869e+01] [-3.68442150e-01 9.28255178e-01 -5.09186287e-02 -6.82515018e+00] [-1.36431141e-01 1.89100025e-04 9.90649538e-01 -2.09834558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:-6.86, Z:-2.11 [[ 9.20218376e-01 3.70379368e-01 1.26559329e-01 1.83284222e+01] [-3.66858092e-01 9.28880463e-01 -5.09531838e-02 -6.85547902e+00] [-1.36430496e-01 4.58742240e-04 9.90649539e-01 -2.11249752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-6.87, Z:-2.13 [[ 9.20431100e-01 3.69854629e-01 1.26547003e-01 1.83874456e+01] [-3.66324209e-01 9.29089462e-01 -5.09837786e-02 -6.86535622e+00] [-1.36430073e-01 5.69824747e-04 9.90649540e-01 -2.13350109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:-6.90, Z:-2.14 [[ 9.19355914e-01 3.72523036e-01 1.26535734e-01 1.84435234e+01] [-3.69013898e-01 9.28022923e-01 -5.10117308e-02 -6.89526267e+00] [-1.36431107e-01 2.04491830e-04 9.90649540e-01 -2.13575584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.49, Y:-6.94, Z:-2.12 [[ 9.17569422e-01 3.76906642e-01 1.26521695e-01 1.84933103e+01] [-3.73434112e-01 9.26251162e-01 -5.10465288e-02 -6.94495451e+00] [-1.36430642e-01 -4.08782759e-04 9.90649541e-01 -2.12043917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:-6.95, Z:-2.15 [[ 9.18389150e-01 3.74909215e-01 1.26508691e-01 1.85552180e+01] [-3.71413366e-01 9.27061527e-01 -5.10787350e-02 -6.95109831e+00] [-1.36431229e-01 -7.68627102e-05 9.90649541e-01 -2.14567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.61, Y:-6.97, Z:-2.16 [[ 9.21300052e-01 3.67702828e-01 1.26494441e-01 1.86124015e+01] [-3.64134302e-01 9.29942777e-01 -5.11140012e-02 -6.97158238e+00] [-1.36427354e-01 1.03036695e-03 9.90649542e-01 -2.16312730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.67, Y:-7.00, Z:-2.16 [[ 9.25254515e-01 3.57640598e-01 1.26480377e-01 1.86692010e+01] [-3.53973343e-01 9.33855811e-01 -5.11487795e-02 -6.99951991e+00] [-1.36407315e-01 2.55495752e-03 9.90649543e-01 -2.16466496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.73, Y:-7.03, Z:-2.16 [[ 9.28808857e-01 3.48310838e-01 1.26466073e-01 1.87263770e+01] [-3.44552399e-01 9.37370700e-01 -5.11841225e-02 -7.02808048e+00] [-1.36373576e-01 3.96607760e-03 9.90649544e-01 -2.16438380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:-7.05, Z:-2.17 [[ 9.30199607e-01 3.44584766e-01 1.26451689e-01 1.87844209e+01] [-3.40787214e-01 9.38744174e-01 -5.12196319e-02 -7.05178890e+00] [-1.36355292e-01 4.55136255e-03 9.90649544e-01 -2.17141154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:-7.07, Z:-2.18 [[ 9.34902494e-01 3.31618674e-01 1.26437267e-01 1.88434566e+01] [-3.27697892e-01 9.43391220e-01 -5.12552106e-02 -7.06902286e+00] [-1.36276992e-01 6.48539843e-03 9.90649545e-01 -2.18095690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:-7.08, Z:-2.20 [[ 9.38460375e-01 3.21417346e-01 1.26423950e-01 1.89024746e+01] [-3.17399945e-01 9.46903803e-01 -5.12880350e-02 -7.08060747e+00] [-1.36196184e-01 8.00483368e-03 9.90649546e-01 -2.20174146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:-7.10, Z:-2.21 [[ 9.38882593e-01 3.20186375e-01 1.26412668e-01 1.89602388e+01] [-3.16154178e-01 9.47318965e-01 -5.13158282e-02 -7.09963097e+00] [-1.36183747e-01 8.21364464e-03 9.90649546e-01 -2.21324606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:-7.13, Z:-2.20 [[ 9.38934577e-01 3.20038558e-01 1.26400876e-01 1.90164458e+01] [-3.16001141e-01 9.47368452e-01 -5.13448572e-02 -7.13250112e+00] [-1.36180537e-01 8.26664053e-03 9.90649547e-01 -2.20298649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:-7.15, Z:-2.21 [[ 9.37913754e-01 3.23022882e-01 1.26388319e-01 1.90785751e+01] [-3.19008160e-01 9.46358455e-01 -5.13757500e-02 -7.14809488e+00] [-1.36204197e-01 7.86711741e-03 9.90649547e-01 -2.20675632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:-7.15, Z:-2.23 [[ 9.33946009e-01 3.34326843e-01 1.26374105e-01 1.91408498e+01] [-3.30409687e-01 9.42436406e-01 -5.14106892e-02 -7.15253062e+00] [-1.36287531e-01 6.25957945e-03 9.90649548e-01 -2.23295481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.20, Y:-7.18, Z:-2.24 [[ 9.29914066e-01 3.45387802e-01 1.26360972e-01 1.91956351e+01] [-3.41567313e-01 9.38448397e-01 -5.14429479e-02 -7.18146681e+00] [-1.36351019e-01 4.67674311e-03 9.90649548e-01 -2.24261427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:-7.21, Z:-2.24 [[ 9.24808597e-01 3.58838386e-01 1.26349008e-01 1.92530106e+01] [-3.55138064e-01 9.33395712e-01 -5.14723176e-02 -7.20795305e+00] [-1.36403866e-01 2.73069977e-03 9.90649549e-01 -2.24353126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:-7.21, Z:-2.26 [[ 9.21137277e-01 3.68161883e-01 1.26344546e-01 1.93175608e+01] [-3.64546989e-01 9.29760704e-01 -5.14832670e-02 -7.20825833e+00] [-1.36424371e-01 1.36463253e-03 9.90649549e-01 -2.26160259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:-7.24, Z:-2.26 [[ 9.20122618e-01 3.70694672e-01 1.26332213e-01 1.93727050e+01] [-3.67099364e-01 9.28754227e-01 -5.15135133e-02 -7.24128151e+00] [-1.36427362e-01 1.02227361e-03 9.90649549e-01 -2.26266970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:-7.29, Z:-2.26 [[ 9.22053172e-01 3.65871140e-01 1.26318079e-01 1.94219278e+01] [-3.62225935e-01 9.30663828e-01 -5.15481486e-02 -7.28521427e+00] [-1.36419647e-01 1.77444968e-03 9.90649550e-01 -2.26263701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:-7.30, Z:-2.28 [[ 9.22702686e-01 3.64232399e-01 1.26311177e-01 1.94802502e+01] [-3.60569587e-01 9.31305867e-01 -5.15650558e-02 -7.30493233e+00] [-1.36416004e-01 2.03524651e-03 9.90649550e-01 -2.27642371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:-7.32, Z:-2.30 [[ 9.18644764e-01 3.74354036e-01 1.26296690e-01 1.95396913e+01] [-3.70781150e-01 9.27285677e-01 -5.16005131e-02 -7.31781053e+00] [-1.36429972e-01 5.74109061e-04 9.90649551e-01 -2.29836667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-7.35, Z:-2.30 [[ 9.14961413e-01 3.83272928e-01 1.26283313e-01 1.95948990e+01] [-3.79779754e-01 9.23634856e-01 -5.16332303e-02 -7.34843968e+00] [-1.36429289e-01 -7.17432360e-04 9.90649552e-01 -2.30459962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005779523 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:-7.39, Z:-2.31 [[ 9.15732087e-01 3.81432799e-01 1.26268621e-01 1.96431196e+01] [-3.77917244e-01 9.24396483e-01 -5.16691351e-02 -7.38911458e+00] [-1.36430572e-01 -4.04004507e-04 9.90649552e-01 -2.31496844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:-7.42, Z:-2.32 [[ 9.19663468e-01 3.71857608e-01 1.26257772e-01 1.96982962e+01] [-3.68248206e-01 9.28289190e-01 -5.16956328e-02 -7.41790434e+00] [-1.36427139e-01 1.04838694e-03 9.90649553e-01 -2.31619385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:-7.44, Z:-2.32 [[ 9.22928661e-01 3.63682019e-01 1.26246093e-01 1.97566230e+01] [-3.59992318e-01 9.31520340e-01 -5.17241386e-02 -7.43888342e+00] [-1.36411943e-01 2.29006639e-03 9.90649553e-01 -2.31790697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:-7.46, Z:-2.33 [[ 9.22341292e-01 3.65173111e-01 1.26234469e-01 1.98137833e+01] [-3.61493420e-01 9.30937263e-01 -5.17524927e-02 -7.46256434e+00] [-1.36414989e-01 2.10053122e-03 9.90649554e-01 -2.33161786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:-7.49, Z:-2.34 [[ 9.18720598e-01 3.74193810e-01 1.26219871e-01 1.98684614e+01] [-3.70593642e-01 9.27350176e-01 -5.17880702e-02 -7.48866150e+00] [-1.36428795e-01 8.02485046e-04 9.90649555e-01 -2.34348642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.93, Y:-7.51, Z:-2.35 [[ 9.18552789e-01 3.74609783e-01 1.26207308e-01 1.99264572e+01] [-3.71009319e-01 9.27182243e-01 -5.18186695e-02 -7.51335203e+00] [-1.36428955e-01 7.74096060e-04 9.90649555e-01 -2.34883376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:-7.52, Z:-2.36 [[ 9.24490148e-01 3.59712773e-01 1.26193058e-01 1.99886286e+01] [-3.55968555e-01 9.33058207e-01 -5.18533485e-02 -7.52404000e+00] [-1.36397780e-01 3.01714928e-03 9.90649556e-01 -2.35613092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:-7.55, Z:-2.37 [[ 9.28215025e-01 3.49993352e-01 1.26180506e-01 2.00431880e+01] [-3.46155301e-01 9.36741464e-01 -5.18838745e-02 -7.55125090e+00] [-1.36357523e-01 4.48134078e-03 9.90649556e-01 -2.36959549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:-7.58, Z:-2.37 [[ 9.29181046e-01 3.47425402e-01 1.26167247e-01 2.01000203e+01] [-3.43559420e-01 9.37694856e-01 -5.19160983e-02 -7.57934402e+00] [-1.36343350e-01 4.89350834e-03 9.90649557e-01 -2.37241064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:-7.60, Z:-2.39 [[ 9.28664430e-01 3.48809120e-01 1.26152977e-01 2.01589638e+01] [-3.44951124e-01 9.37181862e-01 -5.19507498e-02 -7.59778615e+00] [-1.36349177e-01 4.72820229e-03 9.90649558e-01 -2.38501459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:-7.62, Z:-2.39 [[ 9.26501118e-01 3.54520426e-01 1.26138598e-01 2.02188047e+01] [-3.50710199e-01 9.35040025e-01 -5.19856407e-02 -7.61538220e+00] [-1.36374609e-01 3.92666152e-03 9.90649558e-01 -2.39297793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:-7.64, Z:-2.41 [[ 9.23167359e-01 3.63118102e-01 1.26124032e-01 2.02749886e+01] [-3.59382597e-01 9.31739217e-01 -5.20209557e-02 -7.64170707e+00] [-1.36404457e-01 2.69726625e-03 9.90649559e-01 -2.40693151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.33, Y:-7.67, Z:-2.42 [[ 9.20977202e-01 3.68642668e-01 1.26109387e-01 2.03320980e+01] [-3.64953731e-01 9.29569203e-01 -5.20564335e-02 -7.66564282e+00] [-1.36417625e-01 1.91869717e-03 9.90649560e-01 -2.41902747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:-7.69, Z:-2.42 [[ 9.18178120e-01 3.75564971e-01 1.26094771e-01 2.03885651e+01] [-3.71935957e-01 9.26795601e-01 -5.20918129e-02 -7.69347635e+00] [-1.36427940e-01 9.30383407e-04 9.90649560e-01 -2.42104727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:-7.71, Z:-2.43 [[ 9.14357640e-01 3.84777698e-01 1.26080249e-01 2.04478883e+01] [-3.81230668e-01 9.23009188e-01 -5.21269382e-02 -7.71290573e+00] [-1.36430512e-01 -4.02993401e-04 9.90649561e-01 -2.42530811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:-7.73, Z:-2.44 [[ 9.14060014e-01 3.85488582e-01 1.26066823e-01 2.05057287e+01] [-3.81943804e-01 9.22712484e-01 -5.21593898e-02 -7.73431383e+00] [-1.36430280e-01 -4.73629239e-04 9.90649562e-01 -2.43535465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-7.76, Z:-2.44 [[ 9.13795659e-01 3.86118888e-01 1.26054349e-01 2.05621025e+01] [-3.82575922e-01 9.22448870e-01 -5.21895176e-02 -7.76162183e+00] [-1.36430050e-01 -5.34804205e-04 9.90649562e-01 -2.44357113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.61, Y:-7.80, Z:-2.45 [[ 9.14486607e-01 3.84484258e-01 1.26040075e-01 2.06145207e+01] [-3.80921075e-01 9.23131514e-01 -5.22239672e-02 -7.79637753e+00] [-1.36430859e-01 -2.53202341e-04 9.90649563e-01 -2.45147095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.67, Y:-7.82, Z:-2.46 [[ 9.13835497e-01 3.86033290e-01 1.26027709e-01 2.06726229e+01] [-3.82480648e-01 9.22484740e-01 -5.22537931e-02 -7.81894681e+00] [-1.36430342e-01 -4.51788736e-04 9.90649564e-01 -2.46162633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145779522999998 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:-7.83, Z:-2.49 [[ 9.11503476e-01 3.91512586e-01 1.26013126e-01 2.07323975e+01] [-3.88007076e-01 9.20171928e-01 -5.22889375e-02 -7.82682084e+00] [-1.36425518e-01 -1.23243615e-03 9.90649564e-01 -2.48578561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:-7.85, Z:-2.50 [[ 9.09107467e-01 3.97048164e-01 1.26001464e-01 2.07909698e+01] [-3.93591539e-01 9.17795527e-01 -5.23170245e-02 -7.84593275e+00] [-1.36415958e-01 -2.03131241e-03 9.90649565e-01 -2.49525091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:-7.88, Z:-2.50 [[ 9.10517947e-01 3.93806820e-01 1.25989112e-01 2.08450682e+01] [-3.90315152e-01 9.19191982e-01 -5.23467526e-02 -7.87939427e+00] [-1.36422690e-01 -1.51280180e-03 9.90649565e-01 -2.49516630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.90, Y:-7.91, Z:-2.50 [[ 9.14629900e-01 3.84164266e-01 1.25976041e-01 2.08993706e+01] [-3.80576812e-01 9.23264759e-01 -5.23781912e-02 -7.91045012e+00] [-1.36431068e-01 -3.69001692e-05 9.90649566e-01 -2.49625861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.96, Y:-7.93, Z:-2.51 [[ 9.15209223e-01 3.82786258e-01 1.25963326e-01 2.09570392e+01] [-3.79181597e-01 9.23836912e-01 -5.24087512e-02 -7.93205053e+00] [-1.36430920e-01 2.01997388e-04 9.90649566e-01 -2.50862745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:-7.95, Z:-2.52 [[ 9.12933839e-01 3.88186368e-01 1.25948996e-01 2.10154878e+01] [-3.84627991e-01 9.21580720e-01 -5.24431678e-02 -7.95212729e+00] [-1.36429889e-01 -5.66366596e-04 9.90649567e-01 -2.51694182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.07, Y:-7.98, Z:-2.53 [[ 9.13112471e-01 3.87770297e-01 1.25935747e-01 2.10721163e+01] [-3.84203594e-01 9.21755920e-01 -5.24749637e-02 -7.97657854e+00] [-1.36430253e-01 -4.69422829e-04 9.90649568e-01 -2.52710813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.13, Y:-8.00, Z:-2.54 [[ 9.15030568e-01 3.83226519e-01 1.25922574e-01 2.11273465e+01] [-3.79612547e-01 9.23654360e-01 -5.25065555e-02 -8.00215606e+00] [-1.36430839e-01 2.43314284e-04 9.90649568e-01 -2.54070199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-8.03, Z:-2.54 [[ 9.14279302e-01 3.85019596e-01 1.25909766e-01 2.11828836e+01] [-3.81418309e-01 9.22908398e-01 -5.25372502e-02 -8.03300800e+00] [-1.36431052e-01 9.43014803e-06 9.90649569e-01 -2.53827347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-8.06, Z:-2.54 [[ 9.13591565e-01 3.86652878e-01 1.25896803e-01 2.12411488e+01] [-3.83062740e-01 9.22225304e-01 -5.25682964e-02 -8.05569860e+00] [-1.36430901e-01 -2.00422182e-04 9.90649569e-01 -2.54261981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-8.07, Z:-2.56 [[ 9.13225806e-01 3.87520809e-01 1.25881889e-01 2.13027113e+01] [-3.83933956e-01 9.21860910e-01 -5.26039864e-02 -8.06594945e+00] [-1.36430732e-01 -2.91013760e-04 9.90649570e-01 -2.56413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-8.10, Z:-2.57 [[ 9.12978028e-01 3.88108973e-01 1.25867178e-01 2.13558409e+01] [-3.84522833e-01 9.21613427e-01 -5.26391620e-02 -8.09889892e+00] [-1.36430613e-01 -3.40405725e-04 9.90649571e-01 -2.57480250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:-8.13, Z:-2.58 [[ 9.12366841e-01 3.89545076e-01 1.25862552e-01 2.14108289e+01] [-3.85971003e-01 9.21007242e-01 -5.26502203e-02 -8.12873836e+00] [-1.36429956e-01 -5.42980420e-04 9.90649571e-01 -2.57880348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:-8.14, Z:-2.59 [[ 9.11487314e-01 3.91602771e-01 1.25849696e-01 2.14711000e+01] [-3.88043963e-01 9.20134013e-01 -5.26809341e-02 -8.14382374e+00] [-1.36428585e-01 -8.17211439e-04 9.90649571e-01 -2.58615202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:-8.16, Z:-2.59 [[ 9.11781601e-01 3.90921316e-01 1.25836545e-01 2.15289870e+01] [-3.87351713e-01 9.20423849e-01 -5.27123281e-02 -8.16433347e+00] [-1.36429330e-01 -6.80870273e-04 9.90649572e-01 -2.59414231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:-8.19, Z:-2.60 [[ 9.12837221e-01 3.88454225e-01 1.25823377e-01 2.15849582e+01] [-3.84856934e-01 9.21467980e-01 -5.27437400e-02 -8.18846393e+00] [-1.36430742e-01 -2.77550213e-04 9.90649573e-01 -2.60303451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:-8.22, Z:-2.61 [[ 9.14172627e-01 3.85305579e-01 1.25809453e-01 2.16371417e+01] [-3.81673993e-01 9.22789011e-01 -5.27769344e-02 -8.22388472e+00] [-1.36430828e-01 2.29032644e-04 9.90649573e-01 -2.60873940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:-8.24, Z:-2.61 [[ 9.13308230e-01 3.87354143e-01 1.25796842e-01 2.16953979e+01] [-3.83737746e-01 9.21930998e-01 -5.28069747e-02 -8.24492093e+00] [-1.36431009e-01 -4.39521756e-05 9.90649574e-01 -2.61290002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:-8.26, Z:-2.63 [[ 9.12684083e-01 3.88826497e-01 1.25784420e-01 2.17555206e+01] [-3.85219934e-01 9.21310969e-01 -5.28365475e-02 -8.25957676e+00] [-1.36430816e-01 -2.31590184e-04 9.90649574e-01 -2.62803386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:-8.29, Z:-2.64 [[ 9.09155777e-01 3.97011102e-01 1.25769466e-01 2.18096871e+01] [-3.93477275e-01 9.17812711e-01 -5.28721190e-02 -8.28635308e+00] [-1.36423633e-01 -1.41843461e-03 9.90649575e-01 -2.63693177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:-8.32, Z:-2.65 [[ 9.07642713e-01 4.00461922e-01 1.25757522e-01 2.18626452e+01] [-3.96957072e-01 9.16311420e-01 -5.29005145e-02 -8.31827872e+00] [-1.36417695e-01 -1.90557121e-03 9.90649575e-01 -2.64677961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:-8.33, Z:-2.67 [[ 9.07071187e-01 4.01755662e-01 1.25754719e-01 2.19201510e+01] [-3.98262253e-01 9.15744511e-01 -5.29071776e-02 -8.33495082e+00] [-1.36414951e-01 -2.09278110e-03 9.90649575e-01 -2.66622844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465779523 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:-8.36, Z:-2.67 [[ 9.07550961e-01 4.00674721e-01 1.25741887e-01 2.19744969e+01] [-3.97166759e-01 9.16218407e-01 -5.29376574e-02 -8.36445900e+00] [-1.36417812e-01 -1.89687573e-03 9.90649576e-01 -2.66919619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525779523 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:-8.38, Z:-2.67 [[ 9.09689902e-01 3.95798098e-01 1.25730461e-01 2.20340095e+01] [-3.92239920e-01 9.18336854e-01 -5.29647798e-02 -8.38308991e+00] [-1.36426275e-01 -1.13498066e-03 9.90649576e-01 -2.67120659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:-8.40, Z:-2.68 [[ 9.11208331e-01 3.92293602e-01 1.25718366e-01 2.20941636e+01] [-3.88698207e-01 9.19839875e-01 -5.29934740e-02 -8.39848789e+00] [-1.36429767e-01 -5.78408342e-04 9.90649577e-01 -2.68489780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:-8.44, Z:-2.68 [[ 9.10646464e-01 3.93600815e-01 1.25703682e-01 2.21453938e+01] [-3.90013006e-01 9.19281163e-01 -5.30282818e-02 -8.43896463e+00] [-1.36429002e-01 -7.36053660e-04 9.90649578e-01 -2.68181296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.20, Y:-8.46, Z:-2.69 [[ 9.10040716e-01 3.95003453e-01 1.25690762e-01 2.22026686e+01] [-3.91424725e-01 9.18679182e-01 -5.30588894e-02 -8.46223829e+00] [-1.36427931e-01 -9.12722122e-04 9.90649578e-01 -2.68738459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:-8.47, Z:-2.71 [[ 9.09943633e-01 3.95231400e-01 1.25677070e-01 2.22655670e+01] [-3.91650359e-01 9.18581140e-01 -5.30913003e-02 -8.46783832e+00] [-1.36427935e-01 -9.11379019e-04 9.90649579e-01 -2.71407704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:-8.49, Z:-2.73 [[ 9.10024008e-01 3.95051131e-01 1.25661882e-01 2.23225482e+01] [-3.91463419e-01 9.18658745e-01 -5.31272258e-02 -8.48757630e+00] [-1.36428357e-01 -8.44978831e-04 9.90649580e-01 -2.72833979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:-8.53, Z:-2.73 [[ 9.11925325e-01 3.90645171e-01 1.25652502e-01 2.23737854e+01] [-3.87012683e-01 9.20541321e-01 -5.31494001e-02 -8.53095795e+00] [-1.36430877e-01 -1.60827996e-04 9.90649580e-01 -2.72553599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945779523 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:22.43, Y:-8.56, Z:-2.73 [[ 9.11287213e-01 3.92136236e-01 1.25637524e-01 2.24284388e+01] [-3.88512967e-01 9.19907090e-01 -5.31847836e-02 -8.55873810e+00] [-1.36430530e-01 -3.45193873e-04 9.90649581e-01 -2.73282161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.49, Y:-8.57, Z:-2.75 [[ 9.07052031e-01 4.01839607e-01 1.25624613e-01 2.24892245e+01] [-3.98304319e-01 9.15708363e-01 -5.32152614e-02 -8.56872413e+00] [-1.36419509e-01 -1.76781509e-03 9.90649581e-01 -2.74658123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:-8.60, Z:-2.74 [[ 9.05491925e-01 4.05346267e-01 1.25613605e-01 2.25457126e+01] [-4.01840898e-01 9.14160415e-01 -5.32412344e-02 -8.59745633e+00] [-1.36412121e-01 -2.26717585e-03 9.90649581e-01 -2.74229823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.60, Y:-8.63, Z:-2.75 [[ 9.08015580e-01 3.99665041e-01 1.25600798e-01 2.25991870e+01] [-3.96101253e-01 9.16660216e-01 -5.32714292e-02 -8.63066875e+00] [-1.36423983e-01 -1.37934579e-03 9.90649582e-01 -2.74664819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.66, Y:-8.65, Z:-2.76 [[ 9.11802271e-01 3.90953015e-01 1.25588053e-01 2.26566367e+01] [-3.87302486e-01 9.20410636e-01 -5.33014584e-02 -8.64922857e+00] [-1.36430946e-01 -4.01744970e-05 9.90649583e-01 -2.76078928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.72, Y:-8.67, Z:-2.77 [[ 9.12630676e-01 3.89019028e-01 1.25576454e-01 2.27156527e+01] [-3.85346499e-01 9.21229677e-01 -5.33287718e-02 -8.66897435e+00] [-1.36430663e-01 2.79026042e-04 9.90649583e-01 -2.77250295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305779522999998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:-8.70, Z:-2.78 [[ 9.13421737e-01 3.87162696e-01 1.25561847e-01 2.27697356e+01] [-3.83467966e-01 9.22011222e-01 -5.33631433e-02 -8.69897394e+00] [-1.36429650e-01 5.94109091e-04 9.90649584e-01 -2.77842377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365779523 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:-8.73, Z:-2.78 [[ 9.13072105e-01 3.87990663e-01 1.25549096e-01 2.28246526e+01] [-3.84299600e-01 9.21663166e-01 -5.33931245e-02 -8.72930108e+00] [-1.36430011e-01 5.03305054e-04 9.90649584e-01 -2.78186226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:22.89, Y:-8.74, Z:-2.80 [[ 9.10720449e-01 3.93483041e-01 1.25536289e-01 2.28851677e+01] [-3.89839640e-01 9.19331831e-01 -5.34232191e-02 -8.74058456e+00] [-1.36430637e-01 -2.85403815e-04 9.90649585e-01 -2.79860433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:-8.76, Z:-2.81 [[ 9.07889517e-01 3.99975565e-01 1.25523596e-01 2.29428876e+01] [-3.96389621e-01 9.16524982e-01 -5.34530274e-02 -8.76162563e+00] [-1.36425416e-01 -1.22680736e-03 9.90649585e-01 -2.80548829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:-8.79, Z:-2.81 [[ 9.09916514e-01 3.95346819e-01 1.25510277e-01 2.29952115e+01] [-3.91712633e-01 9.18531788e-01 -5.34842838e-02 -8.79488510e+00] [-1.36430020e-01 -4.97727724e-04 9.90649586e-01 -2.81151768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605779523 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-8.82, Z:-2.83 [[ 9.11202912e-01 3.92376719e-01 1.25498060e-01 2.30512811e+01] [-3.88710504e-01 9.19804604e-01 -5.35129337e-02 -8.81620829e+00] [-1.36430923e-01 -2.12731628e-05 9.90649586e-01 -2.83136700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-8.84, Z:-2.83 [[ 9.10597656e-01 3.93784196e-01 1.25482730e-01 2.31088389e+01] [-3.90126325e-01 9.19202899e-01 -5.35488587e-02 -8.83754996e+00] [-1.36430783e-01 -1.92650882e-04 9.90649587e-01 -2.83303666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-8.86, Z:-2.84 [[ 9.07989749e-01 3.99763341e-01 1.25474650e-01 2.31662265e+01] [-3.96159518e-01 9.16617766e-01 -5.35677839e-02 -8.86386742e+00] [-1.36426730e-01 -1.06897820e-03 9.90649587e-01 -2.83510096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:-8.89, Z:-2.84 [[ 9.07594706e-01 4.00663983e-01 1.25460041e-01 2.32222834e+01] [-3.97063996e-01 9.16224324e-01 -5.36019786e-02 -8.89228121e+00] [-1.36425923e-01 -1.16679308e-03 9.90649588e-01 -2.84235006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:-8.91, Z:-2.86 [[ 9.09306031e-01 3.96769421e-01 1.25445482e-01 2.32812773e+01] [-3.93127773e-01 9.17918150e-01 -5.36360295e-02 -8.91013938e+00] [-1.36429821e-01 -5.44537910e-04 9.90649589e-01 -2.85565892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:-8.93, Z:-2.87 [[ 9.09217134e-01 3.96977220e-01 1.25432410e-01 2.33396143e+01] [-3.93333326e-01 9.17828302e-01 -5.36665809e-02 -8.92852554e+00] [-1.36429826e-01 -5.42172311e-04 9.90649589e-01 -2.86582218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:-8.96, Z:-2.87 [[ 9.08833517e-01 3.97859050e-01 1.25418559e-01 2.33919857e+01] [-3.94219047e-01 9.17446330e-01 -5.36989324e-02 -8.96287410e+00] [-1.36429403e-01 -6.38995194e-04 9.90649590e-01 -2.87195951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:-8.99, Z:-2.88 [[ 9.09661774e-01 3.95965749e-01 1.25405676e-01 2.34495373e+01] [-3.92303673e-01 9.18265224e-01 -5.37290022e-02 -8.98606897e+00] [-1.36430516e-01 -3.21887916e-04 9.90649590e-01 -2.87900864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:-9.00, Z:-2.90 [[ 9.10766113e-01 3.93423706e-01 1.25390886e-01 2.35099535e+01] [-3.89732868e-01 9.19357264e-01 -5.37634974e-02 -9.00145454e+00] [-1.36430856e-01 9.70220975e-05 9.90649591e-01 -2.89505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:-9.03, Z:-2.91 [[ 9.11621177e-01 3.91443101e-01 1.25375950e-01 2.35660966e+01] [-3.87728810e-01 9.20202212e-01 -5.37983056e-02 -9.02570425e+00] [-1.36430202e-01 4.31806819e-04 9.90649592e-01 -2.90743658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:23.62, Y:-9.06, Z:-2.91 [[ 9.14294840e-01 3.85161072e-01 1.25363048e-01 2.36214293e+01] [-3.81383704e-01 9.22848297e-01 -5.38283522e-02 -9.05694874e+00] [-1.36423661e-01 1.40356102e-03 9.90649592e-01 -2.91234383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.68, Y:-9.08, Z:-2.91 [[ 9.21151531e-01 3.68466718e-01 1.25348051e-01 2.36787887e+01] [-3.64529647e-01 9.29632662e-01 -5.38632527e-02 -9.07923381e+00] [-1.36374459e-01 3.92313681e-03 9.90649593e-01 -2.91250728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325779523 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:23.74, Y:-9.10, Z:-2.93 [[ 9.24524806e-01 3.59923266e-01 1.25336052e-01 2.37362576e+01] [-3.55904072e-01 9.32967328e-01 -5.38911609e-02 -9.09974148e+00] [-1.36331124e-01 5.21610392e-03 9.90649593e-01 -2.92766240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385779523 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:23.79, Y:-9.13, Z:-2.94 [[ 9.23332262e-01 3.62976439e-01 1.25322139e-01 2.37918200e+01] [-3.58980783e-01 9.31785949e-01 -5.39234950e-02 -9.12521919e+00] [-1.36346366e-01 4.80106307e-03 9.90649594e-01 -2.93872360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.85, Y:-9.15, Z:-2.94 [[ 9.21141658e-01 3.68505314e-01 1.25307140e-01 2.38472827e+01] [-3.64555676e-01 9.29616942e-01 -5.39583273e-02 -9.14919513e+00] [-1.36371571e-01 4.02183398e-03 9.90649595e-01 -2.94424788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.91, Y:-9.17, Z:-2.95 [[ 9.18740982e-01 3.74454351e-01 1.25295436e-01 2.39074620e+01] [-3.70555900e-01 9.27239932e-01 -5.39854923e-02 -9.16714548e+00] [-1.36394034e-01 3.16972140e-03 9.90649595e-01 -2.95372548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:-9.19, Z:-2.97 [[ 9.17481352e-01 3.77535144e-01 1.25280422e-01 2.39657300e+01] [-3.73660481e-01 9.25991172e-01 -5.40203114e-02 -9.18883530e+00] [-1.36403131e-01 2.75028561e-03 9.90649596e-01 -2.96524745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:-9.22, Z:-2.97 [[ 9.16307210e-01 3.80380908e-01 1.25265567e-01 2.40203902e+01] [-3.76527971e-01 9.24826888e-01 -5.40547355e-02 -9.21963493e+00] [-1.36410354e-01 2.36475401e-03 9.90649597e-01 -2.96736050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:-9.24, Z:-2.97 [[ 9.15683633e-01 3.81883882e-01 1.25252480e-01 2.40774038e+01] [-3.78040785e-01 9.24207754e-01 -5.40850436e-02 -9.24006437e+00] [-1.36413520e-01 2.17424333e-03 9.90649597e-01 -2.97320044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.13, Y:-9.26, Z:-2.98 [[ 9.15060627e-01 3.83378231e-01 1.25240493e-01 2.41343944e+01] [-3.79545258e-01 9.23589305e-01 -5.41127866e-02 -9.26153978e+00] [-1.36416444e-01 1.98204509e-03 9.90649598e-01 -2.98192695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.19, Y:-9.29, Z:-2.99 [[ 9.13555815e-01 3.86954789e-01 1.25226850e-01 2.41917183e+01] [-3.83150882e-01 9.22097496e-01 -5.41443422e-02 -9.28784878e+00] [-1.36422777e-01 1.48310077e-03 9.90649598e-01 -2.98821825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.25, Y:-9.31, Z:-3.00 [[ 9.15432920e-01 3.82497814e-01 1.25211788e-01 2.42495270e+01] [-3.78647563e-01 9.23953810e-01 -5.41791505e-02 -9.30611518e+00] [-1.36413315e-01 2.18623952e-03 9.90649599e-01 -3.00414709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:-9.33, Z:-3.01 [[ 9.11861840e-01 3.90935750e-01 1.25208719e-01 2.43043623e+01] [-3.87163382e-01 9.20417496e-01 -5.41862426e-02 -9.33095261e+00] [-1.36427635e-01 9.34135858e-04 9.90649599e-01 -3.01165692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:-9.36, Z:-3.02 [[ 9.10908588e-01 3.93155282e-01 1.25197718e-01 2.43597609e+01] [-3.89400269e-01 9.19471874e-01 -5.42116489e-02 -9.35634051e+00] [-1.36429376e-01 6.29831616e-04 9.90649599e-01 -3.02471492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.41, Y:-9.40, Z:-3.03 [[ 9.11246956e-01 3.92374442e-01 1.25184995e-01 2.44095828e+01] [-3.88608057e-01 9.19805246e-01 -5.42410124e-02 -9.39943082e+00] [-1.36428602e-01 7.79059741e-04 9.90649600e-01 -3.02530125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:-9.41, Z:-3.05 [[ 9.12637545e-01 3.89133392e-01 1.25171540e-01 2.44699079e+01] [-3.85332359e-01 9.21180502e-01 -5.42720453e-02 -9.40771238e+00] [-1.36424647e-01 1.29806139e-03 9.90649600e-01 -3.04578234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:-9.44, Z:-3.05 [[ 9.13031020e-01 3.88213235e-01 1.25159261e-01 2.45233793e+01] [-3.84399712e-01 9.21568409e-01 -5.43003487e-02 -9.44085127e+00] [-1.36422935e-01 1.46671896e-03 9.90649601e-01 -3.05177093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:-9.48, Z:-3.04 [[ 9.12554661e-01 3.89336571e-01 1.25144015e-01 2.45768148e+01] [-3.85528743e-01 9.21094591e-01 -5.43354614e-02 -9.48026442e+00] [-1.36424258e-01 1.33746356e-03 9.90649602e-01 -3.04151286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:-9.49, Z:-3.06 [[ 9.12359002e-01 3.89799680e-01 1.25128976e-01 2.46367933e+01] [-3.85991440e-01 9.20898747e-01 -5.43700730e-02 -9.49426500e+00] [-1.36424555e-01 1.30631172e-03 9.90649602e-01 -3.06250261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:-9.51, Z:-3.08 [[ 9.11924531e-01 3.90819853e-01 1.25113915e-01 2.46953899e+01] [-3.87016415e-01 9.20466416e-01 -5.44047091e-02 -9.51422961e+00] [-1.36425597e-01 1.19184992e-03 9.90649603e-01 -3.07750861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:-9.54, Z:-3.08 [[ 9.12261413e-01 3.90037604e-01 1.25099085e-01 2.47515087e+01] [-3.86222169e-01 9.20797944e-01 -5.44387892e-02 -9.54368154e+00] [-1.36424155e-01 1.34636695e-03 9.90649604e-01 -3.08080489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:-9.57, Z:-3.09 [[ 9.15043902e-01 3.83469144e-01 1.25084264e-01 2.48083467e+01] [-3.79587786e-01 9.23550662e-01 -5.44728215e-02 -9.56894746e+00] [-1.36410301e-01 2.36456422e-03 9.90649604e-01 -3.09235723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525779523 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:-9.60, Z:-3.10 [[ 9.16438711e-01 3.80128662e-01 1.25069139e-01 2.48643903e+01] [-3.76211565e-01 9.24929072e-01 -5.45075278e-02 -9.59679931e+00] [-1.36399956e-01 2.90035216e-03 9.90649605e-01 -3.10215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-9.62, Z:-3.11 [[ 9.13872093e-01 3.86263230e-01 1.25054047e-01 2.49242336e+01] [-3.82398400e-01 9.22386372e-01 -5.45421308e-02 -9.61676339e+00] [-1.36415768e-01 2.02406387e-03 9.90649606e-01 -3.10919397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-9.64, Z:-3.12 [[ 9.12418425e-01 3.89689539e-01 1.25038713e-01 2.49801689e+01] [-3.85851869e-01 9.20944981e-01 -5.45772605e-02 -9.64178021e+00] [-1.36421963e-01 1.55087691e-03 9.90649606e-01 -3.11596770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:-9.66, Z:-3.13 [[ 9.11891152e-01 3.90926325e-01 1.25024538e-01 2.50376694e+01] [-3.87095770e-01 9.20420906e-01 -5.46097142e-02 -9.66318085e+00] [-1.36423573e-01 1.40164541e-03 9.90649607e-01 -3.13132294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:-9.69, Z:-3.14 [[ 9.09628272e-01 3.96168015e-01 1.25009243e-01 2.50931351e+01] [-3.92381805e-01 9.18177801e-01 -5.46447047e-02 -9.69202139e+00] [-1.36429196e-01 6.55015992e-04 9.90649608e-01 -3.13573245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:-9.72, Z:-3.14 [[ 9.08863392e-01 3.97924057e-01 1.24995117e-01 2.51504957e+01] [-3.94149925e-01 9.17418259e-01 -5.46769964e-02 -9.71689392e+00] [-1.36430095e-01 4.27104261e-04 9.90649608e-01 -3.14072891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:-9.73, Z:-3.16 [[ 9.09826750e-01 3.95721300e-01 1.24979746e-01 2.52088369e+01] [-3.91921633e-01 9.18370306e-01 -5.47121096e-02 -9.73411520e+00] [-1.36428435e-01 7.96274696e-04 9.90649609e-01 -3.16060732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:-9.77, Z:-3.16 [[ 9.08471432e-01 3.98827778e-01 1.24964237e-01 2.52601887e+01] [-3.95052456e-01 9.17025772e-01 -5.47475094e-02 -9.77196050e+00] [-1.36430254e-01 3.69119328e-04 9.90649610e-01 -3.16452751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:-9.80, Z:-3.16 [[ 9.05857163e-01 4.04734597e-01 1.24950816e-01 2.53168798e+01] [-4.01010831e-01 9.14434071e-01 -5.47781250e-02 -9.79883696e+00] [-1.36429885e-01 -4.85473521e-04 9.90649610e-01 -3.16329731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:-9.81, Z:-3.18 [[ 9.07373210e-01 4.01328453e-01 1.24937306e-01 2.53795995e+01] [-3.97568249e-01 9.15934206e-01 -5.48089208e-02 -9.80640988e+00] [-1.36430731e-01 6.10404542e-05 9.90649611e-01 -3.18441396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:-9.83, Z:-3.20 [[ 9.09614149e-01 3.96227987e-01 1.24921901e-01 2.54344301e+01] [-3.92414961e-01 9.18151748e-01 -5.48440092e-02 -9.83436285e+00] [-1.36427993e-01 8.65663763e-04 9.90649612e-01 -3.19649041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:-9.87, Z:-3.20 [[ 9.11837185e-01 3.91089877e-01 1.24906592e-01 2.54886261e+01] [-3.87223972e-01 9.20350969e-01 -5.48788534e-02 -9.86987404e+00] [-1.36420467e-01 1.67375239e-03 9.90649612e-01 -3.19569793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:-9.90, Z:-3.20 [[ 9.13101768e-01 3.88133159e-01 1.24891201e-01 2.55436271e+01] [-3.84234901e-01 9.21600786e-01 -5.49138572e-02 -9.89584132e+00] [-1.36413718e-01 2.15438170e-03 9.90649613e-01 -3.20328306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:-9.91, Z:-3.22 [[ 9.13994659e-01 3.86029826e-01 1.24878890e-01 2.56049064e+01] [-3.82108188e-01 9.22482914e-01 -5.49418393e-02 -9.90699043e+00] [-1.36407831e-01 2.49930115e-03 9.90649614e-01 -3.22122851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365779523 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:-9.93, Z:-3.23 [[ 9.15980905e-01 3.81297297e-01 1.24865340e-01 2.56627915e+01] [-3.77327615e-01 9.24446798e-01 -5.49726173e-02 -9.92900132e+00] [-1.36392274e-01 3.23872672e-03 9.90649614e-01 -3.23480677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:-9.96, Z:-3.23 [[ 9.20284110e-01 3.70795958e-01 1.24849964e-01 2.57163070e+01] [-3.66724981e-01 9.28701761e-01 -5.50075171e-02 -9.96482263e+00] [-1.36344946e-01 4.83694320e-03 9.90649615e-01 -3.22765670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:-9.99, Z:-3.23 [[ 9.21734468e-01 3.67180286e-01 1.24836724e-01 2.57730188e+01] [-3.63072235e-01 9.30134088e-01 -5.50375478e-02 -9.98916558e+00] [-1.36323595e-01 5.40525646e-03 9.90649615e-01 -3.23459100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:-10.01, Z:-3.24 [[ 9.22743733e-01 3.64641057e-01 1.24823489e-01 2.58323689e+01] [-3.60505844e-01 9.31130013e-01 -5.50675493e-02 -1.00055586e+01] [-1.36306786e-01 5.81363884e-03 9.90649616e-01 -3.24287043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:-10.03, Z:-3.25 [[ 9.23941225e-01 3.61600887e-01 1.24809498e-01 2.58899201e+01] [-3.57433814e-01 9.32311719e-01 -5.50992417e-02 -1.00299181e+01] [-1.36285292e-01 6.29732615e-03 9.90649617e-01 -3.25216362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:-10.05, Z:-3.26 [[ 9.24099008e-01 3.61202704e-01 1.24794354e-01 2.59464211e+01] [-3.57027407e-01 9.32465402e-01 -5.51335201e-02 -1.00522010e+01] [-1.36280794e-01 6.39382671e-03 9.90649617e-01 -3.26374269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.00, Y:-10.07, Z:-3.28 [[ 9.23410706e-01 3.62963379e-01 1.24780822e-01 2.60036002e+01] [-3.58799909e-01 9.31782992e-01 -5.51641279e-02 -1.00740007e+01] [-1.36291206e-01 6.16779846e-03 9.90649618e-01 -3.27743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.06, Y:-10.10, Z:-3.28 [[ 9.21934069e-01 3.66702391e-01 1.24767496e-01 2.60608057e+01] [-3.62568815e-01 9.30321154e-01 -5.51942530e-02 -1.01019124e+01] [-1.36313705e-01 5.64865922e-03 9.90649618e-01 -3.27556520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.12, Y:-10.12, Z:-3.29 [[ 9.20908605e-01 3.69275213e-01 1.24752392e-01 2.61203666e+01] [-3.65160457e-01 9.29304938e-01 -5.52283706e-02 -1.01165265e+01] [-1.36327482e-01 5.30564119e-03 9.90649619e-01 -3.29057441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:-10.14, Z:-3.30 [[ 9.20110479e-01 3.71263919e-01 1.24738962e-01 2.61754336e+01] [-3.67163210e-01 9.28513681e-01 -5.52586868e-02 -1.01399167e+01] [-1.36337390e-01 5.04453897e-03 9.90649620e-01 -3.30460434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:-10.18, Z:-3.30 [[ 9.17761950e-01 3.77034598e-01 1.24731373e-01 2.62278672e+01] [-3.72984414e-01 9.26189620e-01 -5.52758130e-02 -1.01772935e+01] [-1.36365796e-01 4.20718010e-03 9.90649620e-01 -3.30277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:-10.19, Z:-3.31 [[ 9.16727673e-01 3.79546702e-01 1.24718381e-01 2.62886783e+01] [-3.75515632e-01 9.25164501e-01 -5.53051104e-02 -1.01908262e+01] [-1.36375891e-01 3.86602342e-03 9.90649620e-01 -3.31034738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.34, Y:-10.22, Z:-3.32 [[ 9.18329055e-01 3.75659509e-01 1.24706374e-01 2.63431782e+01] [-3.71589062e-01 9.26746956e-01 -5.53321713e-02 -1.02187747e+01] [-1.36357309e-01 4.47361591e-03 9.90649621e-01 -3.31965598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:-10.26, Z:-3.32 [[ 9.20070452e-01 3.71378524e-01 1.24693048e-01 2.63927713e+01] [-3.67264855e-01 9.28467315e-01 -5.53621869e-02 -1.02570847e+01] [-1.36333746e-01 5.14173823e-03 9.90649621e-01 -3.32321881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205779523 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:-10.27, Z:-3.34 [[ 9.19697690e-01 3.72303184e-01 1.24685595e-01 2.64529856e+01] [-3.68195687e-01 9.28097574e-01 -5.53789670e-02 -1.02696814e+01] [-1.36338164e-01 5.02320979e-03 9.90649621e-01 -3.33792972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-10.29, Z:-3.36 [[ 9.17854652e-01 3.76827997e-01 1.24673570e-01 2.65090503e+01] [-3.72758246e-01 9.26272888e-01 -5.54060261e-02 -1.02873585e+01] [-1.36360289e-01 4.38157762e-03 9.90649622e-01 -3.35731153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:-10.33, Z:-3.35 [[ 9.17244365e-01 3.78314278e-01 1.24663878e-01 2.65583624e+01] [-3.74255209e-01 9.25667756e-01 -5.54278241e-02 -1.03324464e+01] [-1.36366469e-01 4.18475363e-03 9.90649622e-01 -3.34938246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:-10.35, Z:-3.36 [[ 9.16894049e-01 3.79166416e-01 1.24652041e-01 2.66187265e+01] [-3.75111562e-01 9.25319470e-01 -5.54544311e-02 -1.03466672e+01] [-1.36369419e-01 4.08741594e-03 9.90649623e-01 -3.36468470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445779523 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:-10.36, Z:-3.38 [[ 9.16649445e-01 3.79761843e-01 1.24638425e-01 2.66779870e+01] [-3.75708307e-01 9.25075500e-01 -5.54850174e-02 -1.03592506e+01] [-1.36371046e-01 4.03261868e-03 9.90649623e-01 -3.37912333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:-10.42, Z:-3.37 [[ 9.16993911e-01 3.78932804e-01 1.24627836e-01 2.67222407e+01] [-3.74868423e-01 9.25414739e-01 -5.55087933e-02 -1.04153124e+01] [-1.36366539e-01 4.18218517e-03 9.90649623e-01 -3.37047073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:-10.44, Z:-3.38 [[ 9.15896942e-01 3.81580416e-01 1.24616121e-01 2.67776239e+01] [-3.77536806e-01 9.24327764e-01 -5.55350805e-02 -1.04385072e+01] [-1.36377239e-01 3.81723813e-03 9.90649624e-01 -3.38070560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:-10.45, Z:-3.40 [[ 9.12551783e-01 3.89516599e-01 1.24603619e-01 2.68385883e+01] [-3.85542500e-01 9.21015592e-01 -5.55631163e-02 -1.04484450e+01] [-1.36404632e-01 2.66423001e-03 9.90649624e-01 -3.40386867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:-10.48, Z:-3.40 [[ 9.11434059e-01 3.92126203e-01 1.24599347e-01 2.68924791e+01] [-3.88175029e-01 9.19908594e-01 -5.55726949e-02 -1.04825899e+01] [-1.36411520e-01 2.28449171e-03 9.90649624e-01 -3.39965050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:-10.52, Z:-3.40 [[ 9.10896720e-01 3.93377114e-01 1.24585756e-01 2.69435098e+01] [-3.89433415e-01 9.19374736e-01 -5.56031471e-02 -1.05201900e+01] [-1.36414002e-01 2.13086789e-03 9.90649625e-01 -3.40008652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:-10.54, Z:-3.42 [[ 9.09871602e-01 3.95746331e-01 1.24573307e-01 2.70014928e+01] [-3.91820892e-01 9.18358088e-01 -5.56310244e-02 -1.05388715e+01] [-1.36418678e-01 1.80666500e-03 9.90649625e-01 -3.41726983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865779523 meters Centerline goodness : 0.998415 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-10.57, Z:-3.44 [[ 9.07532395e-01 4.01085956e-01 1.24559257e-01 2.70549413e+01] [-3.97206137e-01 9.16039832e-01 -5.56624657e-02 -1.05662460e+01] [-1.36426674e-01 1.03978957e-03 9.90649626e-01 -3.43668497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-10.60, Z:-3.43 [[ 9.04481785e-01 4.07923268e-01 1.24544403e-01 2.71103313e+01] [-4.04103187e-01 9.13016213e-01 -5.56956813e-02 -1.05971219e+01] [-1.36430623e-01 4.69390059e-05 9.90649627e-01 -3.43185960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-10.62, Z:-3.44 [[ 9.01846789e-01 4.13720957e-01 1.24528468e-01 2.71659424e+01] [-4.09950823e-01 9.10403398e-01 -5.57312871e-02 -1.06215627e+01] [-1.36428342e-01 -7.89465609e-04 9.90649627e-01 -3.44157875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:-10.64, Z:-3.45 [[ 9.00981195e-01 4.15606935e-01 1.24514100e-01 2.72232321e+01] [-4.11850278e-01 9.09543729e-01 -5.57633709e-02 -1.06435267e+01] [-1.36426662e-01 -1.03941795e-03 9.90649628e-01 -3.44977682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:-10.66, Z:-3.47 [[ 9.01495748e-01 4.14493680e-01 1.24500625e-01 2.72799886e+01] [-4.10722296e-01 9.10051805e-01 -5.57934381e-02 -1.06619950e+01] [-1.36428046e-01 -8.37635478e-04 9.90649629e-01 -3.46985315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:-10.69, Z:-3.47 [[ 9.02895364e-01 4.11439975e-01 1.24487380e-01 2.73335621e+01] [-4.07635580e-01 9.11436794e-01 -5.58229750e-02 -1.06948811e+01] [-1.36430182e-01 -3.43180146e-04 9.90649629e-01 -3.47292272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.39, Y:-10.72, Z:-3.47 [[ 9.03875178e-01 4.09286781e-01 1.24474867e-01 2.73900427e+01] [-4.05458198e-01 9.12405793e-01 -5.58508635e-02 -1.07238382e+01] [-1.36430610e-01 1.28537920e-05 9.90649630e-01 -3.46945701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:-10.73, Z:-3.48 [[ 9.05684351e-01 4.05271753e-01 1.24461494e-01 2.74538446e+01] [-4.01401259e-01 9.14196031e-01 -5.58806490e-02 -1.07302369e+01] [-1.36429052e-01 6.51228902e-04 9.90649630e-01 -3.48470433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.51, Y:-10.76, Z:-3.49 [[ 9.07341303e-01 4.01552539e-01 1.24448053e-01 2.75067337e+01] [-3.97643054e-01 9.15835144e-01 -5.59105667e-02 -1.07609787e+01] [-1.36424931e-01 1.24406260e-03 9.90649631e-01 -3.49163727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:-10.80, Z:-3.49 [[ 9.11127687e-01 3.92889400e-01 1.24435755e-01 2.75589842e+01] [-3.88895430e-01 9.19582130e-01 -5.59379252e-02 -1.07964799e+01] [-1.36406314e-01 2.57409615e-03 9.90649631e-01 -3.49314823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:-10.81, Z:-3.51 [[ 9.12974859e-01 3.88581983e-01 1.24422467e-01 2.76194575e+01] [-3.84544105e-01 9.21408419e-01 -5.59674658e-02 -1.08120864e+01] [-1.36391857e-01 3.25096299e-03 9.90649632e-01 -3.50877098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.68, Y:-10.83, Z:-3.52 [[ 9.13047819e-01 3.88415355e-01 1.24407367e-01 2.76764443e+01] [-3.84371370e-01 9.21478451e-01 -5.60010117e-02 -1.08326313e+01] [-1.36390360e-01 3.31297158e-03 9.90649632e-01 -3.52341917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-10.87, Z:-3.52 [[ 9.11911858e-01 3.91079102e-01 1.24394129e-01 2.77295497e+01] [-3.87055739e-01 9.20352351e-01 -5.60304009e-02 -1.08674623e+01] [-1.36398748e-01 2.94732548e-03 9.90649633e-01 -3.52267040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645779522999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-10.89, Z:-3.53 [[ 9.11095153e-01 3.92982316e-01 1.24380549e-01 2.77863615e+01] [-3.88972474e-01 9.19542077e-01 -5.60605308e-02 -1.08925417e+01] [-1.36403946e-01 2.69586807e-03 9.90649633e-01 -3.52971863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:-10.91, Z:-3.54 [[ 9.10061257e-01 3.95374951e-01 1.24367021e-01 2.78455728e+01] [-3.91383220e-01 9.18516754e-01 -5.60905266e-02 -1.09099263e+01] [-1.36409981e-01 2.37065015e-03 9.90649634e-01 -3.54463820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:-10.94, Z:-3.55 [[ 9.05949477e-01 4.04712648e-01 1.24351189e-01 2.78979227e+01] [-4.00803265e-01 9.14443360e-01 -5.61256031e-02 -1.09446770e+01] [-1.36426861e-01 1.00659817e-03 9.90649635e-01 -3.55170428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:-10.97, Z:-3.55 [[ 9.02110069e-01 4.13204126e-01 1.24337335e-01 2.79517982e+01] [-4.09370468e-01 9.10638398e-01 -5.61562783e-02 -1.09745996e+01] [-1.36430357e-01 -2.40888889e-04 9.90649635e-01 -3.55416256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:-11.00, Z:-3.56 [[ 8.98868097e-01 4.20212129e-01 1.24329844e-01 2.80105067e+01] [-4.16442665e-01 9.07424992e-01 -5.61728592e-02 -1.09962173e+01] [-1.36424524e-01 -1.28426025e-03 9.90649635e-01 -3.56437279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:-11.02, Z:-3.58 [[ 8.97129571e-01 4.23915581e-01 1.24314576e-01 2.80672825e+01] [-4.20176759e-01 9.05699898e-01 -5.62066270e-02 -1.10206876e+01] [-1.36418564e-01 -1.80946861e-03 9.90649636e-01 -3.57716201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:-11.05, Z:-3.59 [[ 8.97696915e-01 4.22717393e-01 1.24299055e-01 2.81204694e+01] [-4.18962382e-01 9.06260161e-01 -5.62409313e-02 -1.10534056e+01] [-1.36421301e-01 -1.58931761e-03 9.90649637e-01 -3.58510981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:-11.07, Z:-3.60 [[ 8.95607175e-01 4.27131670e-01 1.24283248e-01 2.81768293e+01] [-4.23414019e-01 9.04186706e-01 -5.62758403e-02 -1.10732607e+01] [-1.36412454e-01 -2.22222317e-03 9.90649637e-01 -3.60202571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:-11.10, Z:-3.61 [[ 8.97998818e-01 4.22084041e-01 1.24270613e-01 2.82338359e+01] [-4.18314301e-01 9.06555589e-01 -5.63037281e-02 -1.10984588e+01] [-1.36423124e-01 -1.42349322e-03 9.90649638e-01 -3.60852380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:-11.13, Z:-3.60 [[ 9.01873682e-01 4.13744230e-01 1.24256079e-01 2.82881216e+01] [-4.09890940e-01 9.10393155e-01 -5.63357837e-02 -1.11326783e+01] [-1.36430490e-01 -1.23680546e-04 9.90649638e-01 -3.60393035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.35, Y:-11.15, Z:-3.63 [[ 9.08156463e-01 3.99769443e-01 1.24242634e-01 2.83476969e+01] [-3.95781012e-01 9.16613512e-01 -5.63654209e-02 -1.11468726e+01] [-1.36415650e-01 2.01574587e-03 9.90649639e-01 -3.62742851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:-11.17, Z:-3.64 [[ 9.09499503e-01 3.96709218e-01 1.24227416e-01 2.84035592e+01] [-3.92687757e-01 9.17940894e-01 -5.63989418e-02 -1.11708833e+01] [-1.36407405e-01 2.51222430e-03 9.90649640e-01 -3.64484963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:-11.21, Z:-3.63 [[ 9.06470406e-01 4.03584823e-01 1.24220342e-01 2.84559318e+01] [-3.99625263e-01 9.14941010e-01 -5.64145175e-02 -1.12119627e+01] [-1.36422328e-01 1.49650367e-03 9.90649640e-01 -3.63004534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425779522999996 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:-11.22, Z:-3.65 [[ 9.05073754e-01 4.06711376e-01 1.24206907e-01 2.85187766e+01] [-4.02777021e-01 9.13556094e-01 -5.64440828e-02 -1.12225338e+01] [-1.36426427e-01 1.05837004e-03 9.90649640e-01 -3.64623445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:-11.24, Z:-3.66 [[ 9.03506434e-01 4.10186105e-01 1.24191312e-01 2.85794326e+01] [-4.06279659e-01 9.12001662e-01 -5.64783737e-02 -1.12365751e+01] [-1.36429327e-01 5.72170022e-04 9.90649641e-01 -3.66191023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-11.27, Z:-3.67 [[ 9.02689027e-01 4.11986532e-01 1.24175757e-01 2.86343092e+01] [-4.08092328e-01 9.11189872e-01 -5.65125547e-02 -1.12671986e+01] [-1.36430103e-01 3.38089404e-04 9.90649642e-01 -3.66694119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-11.31, Z:-3.66 [[ 9.01835191e-01 4.13856890e-01 1.24160228e-01 2.86870603e+01] [-4.09975622e-01 9.10341950e-01 -5.65466507e-02 -1.13054283e+01] [-1.36430485e-01 9.30927926e-05 9.90649642e-01 -3.65998025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:-11.31, Z:-3.68 [[ 8.98126897e-01 4.21848170e-01 1.24145877e-01 2.87495120e+01] [-4.18038235e-01 9.06665841e-01 -5.65781411e-02 -1.13147804e+01] [-1.36426211e-01 -1.08337290e-03 9.90649643e-01 -3.67829949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:-11.34, Z:-3.69 [[ 8.96075191e-01 4.26193376e-01 1.24130813e-01 2.88051741e+01] [-4.22420270e-01 9.04630472e-01 -5.66111721e-02 -1.13419915e+01] [-1.36419822e-01 -1.70750465e-03 9.90649644e-01 -3.68788202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:-11.37, Z:-3.69 [[ 8.97074632e-01 4.24090377e-01 1.24114688e-01 2.88583412e+01] [-4.20292327e-01 9.05618868e-01 -5.66465032e-02 -1.13739991e+01] [-1.36423840e-01 -1.34830974e-03 9.90649644e-01 -3.69275186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.91, Y:-11.40, Z:-3.71 [[ 8.97127112e-01 4.23983441e-01 1.24100711e-01 2.89134794e+01] [-4.20180139e-01 9.05669011e-01 -5.66771066e-02 -1.13965376e+01] [-1.36424323e-01 -1.29808507e-03 9.90649645e-01 -3.70530437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:-11.42, Z:-3.72 [[ 8.94635012e-01 4.29220675e-01 1.24087902e-01 2.89707867e+01] [-4.25463485e-01 9.03197293e-01 -5.67051365e-02 -1.14178655e+01] [-1.36414874e-01 -2.06447088e-03 9.90649645e-01 -3.71801261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:-11.44, Z:-3.72 [[ 8.92045256e-01 4.34581363e-01 1.24073773e-01 2.90273930e+01] [-4.30871325e-01 9.00628072e-01 -5.67360351e-02 -1.14430758e+01] [-1.36400746e-01 -2.84871995e-03 9.90649646e-01 -3.72034161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:-11.47, Z:-3.72 [[ 8.91980231e-01 4.34718798e-01 1.24059799e-01 2.90833987e+01] [-4.31005837e-01 9.00561783e-01 -5.67665739e-02 -1.14704262e+01] [-1.36401011e-01 -2.83583586e-03 9.90649647e-01 -3.72384481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.14, Y:-11.50, Z:-3.73 [[ 8.93740714e-01 4.31091834e-01 1.24045827e-01 2.91368253e+01] [-4.27339810e-01 9.02305257e-01 -5.67970891e-02 -1.15004411e+01] [-1.36411964e-01 -2.24784936e-03 9.90649647e-01 -3.73129846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.19, Y:-11.52, Z:-3.76 [[ 8.93170831e-01 4.32273484e-01 1.24038310e-01 2.91927754e+01] [-4.28530511e-01 9.01739334e-01 -5.68135013e-02 -1.15203565e+01] [-1.36409193e-01 -2.41003824e-03 9.90649647e-01 -3.75517417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.25, Y:-11.55, Z:-3.77 [[ 8.90308554e-01 4.38139441e-01 1.24034308e-01 2.92470511e+01] [-4.34451697e-01 8.98900971e-01 -5.68222363e-02 -1.15482135e+01] [-1.36390623e-01 -3.29759282e-03 9.90649647e-01 -3.76855637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-11.58, Z:-3.78 [[ 8.89653397e-01 4.39472089e-01 1.24020629e-01 2.92980816e+01] [-4.35793059e-01 8.98249548e-01 -5.68520772e-02 -1.15815988e+01] [-1.36386375e-01 -3.46868580e-03 9.90649648e-01 -3.78181425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-11.61, Z:-3.78 [[ 8.88677747e-01 4.41445180e-01 1.24008126e-01 2.93566717e+01] [-4.37781434e-01 8.97280423e-01 -5.68793363e-02 -1.16066711e+01] [-1.36379173e-01 -3.74105491e-03 9.90649648e-01 -3.77950739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-11.63, Z:-3.79 [[ 8.93537563e-01 4.31528239e-01 1.23991943e-01 2.94149139e+01] [-4.27764094e-01 9.02096785e-01 -5.69145937e-02 -1.16258755e+01] [-1.36412987e-01 -2.18397359e-03 9.90649649e-01 -3.78683876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:-11.65, Z:-3.80 [[ 8.95286911e-01 4.27890643e-01 1.23979617e-01 2.94708790e+01] [-4.24088002e-01 9.03829099e-01 -5.69414301e-02 -1.16488152e+01] [-1.36421091e-01 -1.59935112e-03 9.90649650e-01 -3.79810434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.52, Y:-11.68, Z:-3.81 [[ 8.88910883e-01 4.40987196e-01 1.23966666e-01 2.95218744e+01] [-4.37306436e-01 8.97506292e-01 -5.69696122e-02 -1.16846398e+01] [-1.36383732e-01 -3.57051260e-03 9.90649650e-01 -3.81060421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.58, Y:-11.71, Z:-3.82 [[ 8.85651173e-01 4.47500858e-01 1.23955564e-01 2.95755668e+01] [-4.43879921e-01 8.94271954e-01 -5.69937578e-02 -1.17145253e+01] [-1.36354740e-01 -4.54479758e-03 9.90649650e-01 -3.81942441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.63, Y:-11.73, Z:-3.84 [[ 8.86152310e-01 4.46511810e-01 1.23940659e-01 2.96335714e+01] [-4.42876726e-01 8.94767134e-01 -5.70261519e-02 -1.17332373e+01] [-1.36360879e-01 -4.35657719e-03 9.90649651e-01 -3.83643093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.69, Y:-11.75, Z:-3.85 [[ 8.88143951e-01 4.42538497e-01 1.23935474e-01 2.96943302e+01] [-4.38863295e-01 8.96741736e-01 -5.70374202e-02 -1.17485341e+01] [-1.36379366e-01 -3.73329056e-03 9.90649651e-01 -3.84551379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745779522999996 meters Centerline goodness : 0.990701 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:-11.78, Z:-3.84 [[ 8.88416528e-01 4.41995321e-01 1.23920173e-01 2.97471181e+01] [-4.38310232e-01 8.97010079e-01 -5.70706438e-02 -1.17842790e+01] [-1.36382602e-01 -3.61297634e-03 9.90649652e-01 -3.84387602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:-11.81, Z:-3.85 [[ 8.94506531e-01 4.29538677e-01 1.23913640e-01 2.98020812e+01] [-4.25731909e-01 9.03046878e-01 -5.70848239e-02 -1.18131353e+01] [-1.36419966e-01 -1.69124271e-03 9.90649652e-01 -3.84554175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:-11.83, Z:-3.86 [[ 8.95911722e-01 4.26605740e-01 1.23894023e-01 2.98590337e+01] [-4.22765129e-01 9.04436902e-01 -5.71273678e-02 -1.18339913e+01] [-1.36425190e-01 -1.19699432e-03 9.90649653e-01 -3.85888876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:-11.85, Z:-3.87 [[ 8.96396925e-01 4.25589321e-01 1.23880111e-01 2.99161897e+01] [-4.21734876e-01 9.04915859e-01 -5.71575213e-02 -1.18546144e+01] [-1.36426708e-01 -1.00873683e-03 9.90649653e-01 -3.87454605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-11.88, Z:-3.88 [[ 8.96828305e-01 4.24683615e-01 1.23866130e-01 2.99697810e+01] [-4.20816383e-01 9.05341442e-01 -5.71878043e-02 -1.18830663e+01] [-1.36427864e-01 -8.37255090e-04 9.90649654e-01 -3.88317206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04577952299999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-11.91, Z:-3.89 [[ 8.96639004e-01 4.25086865e-01 1.23853357e-01 3.00276768e+01] [-4.21219643e-01 9.05152144e-01 -5.72154540e-02 -1.19069972e+01] [-1.36427669e-01 -8.67859063e-04 9.90649654e-01 -3.89052931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:-11.93, Z:-3.90 [[ 8.95454420e-01 4.27581584e-01 1.23836062e-01 3.00843111e+01] [-4.23732906e-01 9.03975959e-01 -5.72528613e-02 -1.19317043e+01] [-1.36425092e-01 -1.20608687e-03 9.90649655e-01 -3.89911303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:30.14, Y:-11.97, Z:-3.90 [[ 8.94448130e-01 4.29687241e-01 1.23820101e-01 3.01380221e+01] [-4.25853847e-01 9.02976555e-01 -5.72873598e-02 -1.19659628e+01] [-1.36422296e-01 -1.48869458e-03 9.90649656e-01 -3.90328320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.20, Y:-11.98, Z:-3.92 [[ 8.96217707e-01 4.25988496e-01 1.23804775e-01 3.01978330e+01] [-4.22115331e-01 9.04728143e-01 -5.73204631e-02 -1.19836745e+01] [-1.36427522e-01 -8.88279390e-04 9.90649657e-01 -3.91707462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.25, Y:-12.02, Z:-3.92 [[ 8.98470324e-01 4.21221341e-01 1.23788767e-01 3.02517032e+01] [-4.17298259e-01 9.06957863e-01 -5.73550121e-02 -1.20155389e+01] [-1.36430351e-01 -1.25060687e-04 9.90649657e-01 -3.92285508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:-12.05, Z:-3.92 [[ 8.97472599e-01 4.23347687e-01 1.23772651e-01 3.03037876e+01] [-4.19439919e-01 9.05967200e-01 -5.73897693e-02 -1.20525904e+01] [-1.36429789e-01 -4.09445539e-04 9.90649658e-01 -3.91996195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40577952299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:-12.07, Z:-3.93 [[ 8.94041045e-01 4.30551537e-01 1.23757759e-01 3.03629554e+01] [-4.26707768e-01 9.02564795e-01 -5.74218668e-02 -1.20708723e+01] [-1.36422469e-01 -1.47089118e-03 9.90649659e-01 -3.93498214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:-12.10, Z:-3.94 [[ 8.88618237e-01 4.41640102e-01 1.23740247e-01 3.04164537e+01] [-4.37897417e-01 8.97186853e-01 -5.74595796e-02 -1.20985361e+01] [-1.36394577e-01 -3.12590396e-03 9.90649660e-01 -3.94320341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:-12.13, Z:-3.95 [[ 8.92969299e-01 4.32777444e-01 1.23731625e-01 3.04707867e+01] [-4.28947125e-01 9.01499100e-01 -5.74781400e-02 -1.21298266e+01] [-1.36419191e-01 -1.74811027e-03 9.90649660e-01 -3.94649527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:-12.15, Z:-3.96 [[ 8.94226712e-01 4.30177754e-01 1.23716157e-01 3.05283883e+01] [-4.26318032e-01 9.02743249e-01 -5.75114134e-02 -1.21507320e+01] [-1.36424056e-01 -1.31418650e-03 9.90649660e-01 -3.96055847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:-12.18, Z:-3.97 [[ 8.91298351e-01 4.36217728e-01 1.23698597e-01 3.05817324e+01] [-4.32410475e-01 8.99838472e-01 -5.75491580e-02 -1.21794833e+01] [-1.36412719e-01 -2.19509951e-03 9.90649661e-01 -3.96613124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.64, Y:-12.21, Z:-3.97 [[ 8.90485851e-01 4.37876376e-01 1.23690054e-01 3.06363290e+01] [-4.34082480e-01 8.99031913e-01 -5.75675148e-02 -1.22081234e+01] [-1.36408760e-01 -2.42862787e-03 9.90649662e-01 -3.97365695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.69, Y:-12.23, Z:-3.99 [[ 8.89183805e-01 4.40518502e-01 1.23675427e-01 3.06938674e+01] [-4.36745632e-01 8.97739170e-01 -5.75989202e-02 -1.22288763e+01] [-1.36401665e-01 -2.79867566e-03 9.90649662e-01 -3.98707202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.75, Y:-12.25, Z:-3.99 [[ 8.91469768e-01 4.35878286e-01 1.23659908e-01 3.07488049e+01] [-4.32056261e-01 9.00003286e-01 -5.76322189e-02 -1.22546436e+01] [-1.36414957e-01 -2.05065692e-03 9.90649663e-01 -3.99328096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.80, Y:-12.28, Z:-4.00 [[ 8.93586580e-01 4.31526079e-01 1.23645733e-01 3.08044859e+01] [-4.27658282e-01 9.02099449e-01 -5.76626149e-02 -1.22848644e+01] [-1.36423670e-01 -1.35158297e-03 9.90649663e-01 -3.99837061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:-12.31, Z:-4.01 [[ 8.93876227e-01 4.30930682e-01 1.23628632e-01 3.08574195e+01] [-4.27052147e-01 9.02384208e-01 -5.76992566e-02 -1.23144878e+01] [-1.36424905e-01 -1.21987901e-03 9.90649664e-01 -4.00625329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:-12.34, Z:-4.02 [[ 8.92567283e-01 4.33639224e-01 1.23615003e-01 3.09147916e+01] [-4.29782465e-01 9.01085157e-01 -5.77284403e-02 -1.23373789e+01] [-1.36420961e-01 -1.60104370e-03 9.90649665e-01 -4.01754904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065779522999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:-12.35, Z:-4.03 [[ 8.91573796e-01 4.35682951e-01 1.23598271e-01 3.09752918e+01] [-4.31840754e-01 9.00098248e-01 -5.77642423e-02 -1.23515923e+01] [-1.36417483e-01 -1.87368592e-03 9.90649665e-01 -4.03490478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.03, Y:-12.39, Z:-4.03 [[ 8.95857907e-01 4.26809284e-01 1.23581733e-01 3.10278044e+01] [-4.22877761e-01 9.04341531e-01 -5.77996034e-02 -1.23879682e+01] [-1.36429501e-01 -4.79734744e-04 9.90649666e-01 -4.02523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185779522999994 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:31.08, Y:-12.42, Z:-4.03 [[ 9.01783697e-01 4.14144576e-01 1.23573600e-01 3.10802435e+01] [-4.10091530e-01 9.10209939e-01 -5.78169867e-02 -1.24204366e+01] [-1.36422510e-01 1.46192940e-03 9.90649666e-01 -4.02860817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:-12.43, Z:-4.05 [[ 9.08065956e-01 4.00184538e-01 1.23565995e-01 3.11402478e+01] [-3.95999783e-01 9.16427569e-01 -5.78332358e-02 -1.24323094e+01] [-1.36383251e-01 3.58428550e-03 9.90649667e-01 -4.05168721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:-12.46, Z:-4.06 [[ 9.11506474e-01 3.92289215e-01 1.23552093e-01 3.11965718e+01] [-3.88028037e-01 9.19829400e-01 -5.78629189e-02 -1.24576795e+01] [-1.36345847e-01 4.80074897e-03 9.90649667e-01 -4.06154025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.25, Y:-12.49, Z:-4.07 [[ 9.13641876e-01 3.87295044e-01 1.23535708e-01 3.12516421e+01] [-3.82983665e-01 9.21938907e-01 -5.78978797e-02 -1.24886603e+01] [-1.36315938e-01 5.58576919e-03 9.90649668e-01 -4.06520792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.31, Y:-12.52, Z:-4.06 [[ 9.16905319e-01 3.79509610e-01 1.23519603e-01 3.13069904e+01] [-3.75123200e-01 9.25162928e-01 -5.79322176e-02 -1.25187470e+01] [-1.36261591e-01 6.78328962e-03 9.90649669e-01 -4.06277496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.37, Y:-12.54, Z:-4.08 [[ 9.16730923e-01 3.79935355e-01 1.23505224e-01 3.13653130e+01] [-3.75548664e-01 9.24988383e-01 -5.79628577e-02 -1.25375773e+01] [-1.36263036e-01 6.75412236e-03 9.90649669e-01 -4.07520204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54577952299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:31.42, Y:-12.56, Z:-4.09 [[ 9.12843275e-01 3.89188082e-01 1.23490050e-01 3.14234214e+01] [-3.84880772e-01 9.21142417e-01 -5.79951670e-02 -1.25550209e+01] [-1.36322951e-01 5.41155240e-03 9.90649670e-01 -4.09237026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.48, Y:-12.58, Z:-4.10 [[ 9.09107042e-01 3.97841791e-01 1.23475889e-01 3.14808548e+01] [-3.93609422e-01 9.17444651e-01 -5.80253015e-02 -1.25778580e+01] [-1.36367184e-01 4.14993688e-03 9.90649670e-01 -4.09890812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.54, Y:-12.60, Z:-4.10 [[ 9.05061072e-01 4.06966386e-01 1.23461798e-01 3.15393569e+01] [-4.02814014e-01 9.13438808e-01 -5.80552678e-02 -1.25975217e+01] [-1.36401340e-01 2.81142060e-03 9.90649671e-01 -4.09894198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.60, Y:-12.62, Z:-4.10 [[ 9.02405985e-01 4.12822630e-01 1.23454098e-01 3.15983346e+01] [-4.08722393e-01 9.10809360e-01 -5.80716379e-02 -1.26207831e+01] [-1.36416434e-01 1.94573936e-03 9.90649671e-01 -4.09803596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-12.65, Z:-4.11 [[ 8.98761275e-01 4.20703148e-01 1.23438370e-01 3.16529550e+01] [-4.16672011e-01 9.07198015e-01 -5.81050503e-02 -1.26470613e+01] [-1.36428022e-01 7.89255288e-04 9.90649672e-01 -4.11411579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-12.67, Z:-4.13 [[ 8.96777315e-01 4.24919999e-01 1.23423828e-01 3.17098197e+01] [-4.20924285e-01 9.05230888e-01 -5.81359229e-02 -1.26700718e+01] [-1.36430178e-01 1.82890248e-04 9.90649672e-01 -4.12962536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-12.70, Z:-4.13 [[ 8.93924937e-01 4.30892724e-01 1.23408542e-01 3.17669291e+01] [-4.26949013e-01 9.02402894e-01 -5.81683535e-02 -1.26969815e+01] [-1.36428546e-01 -6.91013485e-04 9.90649673e-01 -4.13288604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:-12.73, Z:-4.13 [[ 8.95606469e-01 4.27391484e-01 1.23391947e-01 3.18220039e+01] [-4.23409781e-01 9.04066649e-01 -5.82035350e-02 -1.27283454e+01] [-1.36430239e-01 -1.17894941e-04 9.90649674e-01 -4.13097831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025779523 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:-12.76, Z:-4.15 [[ 8.99269135e-01 4.19633140e-01 1.23381727e-01 3.18749026e+01] [-4.15575478e-01 9.07693147e-01 -5.82251929e-02 -1.27600733e+01] [-1.36425968e-01 1.08569882e-03 9.90649674e-01 -4.14507464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:-12.79, Z:-4.16 [[ 9.03510417e-01 4.10426746e-01 1.23364549e-01 3.19284556e+01] [-4.06278294e-01 9.11890091e-01 -5.82615660e-02 -1.27884424e+01] [-1.36407015e-01 2.51959330e-03 9.90649675e-01 -4.16084096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:-12.82, Z:-4.17 [[ 9.05708624e-01 4.05557627e-01 1.23348690e-01 3.19838528e+01] [-4.01359564e-01 9.14063553e-01 -5.82951229e-02 -1.28154526e+01] [-1.36390573e-01 3.29121912e-03 9.90649675e-01 -4.17200676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:-12.85, Z:-4.18 [[ 9.07507750e-01 4.01520405e-01 1.23333078e-01 3.20358906e+01] [-3.97280697e-01 9.15841622e-01 -5.83281342e-02 -1.28512139e+01] [-1.36373502e-01 3.93538267e-03 9.90649676e-01 -4.17830186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:-12.89, Z:-4.17 [[ 9.09015898e-01 3.98095813e-01 1.23328100e-01 3.20878643e+01] [-3.93823286e-01 9.17332993e-01 -5.83386566e-02 -1.28897040e+01] [-1.36357310e-01 4.46128850e-03 9.90649676e-01 -4.17175435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.15, Y:-12.91, Z:-4.19 [[ 9.11292156e-01 3.92862073e-01 1.23312604e-01 3.21467261e+01] [-3.88537368e-01 9.19582239e-01 -5.83713930e-02 -1.29052831e+01] [-1.36327987e-01 5.28183785e-03 9.90649677e-01 -4.18596924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385779523 meters Centerline goodness : 0.995011 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:-12.92, Z:-4.21 [[ 9.09815502e-01 3.96274212e-01 1.23298424e-01 3.22032821e+01] [-3.91976552e-01 9.18119636e-01 -5.84013313e-02 -1.29246352e+01] [-1.36345646e-01 4.80434547e-03 9.90649677e-01 -4.21109545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:-12.97, Z:-4.21 [[ 9.06357697e-01 4.04122181e-01 1.23292288e-01 3.22515348e+01] [-3.99894687e-01 9.14697770e-01 -5.84142824e-02 -1.29675447e+01] [-1.36381688e-01 3.64030363e-03 9.90649677e-01 -4.20683371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:-13.00, Z:-4.20 [[ 9.05963512e-01 4.05009948e-01 1.23276345e-01 3.23084030e+01] [-4.00786055e-01 9.14305409e-01 -5.84479084e-02 -1.29958069e+01] [-1.36384214e-01 3.54423227e-03 9.90649678e-01 -4.20177363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:-13.00, Z:-4.23 [[ 9.06458142e-01 4.03905772e-01 1.23262990e-01 3.23742554e+01] [-3.99667893e-01 9.14792942e-01 -5.84760596e-02 -1.29963506e+01] [-1.36378931e-01 3.74184066e-03 9.90649679e-01 -4.22591986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.42, Y:-13.03, Z:-4.24 [[ 9.03915426e-01 4.09569501e-01 1.23246613e-01 3.24243635e+01] [-4.05379153e-01 9.12274222e-01 -5.85105567e-02 -1.30317174e+01] [-1.36398848e-01 2.92698710e-03 9.90649679e-01 -4.23560677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.47, Y:-13.07, Z:-4.23 [[ 9.00770018e-01 4.16445512e-01 1.23233559e-01 3.24749095e+01] [-4.12315222e-01 9.09158653e-01 -5.85380378e-02 -1.30729872e+01] [-1.36416760e-01 1.91823712e-03 9.90649680e-01 -4.23001404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.54, Y:-13.09, Z:-4.24 [[ 9.00196572e-01 4.17687816e-01 1.23219397e-01 3.25356610e+01] [-4.13565025e-01 9.08588894e-01 -5.85678345e-02 -1.30900062e+01] [-1.36418846e-01 1.76333107e-03 9.90649680e-01 -4.24203700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.59, Y:-13.11, Z:-4.25 [[ 8.98834602e-01 4.20615392e-01 1.23203292e-01 3.25912255e+01] [-4.16515296e-01 9.07238034e-01 -5.86016920e-02 -1.31148315e+01] [-1.36423486e-01 1.35717274e-03 9.90649681e-01 -4.25162702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.65, Y:-13.15, Z:-4.26 [[ 8.95590374e-01 4.27483513e-01 1.23189806e-01 3.26458432e+01] [-4.23443966e-01 9.04023079e-01 -5.86300292e-02 -1.31467839e+01] [-1.36429798e-01 3.44509801e-04 9.90649681e-01 -4.25772755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.70, Y:-13.17, Z:-4.27 [[ 8.92696072e-01 4.33499881e-01 1.23172951e-01 3.27016291e+01] [-4.29512282e-01 9.01153466e-01 -5.86654171e-02 -1.31692464e+01] [-1.36429183e-01 -5.33907907e-04 9.90649682e-01 -4.27325260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.76, Y:-13.20, Z:-4.28 [[ 8.92125297e-01 4.34677409e-01 1.23158451e-01 3.27572290e+01] [-4.30696773e-01 9.00585969e-01 -5.86958420e-02 -1.31956448e+01] [-1.36428530e-01 -6.79901895e-04 9.90649683e-01 -4.28491924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:-13.23, Z:-4.29 [[ 8.87248827e-01 4.44550922e-01 1.23142179e-01 3.28106256e+01] [-4.40659689e-01 8.95750987e-01 -5.87299606e-02 -1.32267142e+01] [-1.36413187e-01 -2.15570560e-03 9.90649684e-01 -4.29204225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:-13.25, Z:-4.31 [[ 8.87710987e-01 4.43631524e-01 1.23127064e-01 3.28645881e+01] [-4.39727093e-01 8.96207094e-01 -5.87616314e-02 -1.32532444e+01] [-1.36415861e-01 -1.97896026e-03 9.90649684e-01 -4.30797496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:-13.28, Z:-4.31 [[ 8.89488377e-01 4.40057856e-01 1.23123966e-01 3.29194636e+01] [-4.36118389e-01 8.97968295e-01 -5.87681231e-02 -1.32792846e+01] [-1.36422792e-01 -1.42306335e-03 9.90649684e-01 -4.31172392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.97, Y:-13.31, Z:-4.32 [[ 8.90882700e-01 4.37230154e-01 1.23117045e-01 3.29737346e+01] [-4.33261768e-01 8.99349123e-01 -5.87826190e-02 -1.33086184e+01] [-1.36426740e-01 -9.73490154e-04 9.90649684e-01 -4.31598439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:-13.34, Z:-4.32 [[ 8.90293515e-01 4.38432805e-01 1.23102123e-01 3.30282988e+01] [-4.34471537e-01 8.98763270e-01 -5.88138516e-02 -1.33390958e+01] [-1.36425589e-01 -1.12277789e-03 9.90649685e-01 -4.31962293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:-13.37, Z:-4.33 [[ 8.88653160e-01 4.41752084e-01 1.23088005e-01 3.30830044e+01] [-4.37818360e-01 8.97135742e-01 -5.88433849e-02 -1.33670542e+01] [-1.36420836e-01 -1.59882826e-03 9.90649685e-01 -4.33220134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:-13.38, Z:-4.36 [[ 8.88107480e-01 4.42849526e-01 1.23082904e-01 3.31419760e+01] [-4.38924806e-01 8.96594231e-01 -5.88540517e-02 -1.33809580e+01] [-1.36418911e-01 -1.75541623e-03 9.90649685e-01 -4.35591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.20, Y:-13.41, Z:-4.37 [[ 8.91798840e-01 4.35372172e-01 1.23068687e-01 3.31971368e+01] [-4.31372185e-01 9.00250376e-01 -5.88837667e-02 -1.34065771e+01] [-1.36428985e-01 -5.75933417e-04 9.90649686e-01 -4.36958065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:-13.44, Z:-4.36 [[ 8.94678788e-01 4.29426896e-01 1.23054490e-01 3.32506092e+01] [-4.25366667e-01 9.03101549e-01 -5.89134201e-02 -1.34440545e+01] [-1.36429708e-01 3.65308967e-04 9.90649687e-01 -4.35929756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:-13.47, Z:-4.36 [[ 8.96940669e-01 4.24686494e-01 1.23039906e-01 3.33076470e+01] [-4.20577575e-01 9.05339784e-01 -5.89438631e-02 -1.34718912e+01] [-1.36425584e-01 1.12132283e-03 9.90649687e-01 -4.36199681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:-13.49, Z:-4.38 [[ 8.98253958e-01 4.21906953e-01 1.23021742e-01 3.33640144e+01] [-4.17766857e-01 9.06637748e-01 -5.89817494e-02 -1.34895301e+01] [-1.36420965e-01 1.58618348e-03 9.90649688e-01 -4.38415810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:-13.51, Z:-4.40 [[ 9.00203249e-01 4.17734323e-01 1.23012787e-01 3.34198083e+01] [-4.13552818e-01 9.08566463e-01 -5.90004204e-02 -1.35140775e+01] [-1.36411793e-01 2.24008560e-03 9.90649688e-01 -4.39514282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.47, Y:-13.55, Z:-4.40 [[ 9.06047226e-01 4.04907050e-01 1.22998802e-01 3.34737351e+01] [-4.00603237e-01 9.14348160e-01 -5.90295606e-02 -1.35474141e+01] [-1.36365213e-01 4.20985150e-03 9.90649689e-01 -4.39948857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:-13.58, Z:-4.40 [[ 9.09430925e-01 3.97253974e-01 1.22982408e-01 3.35275292e+01] [-3.92875722e-01 9.17692839e-01 -5.90636960e-02 -1.35757445e+01] [-1.36323363e-01 5.39754941e-03 9.90649689e-01 -4.40401873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:-13.59, Z:-4.41 [[ 9.11561776e-01 3.92343828e-01 1.22969301e-01 3.35881839e+01] [-3.87917415e-01 9.19797987e-01 -5.90909711e-02 -1.35909834e+01] [-1.36290894e-01 6.16313709e-03 9.90649690e-01 -4.41315373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:-13.62, Z:-4.42 [[ 9.11427879e-01 3.92659320e-01 1.22954787e-01 3.36428540e+01] [-3.88231696e-01 9.19663438e-01 -5.91211575e-02 -1.36196865e+01] [-1.36291495e-01 6.14972590e-03 9.90649690e-01 -4.42020254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005779522999994 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:-13.64, Z:-4.44 [[ 9.14832336e-01 3.84665387e-01 1.22940379e-01 3.36990163e+01] [-3.80161826e-01 9.23026616e-01 -5.91511020e-02 -1.36389875e+01] [-1.36230624e-01 7.37610162e-03 9.90649691e-01 -4.43972328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.75, Y:-13.67, Z:-4.45 [[ 9.17065743e-01 3.79314282e-01 1.22927205e-01 3.37548318e+01] [-3.74759274e-01 9.25231536e-01 -5.91784682e-02 -1.36662002e+01] [-1.36183365e-01 8.20243579e-03 9.90649691e-01 -4.44576637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.81, Y:-13.69, Z:-4.46 [[ 9.16370057e-01 3.80996566e-01 1.22912717e-01 3.38111747e+01] [-3.76452533e-01 9.24541961e-01 -5.92085447e-02 -1.36908550e+01] [-1.36196217e-01 7.98613373e-03 9.90649692e-01 -4.45568401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:-13.71, Z:-4.46 [[ 9.10780788e-01 3.94175821e-01 1.22897429e-01 3.38712247e+01] [-3.89745874e-01 9.19015095e-01 -5.92402603e-02 -1.37099076e+01] [-1.36295671e-01 6.05612500e-03 9.90649693e-01 -4.46241044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:-13.74, Z:-4.47 [[ 9.08132878e-01 4.00243582e-01 1.22881045e-01 3.39250501e+01] [-3.95864082e-01 9.16394126e-01 -5.92742256e-02 -1.37400803e+01] [-1.36331597e-01 5.18468086e-03 9.90649693e-01 -4.46896227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:-13.76, Z:-4.47 [[ 9.05583943e-01 4.05982886e-01 1.22864229e-01 3.39838431e+01] [-4.01651037e-01 9.13870275e-01 -5.93090626e-02 -1.37639608e+01] [-1.36360431e-01 4.36078981e-03 9.90649694e-01 -4.47258052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:-13.78, Z:-4.49 [[ 9.04301873e-01 4.08835943e-01 1.22846629e-01 3.40440150e+01] [-4.04525296e-01 9.12599253e-01 -5.93454956e-02 -1.37793787e+01] [-1.36372313e-01 3.97167393e-03 9.90649695e-01 -4.48975745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425779522999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:-13.81, Z:-4.50 [[ 9.00206732e-01 4.17778028e-01 1.22838754e-01 3.40986837e+01] [-4.13547601e-01 9.08545298e-01 -5.93617913e-02 -1.38071431e+01] [-1.36404624e-01 2.63821215e-03 9.90649695e-01 -4.49799957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:-13.84, Z:-4.51 [[ 8.97722688e-01 4.23091616e-01 1.22831022e-01 3.41523698e+01] [-4.18908362e-01 9.06085019e-01 -5.93777853e-02 -1.38362194e+01] [-1.36417592e-01 1.84984264e-03 9.90649695e-01 -4.51176131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:-13.86, Z:-4.52 [[ 8.94941495e-01 4.28946164e-01 1.22820637e-01 3.42086387e+01] [-4.24814672e-01 9.03329520e-01 -5.93992592e-02 -1.38642584e+01] [-1.36426592e-01 9.82853141e-04 9.90649695e-01 -4.51788202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605779522999995 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:34.26, Y:-13.90, Z:-4.52 [[ 8.91896039e-01 4.35247682e-01 1.22804358e-01 3.42624309e+01] [-4.31170823e-01 9.00310753e-01 -5.94328955e-02 -1.38951872e+01] [-1.36430114e-01 5.83078021e-05 9.90649696e-01 -4.52111860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.32, Y:-13.92, Z:-4.53 [[ 8.89851099e-01 4.39417381e-01 1.22790008e-01 3.43201667e+01] [-4.35375862e-01 8.98282843e-01 -5.94625301e-02 -1.39173879e+01] [-1.36429026e-01 -5.47007614e-04 9.90649697e-01 -4.53289844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:-13.95, Z:-4.55 [[ 8.89361506e-01 4.40408911e-01 1.22784785e-01 3.43726613e+01] [-4.36375304e-01 8.97797037e-01 -5.94733125e-02 -1.39472235e+01] [-1.36428393e-01 -6.86973052e-04 9.90649697e-01 -4.54782359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.42, Y:-13.99, Z:-4.55 [[ 8.89180773e-01 4.40777833e-01 1.22769930e-01 3.44231358e+01] [-4.36743494e-01 8.97615953e-01 -5.95039622e-02 -1.39850708e+01] [-1.36428275e-01 -7.09188968e-04 9.90649697e-01 -4.55004426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:-14.02, Z:-4.55 [[ 8.88197431e-01 4.42760347e-01 1.22754221e-01 3.44763868e+01] [-4.38740359e-01 8.96639459e-01 -5.95363504e-02 -1.40165425e+01] [-1.36426614e-01 -9.77197684e-04 9.90649698e-01 -4.55263146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:-14.04, Z:-4.57 [[ 8.90532526e-01 4.38049598e-01 1.22736994e-01 3.45314115e+01] [-4.33980059e-01 8.98950779e-01 -5.95718454e-02 -1.40396083e+01] [-1.36429939e-01 -2.14741787e-04 9.90649699e-01 -4.57384569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965779522999995 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:-14.09, Z:-4.57 [[ 8.95103046e-01 4.28637366e-01 1.22721413e-01 3.45798189e+01] [-4.24474911e-01 9.03475745e-01 -5.96039260e-02 -1.40855915e+01] [-1.36424290e-01 1.25949507e-03 9.90649699e-01 -4.56897064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:-14.11, Z:-4.57 [[ 8.96202978e-01 4.26337990e-01 1.22703468e-01 3.46362217e+01] [-4.22149000e-01 9.04562431e-01 -5.96408457e-02 -1.41113085e+01] [-1.36420105e-01 1.65115736e-03 9.90649700e-01 -4.57243267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.69, Y:-14.13, Z:-4.59 [[ 8.97477648e-01 4.23653706e-01 1.22684183e-01 3.46933574e+01] [-4.19434296e-01 9.05821788e-01 -5.96804894e-02 -1.41306741e+01] [-1.36413866e-01 2.10395136e-03 9.90649701e-01 -4.59434925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:-14.16, Z:-4.60 [[ 8.97857715e-01 4.22851787e-01 1.22669841e-01 3.47485251e+01] [-4.18620900e-01 9.06196041e-01 -5.97099542e-02 -1.41594699e+01] [-1.36411385e-01 2.25888389e-03 9.90649702e-01 -4.60365526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:-14.19, Z:-4.61 [[ 8.97210324e-01 4.24228465e-01 1.22653345e-01 3.48040140e+01] [-4.20005744e-01 9.05552787e-01 -5.97438205e-02 -1.41893045e+01] [-1.36414108e-01 2.08766311e-03 9.90649702e-01 -4.60890540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.86, Y:-14.21, Z:-4.62 [[ 9.00564865e-01 4.17064893e-01 1.22636857e-01 3.48618267e+01] [-4.12771219e-01 9.08871033e-01 -5.97776461e-02 -1.42119810e+01] [-1.36392245e-01 3.21268277e-03 9.90649703e-01 -4.61927547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.92, Y:-14.23, Z:-4.63 [[ 9.03579757e-01 4.10497075e-01 1.22620446e-01 3.49203964e+01] [-4.06138479e-01 9.11852041e-01 -5.98112916e-02 -1.42329032e+01] [-1.36364064e-01 4.24339099e-03 9.90649704e-01 -4.63082953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.98, Y:-14.26, Z:-4.64 [[ 9.08435824e-01 3.99641093e-01 1.22602404e-01 3.49751745e+01] [-3.95178716e-01 9.16652589e-01 -5.98482509e-02 -1.42608907e+01] [-1.36301632e-01 5.91843441e-03 9.90649705e-01 -4.64075119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:-14.29, Z:-4.64 [[ 9.12711744e-01 3.89781979e-01 1.22585813e-01 3.50302468e+01] [-3.85226356e-01 9.20877177e-01 -5.98822146e-02 -1.42890491e+01] [-1.36227486e-01 7.43191431e-03 9.90649705e-01 -4.64007639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505779522999994 meters Centerline goodness : 0.995282 with order 1 Centerline is valid? [True, True] Translation: X:35.09, Y:-14.31, Z:-4.64 [[ 9.13957905e-01 3.86853718e-01 1.22577114e-01 3.50870209e+01] [-3.82269561e-01 9.22107353e-01 -5.99000162e-02 -1.43149485e+01] [-1.36201802e-01 7.88859371e-03 9.90649706e-01 -4.64044437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565779522999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-14.33, Z:-4.66 [[ 9.15300283e-01 3.83672695e-01 1.22558782e-01 3.51448320e+01] [-3.79055226e-01 9.23430903e-01 -5.99375021e-02 -1.43326356e+01] [-1.36170950e-01 8.40426594e-03 9.90649706e-01 -4.66435471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-14.35, Z:-4.68 [[ 9.13301153e-01 3.88409166e-01 1.22553352e-01 3.51996582e+01] [-3.83832395e-01 9.21454751e-01 -5.99486026e-02 -1.43541237e+01] [-1.36211955e-01 7.71118130e-03 9.90649706e-01 -4.68271266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:-14.38, Z:-4.69 [[ 9.11148635e-01 3.93436350e-01 1.22539801e-01 3.52541914e+01] [-3.88900871e-01 9.19325273e-01 -5.99762885e-02 -1.43830325e+01] [-1.36250788e-01 6.99147794e-03 9.90649707e-01 -4.68695624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745779522999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.31, Y:-14.41, Z:-4.69 [[ 9.09906312e-01 3.96305586e-01 1.22525040e-01 3.53113922e+01] [-3.91791848e-01 9.18094971e-01 -6.00064295e-02 -1.44064396e+01] [-1.36270506e-01 6.59591719e-03 9.90649708e-01 -4.68886890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805779523 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:35.37, Y:-14.42, Z:-4.70 [[ 9.10947961e-01 3.93909564e-01 1.22511502e-01 3.53746043e+01] [-3.89370588e-01 9.19122656e-01 -6.00340558e-02 -1.44187657e+01] [-1.36251086e-01 6.98552501e-03 9.90649708e-01 -4.70183687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:-14.45, Z:-4.71 [[ 9.10504454e-01 3.94939155e-01 1.22493687e-01 3.54253929e+01] [-3.90404550e-01 9.18681575e-01 -6.00703840e-02 -1.44530172e+01] [-1.36256840e-01 6.87225932e-03 9.90649709e-01 -4.71365779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:-14.47, Z:-4.72 [[ 9.12865241e-01 3.89454779e-01 1.22482762e-01 3.54841672e+01] [-3.84868090e-01 9.21013261e-01 -6.00926534e-02 -1.44737607e+01] [-1.36211619e-01 7.71678795e-03 9.90649709e-01 -4.71800550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:-14.49, Z:-4.73 [[ 9.12294180e-01 3.90795435e-01 1.22467374e-01 3.55441722e+01] [-3.86216529e-01 9.20446575e-01 -6.01239959e-02 -1.44907934e+01] [-1.36220858e-01 7.55184731e-03 9.90649710e-01 -4.72983526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:-14.52, Z:-4.75 [[ 9.11769557e-01 3.92022801e-01 1.22451616e-01 3.55973143e+01] [-3.87450578e-01 9.19925701e-01 -6.01560742e-02 -1.45180617e+01] [-1.36228941e-01 7.40452788e-03 9.90649710e-01 -4.74529080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:-14.56, Z:-4.74 [[ 9.11629660e-01 3.92352456e-01 1.22437384e-01 3.56490981e+01] [-3.87779307e-01 9.19785286e-01 -6.01850258e-02 -1.45560710e+01] [-1.36229847e-01 7.38777061e-03 9.90649711e-01 -4.74064065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:-14.57, Z:-4.75 [[ 9.11398633e-01 3.92893583e-01 1.22422076e-01 3.57097868e+01] [-3.88321111e-01 9.19554637e-01 -6.02161486e-02 -1.45715711e+01] [-1.36232326e-01 7.34183902e-03 9.90649711e-01 -4.74832180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:-14.60, Z:-4.76 [[ 9.08423123e-01 3.99729422e-01 1.22408408e-01 3.57645784e+01] [-3.95214620e-01 9.16611191e-01 -6.02439201e-02 -1.45962853e+01] [-1.36282184e-01 6.34937760e-03 9.90649712e-01 -4.76458173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-14.63, Z:-4.76 [[ 9.05442489e-01 4.06437620e-01 1.22402452e-01 3.58173240e+01] [-4.01981871e-01 9.13662841e-01 -6.02560199e-02 -1.46294500e+01] [-1.36324885e-01 5.35479411e-03 9.90649712e-01 -4.76374714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-14.65, Z:-4.77 [[ 9.01700089e-01 4.14678641e-01 1.22386982e-01 3.58773308e+01] [-4.10293792e-01 9.09958477e-01 -6.02874239e-02 -1.46487308e+01] [-1.36366979e-01 4.14655647e-03 9.90649713e-01 -4.77354892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-14.67, Z:-4.79 [[ 8.98402455e-01 4.21780540e-01 1.22369133e-01 3.59373768e+01] [-4.17456061e-01 9.06692614e-01 -6.03236322e-02 -1.46659962e+01] [-1.36394523e-01 3.11116315e-03 9.90649713e-01 -4.78573796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465779522999995 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:-14.70, Z:-4.79 [[ 8.94975432e-01 4.29006070e-01 1.22363265e-01 3.59868973e+01] [-4.24746905e-01 9.03299336e-01 -6.03355323e-02 -1.47035442e+01] [-1.36414966e-01 2.02540093e-03 9.90649714e-01 -4.79250127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:-14.72, Z:-4.81 [[ 8.91981073e-01 4.35202600e-01 1.22345668e-01 3.60466369e+01] [-4.30996375e-01 9.00331852e-01 -6.03711938e-02 -1.47179406e+01] [-1.36425403e-01 1.11942284e-03 9.90649714e-01 -4.80878592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.10, Y:-14.74, Z:-4.82 [[ 8.89531066e-01 4.40191274e-01 1.22336119e-01 3.61047868e+01] [-4.36029222e-01 8.97903948e-01 -6.03905372e-02 -1.47368599e+01] [-1.36429472e-01 3.77135925e-04 9.90649715e-01 -4.82365605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.15, Y:-14.78, Z:-4.82 [[ 8.89145733e-01 4.40973264e-01 1.22321079e-01 3.61548831e+01] [-4.36814387e-01 8.97520192e-01 -6.04209858e-02 -1.47773315e+01] [-1.36429678e-01 2.91454366e-04 9.90649715e-01 -4.82288332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.21, Y:-14.80, Z:-4.83 [[ 8.88879348e-01 4.41512918e-01 1.22310455e-01 3.62136581e+01] [-4.37356167e-01 8.97254863e-01 -6.04424842e-02 -1.47987042e+01] [-1.36429789e-01 2.32844001e-04 9.90649715e-01 -4.82601542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:-14.83, Z:-4.84 [[ 8.87251697e-01 4.44778978e-01 1.22295082e-01 3.62625167e+01] [-4.40648773e-01 8.95640333e-01 -6.04735747e-02 -1.48319965e+01] [-1.36429782e-01 -2.33895841e-04 9.90649716e-01 -4.84404574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-14.87, Z:-4.85 [[ 8.87177405e-01 4.44928944e-01 1.22288536e-01 3.63139440e+01] [-4.40798333e-01 8.95565841e-01 -6.04868091e-02 -1.48663650e+01] [-1.36429767e-01 -2.42052288e-04 9.90649716e-01 -4.85029251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-14.89, Z:-4.86 [[ 8.90929842e-01 4.37367490e-01 1.22285304e-01 3.63703984e+01] [-4.33164788e-01 8.99282393e-01 -6.04933407e-02 -1.48878975e+01] [-1.36426842e-01 9.25634481e-04 9.90649716e-01 -4.86258438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.42, Y:-14.92, Z:-4.87 [[ 8.92131478e-01 4.34915056e-01 1.22271501e-01 3.64234566e+01] [-4.30685573e-01 9.00470498e-01 -6.05212278e-02 -1.49213803e+01] [-1.36423473e-01 1.33232088e-03 9.90649717e-01 -4.86852531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005779522999994 meters Centerline goodness : 0.995826 with order 1 Centerline is valid? [True, True] Translation: X:36.47, Y:-14.96, Z:-4.88 [[ 8.93522876e-01 4.32050793e-01 1.22266033e-01 3.64720916e+01] [-4.27793068e-01 9.01847512e-01 -6.05322729e-02 -1.49608393e+01] [-1.36418334e-01 1.78240930e-03 9.90649717e-01 -4.87849355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065779522999996 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:36.52, Y:-15.00, Z:-4.88 [[ 8.94639673e-01 4.29734597e-01 1.22262144e-01 3.65229778e+01] [-4.25454248e-01 9.02952699e-01 -6.05401262e-02 -1.49986073e+01] [-1.36413120e-01 2.14465007e-03 9.90649717e-01 -4.87728584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:-15.02, Z:-4.88 [[ 8.95203853e-01 4.28563287e-01 1.22243893e-01 3.65819979e+01] [-4.24267033e-01 9.03508670e-01 -6.05769575e-02 -1.50212669e+01] [-1.36409477e-01 2.36467210e-03 9.90649718e-01 -4.87735020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.64, Y:-15.05, Z:-4.89 [[ 8.96270011e-01 4.26334178e-01 1.22226170e-01 3.66369108e+01] [-4.22012398e-01 9.04561572e-01 -6.06126968e-02 -1.50484186e+01] [-1.36402360e-01 2.74438350e-03 9.90649718e-01 -4.88646197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:-15.08, Z:-4.90 [[ 8.99690300e-01 4.19072501e-01 1.22211304e-01 3.66876288e+01] [-4.14679746e-01 9.07944479e-01 -6.06426544e-02 -1.50822859e+01] [-1.36374748e-01 3.88105518e-03 9.90649719e-01 -4.89567544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-15.11, Z:-4.91 [[ 9.04854969e-01 4.07805354e-01 1.22197704e-01 3.67396164e+01] [-4.03306180e-01 9.13051625e-01 -6.06700468e-02 -1.51119373e+01] [-1.36314383e-01 5.61450386e-03 9.90649719e-01 -4.91312994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36577952299999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:-15.13, Z:-4.92 [[ 9.07460178e-01 4.01979770e-01 1.22181382e-01 3.67977765e+01] [-3.97423583e-01 9.15625280e-01 -6.07028995e-02 -1.51328788e+01] [-1.36273700e-01 6.52770120e-03 9.90649720e-01 -4.92142192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:-15.17, Z:-4.92 [[ 9.07975469e-01 4.00819530e-01 1.22164855e-01 3.68511447e+01] [-3.96248451e-01 9.16132243e-01 -6.07361423e-02 -1.51660547e+01] [-1.36263395e-01 6.73929264e-03 9.90649721e-01 -4.91678936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:-15.20, Z:-4.92 [[ 9.08245816e-01 4.00210957e-01 1.22150430e-01 3.69072747e+01] [-3.95630525e-01 9.16397340e-01 -6.07651397e-02 -1.51950255e+01] [-1.36257204e-01 6.86324493e-03 9.90649721e-01 -4.91555308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54577952299999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:36.96, Y:-15.22, Z:-4.93 [[ 9.09863965e-01 3.96523728e-01 1.22133119e-01 3.69641531e+01] [-3.91905619e-01 9.17994203e-01 -6.07999153e-02 -1.52158053e+01] [-1.36226104e-01 7.45499658e-03 9.90649722e-01 -4.93130371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.02, Y:-15.23, Z:-4.94 [[ 9.11476260e-01 3.92805291e-01 1.22127113e-01 3.70234211e+01] [-3.88152414e-01 9.19586650e-01 -6.08119769e-02 -1.52326665e+01] [-1.36193729e-01 8.02473959e-03 9.90649722e-01 -4.94146685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.08, Y:-15.26, Z:-4.96 [[ 9.12079719e-01 3.91406905e-01 1.22111508e-01 3.70784714e+01] [-3.86737420e-01 9.20180559e-01 -6.08432956e-02 -1.52576412e+01] [-1.36179122e-01 8.26884648e-03 9.90649723e-01 -4.95535762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72577952299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:-15.28, Z:-4.96 [[ 9.07306299e-01 4.02352519e-01 1.22097216e-01 3.71388230e+01] [-3.97776994e-01 9.15460577e-01 -6.08719634e-02 -1.52769685e+01] [-1.36267175e-01 6.66205244e-03 9.90649723e-01 -4.95711689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:-15.29, Z:-4.96 [[ 9.02041425e-01 4.14023598e-01 1.22089018e-01 3.72003771e+01] [-4.09551425e-01 9.10252840e-01 -6.08884006e-02 -1.52918883e+01] [-1.36341110e-01 4.92212827e-03 9.90649723e-01 -4.95920638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845779523 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:-15.32, Z:-4.97 [[ 8.97081396e-01 4.24666336e-01 1.22079779e-01 3.72538539e+01] [-4.20289104e-01 9.05343811e-01 -6.09069187e-02 -1.53201022e+01] [-1.36389291e-01 3.32966274e-03 9.90649724e-01 -4.96974426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:-15.34, Z:-4.98 [[ 8.92193071e-01 4.34845695e-01 1.22068609e-01 3.73140641e+01] [-4.30559693e-01 9.00503177e-01 -6.09292975e-02 -1.53361143e+01] [-1.36418013e-01 1.80287415e-03 9.90649724e-01 -4.98199201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965779522999995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:-15.36, Z:-4.99 [[ 8.89275317e-01 4.40786257e-01 1.22052802e-01 3.73726612e+01] [-4.36551428e-01 8.97611616e-01 -6.09609456e-02 -1.53561765e+01] [-1.36426760e-01 9.28739096e-04 9.90649724e-01 -4.98860664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:-15.39, Z:-4.99 [[ 8.85764705e-01 4.47802859e-01 1.22038876e-01 3.74246907e+01] [-4.43630228e-01 8.94132309e-01 -6.09888115e-02 -1.53878660e+01] [-1.36429866e-01 -1.18397873e-04 9.90649725e-01 -4.99379247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:-15.41, Z:-5.00 [[ 8.84275080e-01 4.50739472e-01 1.22030778e-01 3.74810332e+01] [-4.46592393e-01 8.92655378e-01 -6.10050116e-02 -1.54141034e+01] [-1.36428797e-01 -5.52805439e-04 9.90649725e-01 -4.99867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:-15.44, Z:-5.02 [[ 8.83687335e-01 4.51894668e-01 1.22015999e-01 3.75351722e+01] [-4.47754464e-01 8.92071030e-01 -6.10345559e-02 -1.54379223e+01] [-1.36428128e-01 -6.97744269e-04 9.90649726e-01 -5.01734778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-15.47, Z:-5.02 [[ 8.83402854e-01 4.52452798e-01 1.22007638e-01 3.75905178e+01] [-4.48315584e-01 8.91788024e-01 -6.10512648e-02 -1.54654105e+01] [-1.36427766e-01 -7.65063963e-04 9.90649726e-01 -5.02450072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26577952299999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:-15.49, Z:-5.03 [[ 8.84166532e-01 4.50962630e-01 1.21992832e-01 3.76444543e+01] [-4.46807203e-01 8.92542691e-01 -6.10808358e-02 -1.54941080e+01] [-1.36428985e-01 -5.01645404e-04 9.90649726e-01 -5.03044694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325779522999994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:37.69, Y:-15.53, Z:-5.04 [[ 8.85741956e-01 4.47864088e-01 1.21979284e-01 3.76942862e+01] [-4.43675634e-01 8.94101649e-01 -6.11078805e-02 -1.55311069e+01] [-1.36429904e-01 6.57755386e-06 9.90649727e-01 -5.04047706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.75, Y:-15.56, Z:-5.05 [[ 8.86497577e-01 4.46367449e-01 1.21976003e-01 3.77481107e+01] [-4.42163981e-01 8.94849731e-01 -6.11144282e-02 -1.55616798e+01] [-1.36429685e-01 2.44397404e-04 9.90649727e-01 -5.04898629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:-15.59, Z:-5.06 [[ 8.86238465e-01 4.46883301e-01 1.21970073e-01 3.78010923e+01] [-4.42683066e-01 8.94592244e-01 -6.11262620e-02 -1.55915841e+01] [-1.36429787e-01 1.78358886e-04 9.90649727e-01 -5.05646029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:-15.62, Z:-5.06 [[ 8.89198215e-01 4.40968926e-01 1.21954663e-01 3.78536187e+01] [-4.36708914e-01 8.97521670e-01 -6.11569899e-02 -1.56238860e+01] [-1.36425285e-01 1.12199777e-03 9.90649728e-01 -5.06090199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-15.66, Z:-5.07 [[ 8.91912219e-01 4.35454637e-01 1.21950205e-01 3.79029620e+01] [-4.31141953e-01 9.00208505e-01 -6.11658796e-02 -1.56610646e+01] [-1.36415577e-01 1.97674600e-03 9.90649728e-01 -5.06885642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:-15.70, Z:-5.07 [[ 8.93196398e-01 4.32818663e-01 1.21935225e-01 3.79540711e+01] [-4.28477423e-01 9.01477776e-01 -6.11957270e-02 -1.56963637e+01] [-1.36408548e-01 2.41331185e-03 9.90649728e-01 -5.07492263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:-15.73, Z:-5.08 [[ 8.94651315e-01 4.29807536e-01 1.21920083e-01 3.80092036e+01] [-4.25434318e-01 9.02915850e-01 -6.12258796e-02 -1.57261098e+01] [-1.36398920e-01 2.90682618e-03 9.90649729e-01 -5.07810546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.06, Y:-15.76, Z:-5.08 [[ 8.94952018e-01 4.29185336e-01 1.21905014e-01 3.80618447e+01] [-4.24802290e-01 9.03211345e-01 -6.12558681e-02 -1.57588172e+01] [-1.36396112e-01 3.03553351e-03 9.90649729e-01 -5.08443367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.11, Y:-15.79, Z:-5.11 [[ 8.93816180e-01 4.31550332e-01 1.21889081e-01 3.81117297e+01] [-4.27184822e-01 9.02084787e-01 -6.12875567e-02 -1.57896578e+01] [-1.36402951e-01 2.71064438e-03 9.90649730e-01 -5.11000973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86577952299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:38.17, Y:-15.82, Z:-5.11 [[ 8.94933706e-01 4.29231634e-01 1.21876436e-01 3.81660468e+01] [-4.24841281e-01 9.03189150e-01 -6.13126927e-02 -1.58204811e+01] [-1.36394822e-01 3.09265419e-03 9.90649730e-01 -5.11496201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:-15.85, Z:-5.12 [[ 8.96211357e-01 4.26561855e-01 1.21861346e-01 3.82187992e+01] [-4.22142838e-01 9.04451492e-01 -6.13426705e-02 -1.58540872e+01] [-1.36384119e-01 3.53310351e-03 9.90649731e-01 -5.11631090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:-15.88, Z:-5.13 [[ 8.97357929e-01 4.24148832e-01 1.21846278e-01 3.82718423e+01] [-4.19703601e-01 9.05583951e-01 -6.13725847e-02 -1.58842398e+01] [-1.36373144e-01 3.93385369e-03 9.90649731e-01 -5.12604012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:-15.92, Z:-5.13 [[ 8.95521094e-01 4.28017914e-01 1.21830353e-01 3.83232317e+01] [-4.23603933e-01 9.03763926e-01 -6.14041824e-02 -1.59207504e+01] [-1.36387968e-01 3.38092398e-03 9.90649732e-01 -5.12792009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:-15.94, Z:-5.14 [[ 8.93030887e-01 4.33193681e-01 1.21815720e-01 3.83805997e+01] [-4.28823524e-01 9.01297036e-01 -6.14331970e-02 -1.59430755e+01] [-1.36404621e-01 2.62429594e-03 9.90649733e-01 -5.14257954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:-15.97, Z:-5.16 [[ 8.90762770e-01 4.37843391e-01 1.21798409e-01 3.84343133e+01] [-4.33511697e-01 8.99049140e-01 -6.14674993e-02 -1.59691739e+01] [-1.36415893e-01 1.95192481e-03 9.90649733e-01 -5.15819781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:-16.01, Z:-5.16 [[ 8.93669025e-01 4.31884474e-01 1.21784542e-01 3.84845562e+01] [-4.27493794e-01 9.01924290e-01 -6.14949616e-02 -1.60074620e+01] [-1.36399156e-01 2.89400623e-03 9.90649734e-01 -5.15966162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:-16.04, Z:-5.16 [[ 8.91683675e-01 4.35973175e-01 1.21768694e-01 3.85401233e+01] [-4.31616070e-01 8.99956709e-01 -6.15263280e-02 -1.60362867e+01] [-1.36410382e-01 2.30469703e-03 9.90649734e-01 -5.16225041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.60, Y:-16.06, Z:-5.18 [[ 8.91630658e-01 4.36086238e-01 1.21752057e-01 3.85956482e+01] [-4.31725690e-01 8.99901878e-01 -6.15592326e-02 -1.60591123e+01] [-1.36410039e-01 2.32460818e-03 9.90649735e-01 -5.18331364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.64, Y:-16.10, Z:-5.19 [[ 8.90351847e-01 4.38695799e-01 1.21735716e-01 3.86435808e+01] [-4.34355080e-01 8.98633489e-01 -6.15915316e-02 -1.61025681e+01] [-1.36415737e-01 1.96160742e-03 9.90649736e-01 -5.18541363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:-16.13, Z:-5.19 [[ 8.88957374e-01 4.41518736e-01 1.21720959e-01 3.86977261e+01] [-4.37200326e-01 8.97250671e-01 -6.16206801e-02 -1.61331035e+01] [-1.36420897e-01 1.56171480e-03 9.90649736e-01 -5.19089972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.76, Y:-16.15, Z:-5.21 [[ 8.88500152e-01 4.42442115e-01 1.21706431e-01 3.87555373e+01] [-4.38128396e-01 8.96795888e-01 -6.16493610e-02 -1.61519614e+01] [-1.36422101e-01 1.45242306e-03 9.90649737e-01 -5.20664413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.80, Y:-16.20, Z:-5.21 [[ 8.87841332e-01 4.43766757e-01 1.21691555e-01 3.87981325e+01] [-4.39461392e-01 8.96141407e-01 -6.16787115e-02 -1.62035600e+01] [-1.36423803e-01 1.28216907e-03 9.90649737e-01 -5.20694880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645779522999995 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:38.85, Y:-16.23, Z:-5.21 [[ 8.84130416e-01 4.51118490e-01 1.21677922e-01 3.88531317e+01] [-4.46878444e-01 8.92464047e-01 -6.17055960e-02 -1.62333819e+01] [-1.36429706e-01 1.80553926e-04 9.90649738e-01 -5.21486643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.91, Y:-16.25, Z:-5.23 [[ 8.76522647e-01 4.65732343e-01 1.21661146e-01 3.89127662e+01] [-4.61626627e-01 8.84923271e-01 -6.17386544e-02 -1.62491958e+01] [-1.36414467e-01 -2.04669577e-03 9.90649738e-01 -5.23114990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.97, Y:-16.28, Z:-5.23 [[ 8.72630857e-01 4.72988085e-01 1.21645630e-01 3.89652787e+01] [-4.68947946e-01 8.81063215e-01 -6.17692114e-02 -1.62815595e+01] [-1.36393591e-01 -3.14374833e-03 9.90649739e-01 -5.23467661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:-16.32, Z:-5.24 [[ 8.74459419e-01 4.69602264e-01 1.21632388e-01 3.90176743e+01] [-4.65525848e-01 8.82874299e-01 -6.17952760e-02 -1.63181247e+01] [-1.36405311e-01 -2.58555939e-03 9.90649739e-01 -5.23676101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:-16.34, Z:-5.25 [[ 8.75776335e-01 4.67146194e-01 1.21615150e-01 3.90731169e+01] [-4.63041471e-01 8.84177442e-01 -6.18291818e-02 -1.63436934e+01] [-1.36412639e-01 -2.16432377e-03 9.90649740e-01 -5.25267148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:-16.36, Z:-5.27 [[ 8.77646707e-01 4.63624137e-01 1.21609691e-01 3.91302382e+01] [-4.59484208e-01 8.86030522e-01 -6.18399181e-02 -1.63632084e+01] [-1.36420376e-01 -1.60413195e-03 9.90649740e-01 -5.27056184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:-16.40, Z:-5.27 [[ 8.75318904e-01 4.68008246e-01 1.21593990e-01 3.91819885e+01] [-4.63906020e-01 8.83721230e-01 -6.18707739e-02 -1.63978258e+01] [-1.36411223e-01 -2.25152611e-03 9.90649741e-01 -5.26816681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:-16.43, Z:-5.27 [[ 8.79279789e-01 4.60525894e-01 1.21585172e-01 3.92363602e+01] [-4.56349760e-01 8.87645627e-01 -6.18880983e-02 -1.64274591e+01] [-1.36425618e-01 -1.06841014e-03 9.90649741e-01 -5.27138797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.29, Y:-16.45, Z:-5.29 [[ 8.85151024e-01 4.49141883e-01 1.21569873e-01 3.92925353e+01] [-4.44854024e-01 8.93460151e-01 -6.19181374e-02 -1.64522268e+01] [-1.36427866e-01 7.26055795e-04 9.90649742e-01 -5.28703413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185779522999994 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:-16.48, Z:-5.29 [[ 8.84262635e-01 4.50893363e-01 1.21551499e-01 3.93448637e+01] [-4.46617006e-01 8.92577688e-01 -6.19541858e-02 -1.64836623e+01] [-1.36428887e-01 4.96805029e-04 9.90649742e-01 -5.29302760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:-16.51, Z:-5.30 [[ 8.85871627e-01 4.47727875e-01 1.21536866e-01 3.94012739e+01] [-4.43417871e-01 8.94169288e-01 -6.19828789e-02 -1.65057386e+01] [-1.36425995e-01 1.01725553e-03 9.90649743e-01 -5.30447184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305779523 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-16.53, Z:-5.31 [[ 8.89185636e-01 4.41113453e-01 1.21522947e-01 3.94573450e+01] [-4.36738003e-01 8.97448972e-01 -6.20101556e-02 -1.65318636e+01] [-1.36414158e-01 2.06485036e-03 9.90649743e-01 -5.31288331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36577952299999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:-16.56, Z:-5.31 [[ 8.94755133e-01 4.29708202e-01 1.21507665e-01 3.95110764e+01] [-4.25223392e-01 9.02959631e-01 -6.20400862e-02 -1.65622901e+01] [-1.36375650e-01 3.84278402e-03 9.90649744e-01 -5.31268339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425779522999996 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:39.56, Y:-16.59, Z:-5.32 [[ 9.00242842e-01 4.18093413e-01 1.21493721e-01 3.95637470e+01] [-4.13499131e-01 9.08386542e-01 -6.20673810e-02 -1.65928992e+01] [-1.36313224e-01 5.63816730e-03 9.90649744e-01 -5.32155047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:-16.62, Z:-5.34 [[ 9.01243158e-01 4.15937049e-01 1.21478972e-01 3.96184133e+01] [-4.11319404e-01 9.09373633e-01 -6.20962350e-02 -1.66197857e+01] [-1.36297899e-01 5.99714851e-03 9.90649745e-01 -5.33503478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54577952299999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:39.68, Y:-16.64, Z:-5.35 [[ 9.03405400e-01 4.11223900e-01 1.21464348e-01 3.96752730e+01] [-4.06560017e-01 9.11509440e-01 -6.21248285e-02 -1.66414052e+01] [-1.36263114e-01 6.74135837e-03 9.90649745e-01 -5.35229027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605779522999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:39.73, Y:-16.67, Z:-5.36 [[ 9.05314715e-01 4.07007608e-01 1.21449882e-01 3.97307737e+01] [-4.02302216e-01 9.13394723e-01 -6.21530949e-02 -1.66690338e+01] [-1.36228464e-01 7.40855472e-03 9.90649746e-01 -5.35565000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665779523 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:39.79, Y:-16.70, Z:-5.36 [[ 9.05082383e-01 4.07528130e-01 1.21436003e-01 3.97851745e+01] [-4.02823761e-01 9.13162987e-01 -6.21802005e-02 -1.67024453e+01] [-1.36231044e-01 7.36089663e-03 9.90649746e-01 -5.35635943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:-16.73, Z:-5.35 [[ 9.01345703e-01 4.15732086e-01 1.21419752e-01 3.98421209e+01] [-4.11097044e-01 9.09466271e-01 -6.22119185e-02 -1.67301444e+01] [-1.36290659e-01 6.15914444e-03 9.90649747e-01 -5.35155508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:-16.75, Z:-5.37 [[ 8.95802280e-01 4.27550144e-01 1.21404898e-01 3.99029329e+01] [-4.23018379e-01 9.03980931e-01 -6.22408914e-02 -1.67456608e+01] [-1.36358815e-01 4.39902930e-03 9.90649747e-01 -5.36968027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:-16.77, Z:-5.38 [[ 8.93507635e-01 4.32329883e-01 1.21387718e-01 3.99588651e+01] [-4.27837331e-01 9.01707891e-01 -6.22743805e-02 -1.67706179e+01] [-1.36379338e-01 3.70843737e-03 9.90649748e-01 -5.38356865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.01, Y:-16.80, Z:-5.39 [[ 8.93018809e-01 4.33343667e-01 1.21369985e-01 4.00119213e+01] [-4.28855734e-01 9.01221592e-01 -6.23089218e-02 -1.68000113e+01] [-1.36382428e-01 3.59282519e-03 9.90649749e-01 -5.39278350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:-16.83, Z:-5.40 [[ 8.90995799e-01 4.37492010e-01 1.21355792e-01 4.00678025e+01] [-4.33038511e-01 8.99217327e-01 -6.23365526e-02 -1.68296676e+01] [-1.36396975e-01 2.98987495e-03 9.90649749e-01 -5.39662914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:-16.85, Z:-5.40 [[ 8.88695639e-01 4.42150466e-01 1.21338476e-01 4.01255906e+01] [-4.37735471e-01 8.96937908e-01 -6.23702399e-02 -1.68527192e+01] [-1.36410110e-01 2.31400514e-03 9.90649750e-01 -5.39894318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.18, Y:-16.88, Z:-5.41 [[ 8.85949049e-01 4.47632670e-01 1.21323016e-01 4.01777362e+01] [-4.43264567e-01 8.94216264e-01 -6.24002983e-02 -1.68816463e+01] [-1.36421427e-01 1.50529074e-03 9.90649751e-01 -5.41330858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.23, Y:-16.91, Z:-5.43 [[ 8.84213252e-01 4.51055528e-01 1.21308843e-01 4.02322122e+01] [-4.46715650e-01 8.92495318e-01 -6.24278398e-02 -1.69088885e+01] [-1.36425997e-01 1.00896454e-03 9.90649751e-01 -5.42644396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205779523 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:40.29, Y:-16.93, Z:-5.44 [[ 8.82834540e-01 4.53752203e-01 1.21293502e-01 4.02875523e+01] [-4.49433530e-01 8.91127682e-01 -6.24576317e-02 -1.69336245e+01] [-1.36428286e-01 6.26387583e-04 9.90649752e-01 -5.43946062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.34, Y:-16.97, Z:-5.43 [[ 8.78842178e-01 4.61441211e-01 1.21278336e-01 4.03388175e+01] [-4.57191032e-01 8.87170630e-01 -6.24870681e-02 -1.69704243e+01] [-1.36428686e-01 -5.31096437e-04 9.90649752e-01 -5.43301759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-17.00, Z:-5.45 [[ 8.76938972e-01 4.65051576e-01 1.21264467e-01 4.03924792e+01] [-4.60831964e-01 8.85282952e-01 -6.25139704e-02 -1.69974500e+01] [-1.36425586e-01 -1.06160565e-03 9.90649753e-01 -5.44676191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:-17.02, Z:-5.46 [[ 8.73938896e-01 4.70668729e-01 1.21250790e-01 4.04495501e+01] [-4.66499063e-01 8.82307946e-01 -6.25404876e-02 -1.70184088e+01] [-1.36416387e-01 -1.90681518e-03 9.90649753e-01 -5.46382805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445779523 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:-17.05, Z:-5.47 [[ 8.72261480e-01 4.73773918e-01 1.21236067e-01 4.05024615e+01] [-4.69630080e-01 8.80643348e-01 -6.25690153e-02 -1.70522810e+01] [-1.36409303e-01 -2.35956180e-03 9.90649754e-01 -5.46756721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505779522999994 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:-17.09, Z:-5.46 [[ 8.69975883e-01 4.77961296e-01 1.21222782e-01 4.05553465e+01] [-4.73854213e-01 8.78375821e-01 -6.25947430e-02 -1.70883235e+01] [-1.36397025e-01 -2.98600927e-03 9.90649754e-01 -5.46442697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565779522999996 meters Centerline goodness : 0.997751 with order 1 Centerline is valid? [True, True] Translation: X:40.61, Y:-17.11, Z:-5.49 [[ 8.68335348e-01 4.80940378e-01 1.21202629e-01 4.06095065e+01] [-4.76856670e-01 8.76746674e-01 -6.26337421e-02 -1.71118791e+01] [-1.36387097e-01 -3.40918974e-03 9.90649755e-01 -5.48624462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.17, Y:-16.36, Z:-4.66 [[ 9.22915177e-01 3.65433677e-01 1.21184997e-01 4.11664732e+01] [-3.60299076e-01 9.30729455e-01 -6.26678385e-02 -1.63621533e+01] [-1.35691385e-01 1.41742569e-02 9.90649756e-01 -4.66172917e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 45.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.22, Y:-16.41, Z:-4.65 [[ 9.24342635e-01 3.59713123e-01 1.27268071e-01 4.12176868e+01] [-3.56792645e-01 9.33058024e-01 -4.58446607e-02 -1.64100730e+01] [-1.35239421e-01 -3.03213724e-03 9.90808309e-01 -4.65232066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.27, Y:-16.43, Z:-4.66 [[ 9.24297292e-01 3.59830946e-01 1.27264318e-01 4.12746429e+01] [-3.56910146e-01 9.33012572e-01 -4.58550774e-02 -1.64331639e+01] [-1.35239285e-01 -3.03820245e-03 9.90808309e-01 -4.66069968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:-16.44, Z:-4.68 [[ 9.22845185e-01 3.63542581e-01 1.27253905e-01 4.13348816e+01] [-3.60652850e-01 9.31570816e-01 -4.58839571e-02 -1.64392772e+01] [-1.35226796e-01 -3.55069458e-03 9.90808310e-01 -4.67853704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:-16.47, Z:-4.68 [[ 9.25493085e-01 3.56749631e-01 1.27248772e-01 4.13880511e+01] [-3.53793886e-01 9.34196576e-01 -4.58981880e-02 -1.64739166e+01] [-1.35249529e-01 -2.54138194e-03 9.90808310e-01 -4.67984309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925779522999996 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:41.44, Y:-16.50, Z:-4.68 [[ 9.28806410e-01 3.48034242e-01 1.27243150e-01 4.14447982e+01] [-3.44994682e-01 9.37480984e-01 -4.59137689e-02 -1.65007606e+01] [-1.35267597e-01 -1.25320712e-03 9.90808310e-01 -4.68438169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:-16.51, Z:-4.69 [[ 9.29011150e-01 3.47492220e-01 1.27229875e-01 4.15051682e+01] [-3.44442564e-01 9.37682179e-01 -4.59505254e-02 -1.65144502e+01] [-1.35268636e-01 -1.13483390e-03 9.90808311e-01 -4.69252390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:-16.54, Z:-4.70 [[ 9.26048733e-01 3.55315946e-01 1.27217616e-01 4.15617753e+01] [-3.52334880e-01 9.34743582e-01 -4.59844392e-02 -1.65359584e+01] [-1.35254855e-01 -2.23937199e-03 9.90808311e-01 -4.70484676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105779522999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:-16.56, Z:-4.72 [[ 9.25600083e-01 3.56487057e-01 1.27206388e-01 4.16161025e+01] [-3.53512727e-01 9.34297237e-01 -4.60154791e-02 -1.65644066e+01] [-1.35252500e-01 -2.37714586e-03 9.90808312e-01 -4.71659457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:-16.58, Z:-4.73 [[ 9.28460274e-01 3.48974103e-01 1.27195108e-01 4.16749380e+01] [-3.45925119e-01 9.37131538e-01 -4.60466397e-02 -1.65797342e+01] [-1.35267632e-01 -1.24750702e-03 9.90808312e-01 -4.72768342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:-16.60, Z:-4.73 [[ 9.30934376e-01 3.42323270e-01 1.27184772e-01 4.17310227e+01] [-3.39208435e-01 9.39582203e-01 -4.60751711e-02 -1.66022980e+01] [-1.35273151e-01 -2.49186584e-04 9.90808313e-01 -4.73288557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.78, Y:-16.64, Z:-4.73 [[ 9.30893339e-01 3.42438067e-01 1.27176103e-01 4.17849353e+01] [-3.39321030e-01 9.39540373e-01 -4.60990868e-02 -1.66366151e+01] [-1.35273165e-01 -2.40193362e-04 9.90808313e-01 -4.73429197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.84, Y:-16.65, Z:-4.75 [[ 9.26760602e-01 3.53473915e-01 1.27165159e-01 4.18436046e+01] [-3.50455696e-01 9.35442621e-01 -4.61292542e-02 -1.66495922e+01] [-1.35261198e-01 -1.81497902e-03 9.90808314e-01 -4.74817118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.90, Y:-16.66, Z:-4.76 [[ 9.25639527e-01 3.56402911e-01 1.27155143e-01 4.19047980e+01] [-3.53408373e-01 9.34329742e-01 -4.61568474e-02 -1.66588319e+01] [-1.35255267e-01 -2.21308991e-03 9.90808314e-01 -4.76016137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:-16.69, Z:-4.75 [[ 9.27099030e-01 3.52592961e-01 1.27143983e-01 4.19624993e+01] [-3.49558495e-01 9.35775383e-01 -4.61875681e-02 -1.66877733e+01] [-1.35263621e-01 -1.62380992e-03 9.90808314e-01 -4.75297980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:-16.71, Z:-4.77 [[ 9.28100414e-01 3.49953236e-01 1.27131250e-01 4.20206222e+01] [-3.46889294e-01 9.36766401e-01 -4.62225904e-02 -1.67078883e+01] [-1.35268029e-01 -1.20126429e-03 9.90808315e-01 -4.76957047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58577952299999 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:42.08, Y:-16.72, Z:-4.79 [[ 9.26289867e-01 3.54722642e-01 1.27117779e-01 4.20791928e+01] [-3.51698238e-01 9.34969731e-01 -4.62596089e-02 -1.67184232e+01] [-1.35260606e-01 -1.85729188e-03 9.90808316e-01 -4.79171823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645779522999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:-16.74, Z:-4.79 [[ 9.25550119e-01 3.56652774e-01 1.27105370e-01 4.21358900e+01] [-3.53641793e-01 9.34234648e-01 -4.62936785e-02 -1.67421483e+01] [-1.35257010e-01 -2.10265131e-03 9.90808317e-01 -4.79413608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705779523 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:-16.77, Z:-4.79 [[ 9.27339646e-01 3.51977975e-01 1.27093215e-01 4.21920235e+01] [-3.48918641e-01 9.36007259e-01 -4.63270244e-02 -1.67732619e+01] [-1.35266264e-01 -1.38430556e-03 9.90808317e-01 -4.79353754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76577952299999 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:-16.79, Z:-4.81 [[ 9.28270740e-01 3.49519628e-01 1.27080538e-01 4.22493211e+01] [-3.46432582e-01 9.36928520e-01 -4.63617731e-02 -1.67943892e+01] [-1.35269730e-01 -9.88561577e-04 9.90808318e-01 -4.80526976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825779522999994 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:-16.81, Z:-4.82 [[ 9.28991134e-01 3.47602151e-01 1.27075639e-01 4.23090287e+01] [-3.44495398e-01 9.37641862e-01 -4.63751966e-02 -1.68050310e+01] [-1.35271557e-01 -6.94826535e-04 9.90808318e-01 -4.82366147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:-16.83, Z:-4.83 [[ 9.31089703e-01 3.41943825e-01 1.27068428e-01 4.23671610e+01] [-3.38781804e-01 9.39720383e-01 -4.63949467e-02 -1.68264693e+01] [-1.35273258e-01 1.49385792e-04 9.90808318e-01 -4.82510827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945779523 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:42.42, Y:-16.86, Z:-4.83 [[ 9.31949537e-01 3.39597548e-01 1.27057333e-01 4.24206885e+01] [-3.36409658e-01 9.40570695e-01 -4.64253139e-02 -1.68582438e+01] [-1.35272326e-01 5.22735958e-04 9.90808319e-01 -4.82996943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.48, Y:-16.87, Z:-4.84 [[ 9.33177091e-01 3.36213805e-01 1.27046425e-01 4.24793814e+01] [-3.32990594e-01 9.41785105e-01 -4.64551452e-02 -1.68742459e+01] [-1.35269292e-01 1.04561280e-03 9.90808319e-01 -4.84290219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:-16.89, Z:-4.85 [[ 9.30198371e-01 3.44373602e-01 1.27034689e-01 4.25370090e+01] [-3.41221523e-01 9.38832685e-01 -4.64872151e-02 -1.68939210e+01] [-1.35273288e-01 -1.04638345e-04 9.90808320e-01 -4.85037152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125779523 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:42.59, Y:-16.92, Z:-4.86 [[ 9.29080826e-01 3.47381239e-01 1.27023991e-01 4.25947425e+01] [-3.44253116e-01 9.37723847e-01 -4.65164296e-02 -1.69183049e+01] [-1.35272360e-01 -5.10881858e-04 9.90808320e-01 -4.85959320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185779522999994 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:42.65, Y:-16.94, Z:-4.86 [[ 9.29206945e-01 3.47048490e-01 1.27011021e-01 4.26512340e+01] [-3.43912435e-01 9.37847091e-01 -4.65518170e-02 -1.69440380e+01] [-1.35272654e-01 -4.24397784e-04 9.90808321e-01 -4.86407053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:-16.96, Z:-4.87 [[ 9.28073237e-01 3.50073287e-01 1.26999056e-01 4.27114454e+01] [-3.46960928e-01 9.36721946e-01 -4.65844362e-02 -1.69602464e+01] [-1.35270769e-01 -8.29941809e-04 9.90808322e-01 -4.86947331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:-16.98, Z:-4.88 [[ 9.26145848e-01 3.55144907e-01 1.26988045e-01 4.27704803e+01] [-3.52075793e-01 9.34809997e-01 -4.66144334e-02 -1.69806733e+01] [-1.35264572e-01 -1.53765250e-03 9.90808322e-01 -4.87924977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:-17.00, Z:-4.89 [[ 9.23378144e-01 3.62284561e-01 1.26975197e-01 4.28283354e+01] [-3.59277622e-01 9.32064066e-01 -4.66494044e-02 -1.70019461e+01] [-1.35249377e-01 -2.54430628e-03 9.90808323e-01 -4.88861591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:-17.03, Z:-4.90 [[ 9.22165864e-01 3.65363139e-01 1.26964154e-01 4.28840536e+01] [-3.62381061e-01 9.30860353e-01 -4.66794407e-02 -1.70256809e+01] [-1.35240844e-01 -2.96321799e-03 9.90808323e-01 -4.90091474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-17.05, Z:-4.91 [[ 9.21872111e-01 3.66107497e-01 1.26953183e-01 4.29418973e+01] [-3.63128336e-01 9.30567599e-01 -4.67092582e-02 -1.70475536e+01] [-1.35239129e-01 -3.04033566e-03 9.90808324e-01 -4.90768878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54577952299999 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-17.07, Z:-4.91 [[ 9.22818128e-01 3.63720026e-01 1.26942688e-01 4.29989863e+01] [-3.60714447e-01 9.31504519e-01 -4.67377641e-02 -1.70678207e+01] [-1.35247148e-01 -2.65960560e-03 9.90808324e-01 -4.91434355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:-17.09, Z:-4.92 [[ 9.22680713e-01 3.64071852e-01 1.26933009e-01 4.30575099e+01] [-3.61065972e-01 9.31367000e-01 -4.67640373e-02 -1.70927128e+01] [-1.35246685e-01 -2.68291484e-03 9.90808325e-01 -4.91683008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.11, Y:-17.12, Z:-4.93 [[ 9.21247112e-01 3.67688379e-01 1.26921293e-01 4.31131995e+01] [-3.64712220e-01 9.29943627e-01 -4.67958129e-02 -1.71194992e+01] [-1.35235924e-01 -3.17923903e-03 9.90808325e-01 -4.92984644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.17, Y:-17.14, Z:-4.95 [[ 9.20868287e-01 3.68637528e-01 1.26917182e-01 4.31725844e+01] [-3.65668797e-01 9.29567340e-01 -4.68069609e-02 -1.71353651e+01] [-1.35232869e-01 -3.30660715e-03 9.90808325e-01 -4.94531835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:-17.16, Z:-4.95 [[ 9.22087292e-01 3.65582281e-01 1.26903988e-01 4.32290876e+01] [-3.62579807e-01 9.30774755e-01 -4.68427041e-02 -1.71565551e+01] [-1.35243891e-01 -2.81976149e-03 9.90808326e-01 -4.95106642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.28, Y:-17.19, Z:-4.95 [[ 9.25739574e-01 3.56234560e-01 1.26898301e-01 4.32841547e+01] [-3.53142235e-01 9.34395462e-01 -4.68581065e-02 -1.71870200e+01] [-1.35265673e-01 -1.43474596e-03 9.90808326e-01 -4.95098175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.34, Y:-17.21, Z:-4.97 [[ 9.27009677e-01 3.52920323e-01 1.26886979e-01 4.33410588e+01] [-3.49792856e-01 9.35652929e-01 -4.68887451e-02 -1.72073502e+01] [-1.35270165e-01 -9.17838320e-04 9.90808327e-01 -4.96804873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:-17.23, Z:-4.98 [[ 9.25983474e-01 3.55608114e-01 1.26875827e-01 4.33991324e+01] [-3.52501603e-01 9.34634279e-01 -4.69189020e-02 -1.72250538e+01] [-1.35267239e-01 -1.27780451e-03 9.90808327e-01 -4.98114489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.45, Y:-17.25, Z:-4.98 [[ 9.26387512e-01 3.54558363e-01 1.26864279e-01 4.34547030e+01] [-3.51437776e-01 9.35033249e-01 -4.69501055e-02 -1.72531679e+01] [-1.35268872e-01 -1.09090869e-03 9.90808328e-01 -4.97830210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.51, Y:-17.28, Z:-4.98 [[ 9.28739960e-01 3.48353581e-01 1.26853729e-01 4.35131785e+01] [-3.45171339e-01 9.37363194e-01 -4.69785942e-02 -1.72756563e+01] [-1.35273178e-01 -1.55373805e-04 9.90808328e-01 -4.97890395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145779522999995 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:-17.29, Z:-5.00 [[ 9.30134957e-01 3.44615713e-01 1.26842313e-01 4.35717569e+01] [-3.41394617e-01 9.38743752e-01 -4.70093962e-02 -1.72878103e+01] [-1.35272606e-01 4.21799734e-04 9.90808329e-01 -5.00053982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:-17.31, Z:-5.02 [[ 9.30421928e-01 3.43844625e-01 1.26830238e-01 4.36283418e+01] [-3.40611956e-01 9.39026384e-01 -4.70419519e-02 -1.73080245e+01] [-1.35272062e-01 5.68968062e-04 9.90808329e-01 -5.01608280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:-17.34, Z:-5.01 [[ 9.32439121e-01 3.38340552e-01 1.26818596e-01 4.36848197e+01] [-3.35052829e-01 9.41022691e-01 -4.70733179e-02 -1.73391766e+01] [-1.35265989e-01 1.40207396e-03 9.90808330e-01 -5.01281034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-17.36, Z:-5.01 [[ 9.37372175e-01 3.24428458e-01 1.26805290e-01 4.37426455e+01] [-3.21008534e-01 9.45903933e-01 -4.71091340e-02 -1.73601558e+01] [-1.35229166e-01 3.45321119e-03 9.90808331e-01 -5.01287613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-17.37, Z:-5.03 [[ 9.39736763e-01 3.17516626e-01 1.26799086e-01 4.38031564e+01] [-3.14031715e-01 9.48242184e-01 -4.71258254e-02 -1.73717933e+01] [-1.35199476e-01 4.46693611e-03 9.90808331e-01 -5.02910738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:-17.40, Z:-5.04 [[ 9.40702074e-01 3.14650490e-01 1.26785950e-01 4.38585828e+01] [-3.11134915e-01 9.49194865e-01 -4.71611416e-02 -1.73961999e+01] [-1.35183849e-01 4.91704801e-03 9.90808331e-01 -5.03949693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505779522999994 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:-17.42, Z:-5.05 [[ 9.41836094e-01 3.11243872e-01 1.26775487e-01 4.39161972e+01] [-3.07693805e-01 9.50314525e-01 -4.71892507e-02 -1.74159165e+01] [-1.35163952e-01 5.43650758e-03 9.90808332e-01 -5.04999461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565779522999996 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:-17.43, Z:-5.06 [[ 9.43026720e-01 3.07622201e-01 1.26764297e-01 4.39762338e+01] [-3.04035550e-01 9.51489739e-01 -4.72192909e-02 -1.74323980e+01] [-1.35140630e-01 5.98820025e-03 9.90808332e-01 -5.05945683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:-17.45, Z:-5.06 [[ 9.42400504e-01 3.09540523e-01 1.26751546e-01 4.40351998e+01] [-3.05966509e-01 9.50868867e-01 -4.72534954e-02 -1.74545881e+01] [-1.35150970e-01 5.74998992e-03 9.90808333e-01 -5.05893689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.10, Y:-17.47, Z:-5.07 [[ 9.40842890e-01 3.14247505e-01 1.26740531e-01 4.40952173e+01] [-3.10711896e-01 9.49327358e-01 -4.72830194e-02 -1.74707971e+01] [-1.35176825e-01 5.10610177e-03 9.90808334e-01 -5.06745780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.16, Y:-17.48, Z:-5.08 [[ 9.38725570e-01 3.20522219e-01 1.26727313e-01 4.41550633e+01] [-3.17038563e-01 9.47231501e-01 -4.73184210e-02 -1.74831957e+01] [-1.35206708e-01 4.24156658e-03 9.90808334e-01 -5.07898424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.22, Y:-17.50, Z:-5.08 [[ 9.35056153e-01 3.31078957e-01 1.26715095e-01 4.42167243e+01] [-3.27686934e-01 9.43599038e-01 -4.73511166e-02 -1.74981221e+01] [-1.35245200e-01 2.75307186e-03 9.90808335e-01 -5.08443054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.28, Y:-17.52, Z:-5.09 [[ 9.32355517e-01 3.38614592e-01 1.26701805e-01 4.42774647e+01] [-3.35286797e-01 9.40923625e-01 -4.73866521e-02 -1.75165264e+01] [-1.35262534e-01 1.69976415e-03 9.90808336e-01 -5.08853897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.34, Y:-17.53, Z:-5.10 [[ 9.28463942e-01 3.49148545e-01 1.26688607e-01 4.43353559e+01] [-3.45913155e-01 9.37067367e-01 -4.74219117e-02 -1.75320843e+01] [-1.35273051e-01 2.06279314e-04 9.90808336e-01 -5.10368560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.39, Y:-17.54, Z:-5.12 [[ 9.24384380e-01 3.59814109e-01 1.26678041e-01 4.43945711e+01] [-3.56674113e-01 9.33023078e-01 -4.74501198e-02 -1.75444451e+01] [-1.35266758e-01 -1.32062832e-03 9.90808337e-01 -5.11940978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.45, Y:-17.56, Z:-5.13 [[ 9.22712505e-01 3.64082312e-01 1.26671637e-01 4.44527196e+01] [-3.60979928e-01 9.31364781e-01 -4.74672082e-02 -1.75607683e+01] [-1.35259473e-01 -1.92733190e-03 9.90808337e-01 -5.12624085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:-17.59, Z:-5.13 [[ 9.22461497e-01 3.64719528e-01 1.26666699e-01 4.45101706e+01] [-3.61621313e-01 9.31115266e-01 -4.74803836e-02 -1.75855112e+01] [-1.35258320e-01 -2.00655212e-03 9.90808337e-01 -5.12635681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.57, Y:-17.61, Z:-5.13 [[ 9.22242207e-01 3.65277829e-01 1.26654729e-01 4.45671661e+01] [-3.62180470e-01 9.30896283e-01 -4.75122923e-02 -1.76100853e+01] [-1.35257603e-01 -2.05402792e-03 9.90808338e-01 -5.13119417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.63, Y:-17.63, Z:-5.14 [[ 9.21843590e-01 3.66287026e-01 1.26642057e-01 4.46260035e+01] [-3.63194506e-01 9.30499395e-01 -4.75460447e-02 -1.76284169e+01] [-1.35255857e-01 -2.16568272e-03 9.90808338e-01 -5.14157322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:-17.65, Z:-5.15 [[ 9.21826920e-01 3.66333268e-01 1.26629638e-01 4.46831212e+01] [-3.63236643e-01 9.30481257e-01 -4.75790981e-02 -1.76504080e+01] [-1.35256311e-01 -2.13683107e-03 9.90808339e-01 -5.15146639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:-17.67, Z:-5.16 [[ 9.23114591e-01 3.63080260e-01 1.26618234e-01 4.47408135e+01] [-3.59948976e-01 9.31756447e-01 -4.76094277e-02 -1.76731106e+01] [-1.35263399e-01 -1.62714615e-03 9.90808339e-01 -5.16173337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:-17.70, Z:-5.17 [[ 9.25350006e-01 3.57349431e-01 1.26604698e-01 4.47977175e+01] [-3.54159702e-01 9.33970461e-01 -4.76453956e-02 -1.76956800e+01] [-1.35271103e-01 -7.49614861e-04 9.90808340e-01 -5.17361798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:-17.72, Z:-5.18 [[ 9.29208222e-01 3.47198056e-01 1.26592217e-01 4.48549215e+01] [-3.43909633e-01 9.37791513e-01 -4.76785342e-02 -1.77204934e+01] [-1.35271001e-01 7.67003070e-04 9.90808341e-01 -5.17753735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:-17.75, Z:-5.18 [[ 9.32883487e-01 3.37202765e-01 1.26580782e-01 4.49125512e+01] [-3.33818272e-01 9.41429352e-01 -4.77088743e-02 -1.77454391e+01] [-1.35254428e-01 2.25184328e-03 9.90808341e-01 -5.18198736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58577952299999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:-17.77, Z:-5.19 [[ 9.35229451e-01 3.30645492e-01 1.26567894e-01 4.49698287e+01] [-3.27196469e-01 9.43749476e-01 -4.77430409e-02 -1.77707913e+01] [-1.35234405e-01 3.23813007e-03 9.90808342e-01 -5.19110459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.03, Y:-17.79, Z:-5.20 [[ 9.37460724e-01 3.24270416e-01 1.26554687e-01 4.50290731e+01] [-3.20758747e-01 9.45955119e-01 -4.77780244e-02 -1.77907288e+01] [-1.35208053e-01 4.19649868e-03 9.90808343e-01 -5.20144394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.09, Y:-17.81, Z:-5.21 [[ 9.39658607e-01 3.17850512e-01 1.26541510e-01 4.50855419e+01] [-3.14276134e-01 9.48126805e-01 -4.78128964e-02 -1.78103118e+01] [-1.35174752e-01 5.15882297e-03 9.90808343e-01 -5.21383226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76577952299999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:45.14, Y:-17.84, Z:-5.23 [[ 9.43056745e-01 3.07626210e-01 1.26530987e-01 4.51402200e+01] [-3.03956346e-01 9.51484001e-01 -4.78407302e-02 -1.78365134e+01] [-1.35109272e-01 6.65662688e-03 9.90808344e-01 -5.22761176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.20, Y:-17.86, Z:-5.23 [[ 9.43684772e-01 3.05699077e-01 1.26519272e-01 4.51963197e+01] [-3.02007867e-01 9.52102699e-01 -4.78716910e-02 -1.78605119e+01] [-1.35093672e-01 6.96597032e-03 9.90808344e-01 -5.23136695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885779523 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:45.26, Y:-17.87, Z:-5.23 [[ 9.43674761e-01 3.05734403e-01 1.26508580e-01 4.52577304e+01] [-3.02039733e-01 9.52091170e-01 -4.78999289e-02 -1.78731460e+01] [-1.35092358e-01 6.99133603e-03 9.90808345e-01 -5.23379144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945779523 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:45.32, Y:-17.89, Z:-5.24 [[ 9.42345491e-01 3.09811759e-01 1.26497624e-01 4.53184817e+01] [-3.06149643e-01 9.50776116e-01 -4.79288467e-02 -1.78892107e+01] [-1.35119840e-01 6.43833028e-03 9.90808345e-01 -5.24079215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:-17.91, Z:-5.25 [[ 9.39455990e-01 3.18471612e-01 1.26484284e-01 4.53747726e+01] [-3.14882515e-01 9.47917957e-01 -4.79640240e-02 -1.79149389e+01] [-1.35171904e-01 5.23240009e-03 9.90808346e-01 -5.24611505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065779522999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:-17.93, Z:-5.26 [[ 9.38197348e-01 3.22165452e-01 1.26471967e-01 4.54341902e+01] [-3.18605307e-01 9.46671536e-01 -4.79964804e-02 -1.79302610e+01] [-1.35190219e-01 4.73553078e-03 9.90808346e-01 -5.26001806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125779523 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:-17.94, Z:-5.28 [[ 9.36948128e-01 3.25785239e-01 1.26460204e-01 4.54969222e+01] [-3.22253662e-01 9.45434261e-01 -4.80274541e-02 -1.79358449e+01] [-1.35206445e-01 4.24696948e-03 9.90808347e-01 -5.27896424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.55, Y:-17.97, Z:-5.27 [[ 9.37489641e-01 3.24226687e-01 1.26452478e-01 4.55509104e+01] [-3.20678263e-01 9.45968743e-01 -4.80477883e-02 -1.79685441e+01] [-1.35198466e-01 4.49374299e-03 9.90808347e-01 -5.27200891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:-17.98, Z:-5.28 [[ 9.38238924e-01 3.22054399e-01 1.26446371e-01 4.56116862e+01] [-3.18484183e-01 9.46708873e-01 -4.80638528e-02 -1.79822911e+01] [-1.35187077e-01 4.82420823e-03 9.90808347e-01 -5.28439594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:-17.99, Z:-5.30 [[ 9.38932845e-01 3.20031039e-01 1.26432776e-01 4.56760822e+01] [-3.16437768e-01 9.47393038e-01 -4.80995886e-02 -1.79851079e+01] [-1.35174893e-01 5.15417802e-03 9.90808348e-01 -5.30426046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:-18.02, Z:-5.30 [[ 9.39732615e-01 3.17680367e-01 1.26419134e-01 4.57309921e+01] [-3.14061125e-01 9.48181729e-01 -4.81354164e-02 -1.80191473e+01] [-1.35159990e-01 5.53108510e-03 9.90808349e-01 -5.30219126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.79, Y:-18.04, Z:-5.30 [[ 9.40645593e-01 3.14972165e-01 1.26405713e-01 4.57906838e+01] [-3.11323878e-01 9.49082206e-01 -4.81706351e-02 -1.80406832e+01] [-1.35141823e-01 5.95837872e-03 9.90808350e-01 -5.29986005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:-18.04, Z:-5.32 [[ 9.40028796e-01 3.16813588e-01 1.26392300e-01 4.58555258e+01] [-3.13177110e-01 9.48470505e-01 -4.82058038e-02 -1.80402243e+01] [-1.35151623e-01 5.73166839e-03 9.90808350e-01 -5.32180746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.91, Y:-18.07, Z:-5.33 [[ 9.38748854e-01 3.20591534e-01 1.26379024e-01 4.59083408e+01] [-3.16984360e-01 9.47203126e-01 -4.82405856e-02 -1.80731925e+01] [-1.35172130e-01 5.22562051e-03 9.90808351e-01 -5.33203487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605779522999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:-18.10, Z:-5.34 [[ 9.39018570e-01 3.19805364e-01 1.26367143e-01 4.59634241e+01] [-3.16186934e-01 9.47468029e-01 -4.82716874e-02 -1.81021143e+01] [-1.35166373e-01 5.37237135e-03 9.90808351e-01 -5.33636906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.03, Y:-18.10, Z:-5.35 [[ 9.39702579e-01 3.17794599e-01 1.26355273e-01 4.60275020e+01] [-3.14153924e-01 9.48142477e-01 -4.83027381e-02 -1.81046544e+01] [-1.35153151e-01 5.69520268e-03 9.90808352e-01 -5.34625546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:-18.12, Z:-5.36 [[ 9.39295713e-01 3.18997556e-01 1.26349213e-01 4.60893193e+01] [-3.15365563e-01 9.47739350e-01 -4.83185847e-02 -1.81159602e+01] [-1.35159632e-01 5.53924876e-03 9.90808352e-01 -5.35897634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.14, Y:-18.15, Z:-5.36 [[ 9.38623599e-01 3.20975117e-01 1.26335717e-01 4.61424159e+01] [-3.17356177e-01 9.47072839e-01 -4.83538475e-02 -1.81543045e+01] [-1.35169508e-01 5.29264224e-03 9.90808353e-01 -5.36217994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.20, Y:-18.17, Z:-5.37 [[ 9.38956006e-01 3.20003805e-01 1.26329665e-01 4.62022379e+01] [-3.16374002e-01 9.47400584e-01 -4.83696540e-02 -1.81733050e+01] [-1.35163271e-01 5.44955547e-03 9.90808353e-01 -5.37165097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:-18.17, Z:-5.38 [[ 9.36799833e-01 3.26267616e-01 1.26315144e-01 4.62678158e+01] [-3.22689190e-01 9.45266310e-01 -4.84075445e-02 -1.81746836e+01] [-1.35195264e-01 4.58764815e-03 9.90808354e-01 -5.37955393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.32, Y:-18.20, Z:-5.39 [[ 9.34981691e-01 3.31446898e-01 1.26301986e-01 4.63226316e+01] [-3.27910751e-01 9.43465912e-01 -4.84418523e-02 -1.82022241e+01] [-1.35217520e-01 3.87646604e-03 9.90808355e-01 -5.39301320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.38, Y:-18.23, Z:-5.40 [[ 9.34708661e-01 3.32220646e-01 1.26289992e-01 4.63804932e+01] [-3.28687303e-01 9.43194050e-01 -4.84731015e-02 -1.82273191e+01] [-1.35219734e-01 3.79831105e-03 9.90808355e-01 -5.40017953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.44, Y:-18.24, Z:-5.41 [[ 9.35848131e-01 3.29002420e-01 1.26276222e-01 4.64417457e+01] [-3.25435069e-01 9.44319278e-01 -4.85089456e-02 -1.82384335e+01] [-1.35204631e-01 4.30229492e-03 9.90808356e-01 -5.41032963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.50, Y:-18.26, Z:-5.41 [[ 9.35684182e-01 3.29472966e-01 1.26264310e-01 4.65016561e+01] [-3.25905699e-01 9.44155364e-01 -4.85399328e-02 -1.82593231e+01] [-1.35205721e-01 4.26778917e-03 9.90808356e-01 -5.41190700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.55, Y:-18.29, Z:-5.41 [[ 9.34443994e-01 3.32979204e-01 1.26250829e-01 4.65543971e+01] [-3.29438997e-01 9.42926519e-01 -4.85749698e-02 -1.82949938e+01] [-1.35219710e-01 3.79864219e-03 9.90808357e-01 -5.41361517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.61, Y:-18.31, Z:-5.43 [[ 9.35715952e-01 3.29389629e-01 1.26246309e-01 4.66131874e+01] [-3.25815302e-01 9.44184156e-01 -4.85867162e-02 -1.83083147e+01] [-1.35203725e-01 4.33038617e-03 9.90808357e-01 -5.42745604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325779522999994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:46.67, Y:-18.32, Z:-5.45 [[ 9.37544902e-01 3.24151806e-01 1.26234561e-01 4.66724986e+01] [-3.20526078e-01 9.45991226e-01 -4.86172198e-02 -1.83226722e+01] [-1.35176147e-01 5.11935777e-03 9.90808358e-01 -5.44615341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:-18.35, Z:-5.45 [[ 9.38046116e-01 3.22703919e-01 1.26220698e-01 4.67300309e+01] [-3.19060324e-01 9.46484747e-01 -4.86531842e-02 -1.83484762e+01] [-1.35166539e-01 5.36691359e-03 9.90808358e-01 -5.44931343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:-18.37, Z:-5.45 [[ 9.38242170e-01 3.22135977e-01 1.26214272e-01 4.67880548e+01] [-3.18485037e-01 9.46677626e-01 -4.86698487e-02 -1.83743434e+01] [-1.35162537e-01 5.46674738e-03 9.90808359e-01 -5.45120416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:-18.39, Z:-5.46 [[ 9.37526120e-01 3.24219756e-01 1.26199544e-01 4.68481174e+01] [-3.20582438e-01 9.45967457e-01 -4.87080097e-02 -1.83917611e+01] [-1.35172760e-01 5.20767394e-03 9.90808359e-01 -5.46190088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:-18.41, Z:-5.47 [[ 9.36803622e-01 3.26307305e-01 1.26184454e-01 4.69075883e+01] [-3.22683547e-01 9.45250788e-01 -4.87470704e-02 -1.84109155e+01] [-1.35182480e-01 4.94878503e-03 9.90808360e-01 -5.47199341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:-18.44, Z:-5.48 [[ 9.35376272e-01 3.30382430e-01 1.26169251e-01 4.69649843e+01] [-3.26790181e-01 9.43836885e-01 -4.87863885e-02 -1.84357702e+01] [-1.35201358e-01 4.40275782e-03 9.90808361e-01 -5.48087729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685779522999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:-18.45, Z:-5.49 [[ 9.33993942e-01 3.34276156e-01 1.26153746e-01 4.70226252e+01] [-3.30713778e-01 9.42467175e-01 -4.88264478e-02 -1.84547808e+01] [-1.35217282e-01 3.88282443e-03 9.90808362e-01 -5.49367835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:-18.48, Z:-5.50 [[ 9.32181440e-01 3.39302294e-01 1.26141652e-01 4.70813242e+01] [-3.35781386e-01 9.40671988e-01 -4.88576743e-02 -1.84753763e+01] [-1.35235439e-01 3.18819850e-03 9.90808363e-01 -5.49674519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.14, Y:-18.50, Z:-5.51 [[ 9.32751087e-01 3.37734866e-01 1.26137107e-01 4.71389256e+01] [-3.34198105e-01 9.41235044e-01 -4.88694042e-02 -1.84959815e+01] [-1.35229567e-01 3.42820760e-03 9.90808363e-01 -5.50755173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.20, Y:-18.52, Z:-5.51 [[ 9.32786909e-01 3.37641014e-01 1.26123461e-01 4.71959953e+01] [-3.34098644e-01 9.41268525e-01 -4.89045969e-02 -1.85209202e+01] [-1.35228242e-01 3.47989038e-03 9.90808363e-01 -5.51191637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:-18.55, Z:-5.52 [[ 9.33068192e-01 3.36867590e-01 1.26110968e-01 4.72531082e+01] [-3.33313842e-01 9.41545046e-01 -4.89367925e-02 -1.85454117e+01] [-1.35224376e-01 3.62683314e-03 9.90808364e-01 -5.51895163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:-18.56, Z:-5.53 [[ 9.35484467e-01 3.30100582e-01 1.26104784e-01 4.73132235e+01] [-3.26483386e-01 9.43934441e-01 -4.89527217e-02 -1.85586635e+01] [-1.35193971e-01 4.62339374e-03 9.90808364e-01 -5.53376245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:-18.58, Z:-5.55 [[ 9.36096158e-01 3.28366827e-01 1.26092068e-01 4.73690182e+01] [-3.24729579e-01 9.44537520e-01 -4.89854546e-02 -1.85841052e+01] [-1.35183888e-01 4.90927170e-03 9.90808365e-01 -5.54983435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.43, Y:-18.61, Z:-5.55 [[ 9.35985279e-01 3.28688182e-01 1.26077899e-01 4.74250749e+01] [-3.25048930e-01 9.44425776e-01 -4.90218966e-02 -1.86121420e+01] [-1.35184136e-01 4.90228744e-03 9.90808365e-01 -5.54957224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:-18.62, Z:-5.56 [[ 9.36424342e-01 3.27440051e-01 1.26065315e-01 4.74861432e+01] [-3.23785203e-01 9.44858097e-01 -4.90542368e-02 -1.86232398e+01] [-1.35176155e-01 5.11749790e-03 9.90808366e-01 -5.55740445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.54, Y:-18.65, Z:-5.56 [[ 9.37226096e-01 3.25142563e-01 1.26053795e-01 4.75422812e+01] [-3.21463071e-01 9.45649127e-01 -4.90838226e-02 -1.86538631e+01] [-1.35161901e-01 5.48099943e-03 9.90808367e-01 -5.56169786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:-18.68, Z:-5.58 [[ 9.37540961e-01 3.24238931e-01 1.26039926e-01 4.75968060e+01] [-3.20546546e-01 9.45958348e-01 -4.91194085e-02 -1.86796578e+01] [-1.35154945e-01 5.64979436e-03 9.90808367e-01 -5.57839837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:-18.69, Z:-5.59 [[ 9.35741431e-01 3.29397984e-01 1.26035481e-01 4.76591409e+01] [-3.25750484e-01 9.44178365e-01 -4.91308127e-02 -1.86879087e+01] [-1.35183565e-01 4.91761811e-03 9.90808367e-01 -5.58671425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:-18.72, Z:-5.59 [[ 9.34287369e-01 3.33502517e-01 1.26028503e-01 4.77137824e+01] [-3.29889679e-01 9.42739203e-01 -4.91487041e-02 -1.87194410e+01] [-1.35203227e-01 4.34351089e-03 9.90808368e-01 -5.58956486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:-18.74, Z:-5.60 [[ 9.32225994e-01 3.39226565e-01 1.26016005e-01 4.77713322e+01] [-3.35661307e-01 9.40698008e-01 -4.91807281e-02 -1.87410757e+01] [-1.35226415e-01 3.54885609e-03 9.90808368e-01 -5.59823762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:-18.76, Z:-5.61 [[ 9.31959662e-01 3.39962482e-01 1.26002779e-01 4.78299313e+01] [-3.36399338e-01 9.40432565e-01 -4.92145914e-02 -1.87596160e+01] [-1.35228231e-01 3.47876244e-03 9.90808369e-01 -5.61121721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58577952299999 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:-18.78, Z:-5.62 [[ 9.31812455e-01 3.40370075e-01 1.25991117e-01 4.78890076e+01] [-3.36806606e-01 9.40285221e-01 -4.92444294e-02 -1.87766969e+01] [-1.35228915e-01 3.45193216e-03 9.90808369e-01 -5.62457074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.94, Y:-18.81, Z:-5.62 [[ 9.31664811e-01 3.40778782e-01 1.25978179e-01 4.79449583e+01] [-3.37214561e-01 9.40137260e-01 -4.92775041e-02 -1.88101864e+01] [-1.35229508e-01 3.42844006e-03 9.90808370e-01 -5.61694349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.00, Y:-18.83, Z:-5.63 [[ 9.32660296e-01 3.38050489e-01 1.25962850e-01 4.80023470e+01] [-3.34456202e-01 9.41120033e-01 -4.93166578e-02 -1.88314839e+01] [-1.35217682e-01 3.86663212e-03 9.90808371e-01 -5.63409637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.06, Y:-18.85, Z:-5.65 [[ 9.32333233e-01 3.38957161e-01 1.25947554e-01 4.80606528e+01] [-3.35365833e-01 9.40794225e-01 -4.93556919e-02 -1.88474885e+01] [-1.35220197e-01 3.77744552e-03 9.90808372e-01 -5.65054340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:-18.87, Z:-5.66 [[ 9.31127675e-01 3.42258499e-01 1.25937971e-01 4.81169708e+01] [-3.38693869e-01 9.39599950e-01 -4.93801328e-02 -1.88748208e+01] [-1.35232081e-01 3.32478971e-03 9.90808372e-01 -5.65784738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.17, Y:-18.90, Z:-5.66 [[ 9.30247379e-01 3.44649039e-01 1.25924004e-01 4.81739693e+01] [-3.41101367e-01 9.38726767e-01 -4.94157248e-02 -1.89039519e+01] [-1.35239315e-01 3.01599876e-03 9.90808373e-01 -5.65662928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:-18.92, Z:-5.67 [[ 9.29462368e-01 3.46765861e-01 1.25909274e-01 4.82352871e+01] [-3.43232423e-01 9.37947697e-01 -4.94532275e-02 -1.89165404e+01] [-1.35245004e-01 2.74876887e-03 9.90808374e-01 -5.67149241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:-18.94, Z:-5.68 [[ 9.28510972e-01 3.49310579e-01 1.25894774e-01 4.82917042e+01] [-3.45795398e-01 9.37003880e-01 -4.94901117e-02 -1.89417430e+01] [-1.35251312e-01 2.41827811e-03 9.90808374e-01 -5.68253270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.34, Y:-18.98, Z:-5.70 [[ 9.26413335e-01 3.54841554e-01 1.25880118e-01 4.83437167e+01] [-3.51372022e-01 9.34924993e-01 -4.95273625e-02 -1.89764698e+01] [-1.35262835e-01 1.65205735e-03 9.90808375e-01 -5.69576680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.40, Y:-18.99, Z:-5.70 [[ 9.25117273e-01 3.58212228e-01 1.25865131e-01 4.84038403e+01] [-3.54768532e-01 9.33639415e-01 -4.95654224e-02 -1.89929543e+01] [-1.35267587e-01 1.20084084e-03 9.90808376e-01 -5.70197293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.46, Y:-19.02, Z:-5.71 [[ 9.24372008e-01 3.60134191e-01 1.25856091e-01 4.84610972e+01] [-3.56705091e-01 9.32900033e-01 -4.95883645e-02 -1.90188106e+01] [-1.35269617e-01 9.44587567e-04 9.90808376e-01 -5.71042244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245779522999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:-19.05, Z:-5.72 [[ 9.26103023e-01 3.55663978e-01 1.25842463e-01 4.85150468e+01] [-3.52189020e-01 9.34612465e-01 -4.96229252e-02 -1.90497193e+01] [-1.35263022e-01 1.63560725e-03 9.90808377e-01 -5.71543700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.57, Y:-19.07, Z:-5.73 [[ 9.27597699e-01 3.51752064e-01 1.25829229e-01 4.85700109e+01] [-3.48236673e-01 9.36090517e-01 -4.96564609e-02 -1.90736244e+01] [-1.35254310e-01 2.24286673e-03 9.90808378e-01 -5.73091583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.63, Y:-19.10, Z:-5.74 [[ 9.26508836e-01 3.54614751e-01 1.25816355e-01 4.86259144e+01] [-3.51121177e-01 9.35010651e-01 -4.96890581e-02 -1.91004791e+01] [-1.35260105e-01 1.86056462e-03 9.90808378e-01 -5.73718742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.68, Y:-19.12, Z:-5.75 [[ 9.27163880e-01 3.52902854e-01 1.25804271e-01 4.86827084e+01] [-3.49389435e-01 9.35657512e-01 -4.97196349e-02 -1.91225702e+01] [-1.35255912e-01 2.14356638e-03 9.90808379e-01 -5.75190316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.73, Y:-19.16, Z:-5.75 [[ 9.25075787e-01 3.58345019e-01 1.25792034e-01 4.87347909e+01] [-3.54877365e-01 9.33588205e-01 -4.97505746e-02 -1.91605456e+01] [-1.35265830e-01 1.38230629e-03 9.90808379e-01 -5.75388740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-19.17, Z:-5.78 [[ 9.26399497e-01 3.54910631e-01 1.25787189e-01 4.87926122e+01] [-3.51409757e-01 9.34898307e-01 -4.97628238e-02 -1.91738348e+01] [-1.35259585e-01 1.89740951e-03 9.90808379e-01 -5.77956929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-19.20, Z:-5.79 [[ 9.24651484e-01 3.59444884e-01 1.25773640e-01 4.88473418e+01] [-3.55981034e-01 9.33165450e-01 -4.97970432e-02 -1.92030463e+01] [-1.35266908e-01 1.27187935e-03 9.90808380e-01 -5.78573225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.90, Y:-19.24, Z:-5.78 [[ 9.21475392e-01 3.67515051e-01 1.25760842e-01 4.89008745e+01] [-3.64121360e-01 9.30017565e-01 -4.98293443e-02 -1.92417218e+01] [-1.35272826e-01 1.24305726e-04 9.90808381e-01 -5.77776822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72577952299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:48.96, Y:-19.27, Z:-5.79 [[ 9.18537175e-01 3.74802190e-01 1.25748863e-01 4.89580780e+01] [-3.71472128e-01 9.27104354e-01 -4.98595568e-02 -1.92661987e+01] [-1.35269789e-01 -9.14341146e-04 9.90808381e-01 -5.79015861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785779522999995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:49.01, Y:-19.30, Z:-5.80 [[ 9.16573663e-01 3.79583245e-01 1.25734961e-01 4.90119791e+01] [-3.76293064e-01 9.25156235e-01 -4.98945887e-02 -1.92962612e+01] [-1.35263633e-01 -1.58112796e-03 9.90808382e-01 -5.80442462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.07, Y:-19.33, Z:-5.81 [[ 9.16836607e-01 3.78952276e-01 1.25721153e-01 4.90667970e+01] [-3.75651421e-01 9.25415079e-01 -4.99293585e-02 -1.93285067e+01] [-1.35265095e-01 -1.45026605e-03 9.90808383e-01 -5.81227911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:-19.36, Z:-5.82 [[ 9.18242005e-01 3.75538658e-01 1.25707348e-01 4.91219796e+01] [-3.72201155e-01 9.26806285e-01 -4.99640912e-02 -1.93580540e+01] [-1.35269808e-01 -9.09292874e-04 9.90808383e-01 -5.81994571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.18, Y:-19.39, Z:-5.82 [[ 9.20844949e-01 3.69114769e-01 1.25693545e-01 4.91769161e+01] [-3.65712782e-01 9.29383818e-01 -4.99987914e-02 -1.93898762e+01] [-1.35272839e-01 7.33984922e-05 9.90808384e-01 -5.82211827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.23, Y:-19.43, Z:-5.83 [[ 9.23176008e-01 3.63249482e-01 1.25681633e-01 4.92288665e+01] [-3.59789171e-01 9.31691408e-01 -5.00287156e-02 -1.94273196e+01] [-1.35269403e-01 9.66419278e-04 9.90808384e-01 -5.82963233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:-19.46, Z:-5.84 [[ 9.23825425e-01 3.61599485e-01 1.25667806e-01 4.92837305e+01] [-3.58119244e-01 9.32332698e-01 -5.00634253e-02 -1.94563711e+01] [-1.35267113e-01 1.24580548e-03 9.90808385e-01 -5.83992999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:-19.49, Z:-5.86 [[ 9.24519366e-01 3.59826754e-01 1.25652891e-01 4.93382404e+01] [-3.56325118e-01 9.33017855e-01 -5.01008323e-02 -1.94850255e+01] [-1.35264011e-01 1.54590862e-03 9.90808386e-01 -5.85788541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205779523 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:49.39, Y:-19.52, Z:-5.86 [[ 9.23994262e-01 3.61178224e-01 1.25637949e-01 4.93907816e+01] [-3.57683927e-01 9.32495770e-01 -5.01382735e-02 -1.95193841e+01] [-1.35265709e-01 1.38880196e-03 9.90808387e-01 -5.86383320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.45, Y:-19.54, Z:-5.87 [[ 9.20963312e-01 3.68841418e-01 1.25628768e-01 4.94492425e+01] [-3.65414727e-01 9.29492294e-01 -5.01612694e-02 -1.95423805e+01] [-1.35272525e-01 2.90086980e-04 9.90808387e-01 -5.86526292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.51, Y:-19.56, Z:-5.88 [[ 9.17485393e-01 3.77414197e-01 1.25614801e-01 4.95084152e+01] [-3.74062410e-01 9.26044088e-01 -5.01962217e-02 -1.95593189e+01] [-1.35269610e-01 -9.33474881e-04 9.90808388e-01 -5.88471179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-19.58, Z:-5.89 [[ 9.15907378e-01 3.81232490e-01 1.25600410e-01 4.95648473e+01] [-3.77911448e-01 9.24478049e-01 -5.02322034e-02 -1.95825272e+01] [-1.35264970e-01 -1.45778717e-03 9.90808388e-01 -5.89384640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-19.61, Z:-5.90 [[ 9.16526926e-01 3.79745008e-01 1.25587112e-01 4.96206889e+01] [-3.76405503e-01 9.25090419e-01 -5.02654300e-02 -1.96124302e+01] [-1.35267480e-01 -1.20205989e-03 9.90808389e-01 -5.89605969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505779522999994 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-19.64, Z:-5.89 [[ 9.20501263e-01 3.70011875e-01 1.25573237e-01 4.96793924e+01] [-3.66577090e-01 9.29026986e-01 -5.03000682e-02 -1.96367912e+01] [-1.35272548e-01 2.69004503e-04 9.90808390e-01 -5.89437055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-19.65, Z:-5.91 [[ 9.22986337e-01 3.63773450e-01 1.25559145e-01 4.97388552e+01] [-3.60276260e-01 9.31486652e-01 -5.03352195e-02 -1.96539744e+01] [-1.35267284e-01 1.22274058e-03 9.90808391e-01 -5.91010373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625779523 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:49.79, Y:-19.68, Z:-5.93 [[ 9.24251653e-01 3.60551367e-01 1.25545188e-01 4.97946211e+01] [-3.57019820e-01 9.32737750e-01 -5.03700067e-02 -1.96786900e+01] [-1.35261711e-01 1.73244133e-03 9.90808391e-01 -5.92593189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685779522999994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:-19.70, Z:-5.93 [[ 9.24107180e-01 3.60926346e-01 1.25531240e-01 4.98511807e+01] [-3.57393525e-01 9.32592746e-01 -5.04047444e-02 -1.97036143e+01] [-1.35261924e-01 1.71533385e-03 9.90808392e-01 -5.92840949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745779522999996 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:-19.72, Z:-5.94 [[ 9.26030375e-01 3.55967215e-01 1.25519268e-01 4.99123852e+01] [-3.52384917e-01 9.34495172e-01 -5.04345406e-02 -1.97161081e+01] [-1.35250193e-01 2.47281969e-03 9.90808392e-01 -5.94101921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:-19.74, Z:-5.95 [[ 9.29296900e-01 3.47355537e-01 1.25504594e-01 4.99706577e+01] [-3.43689891e-01 9.37725938e-01 -5.04710298e-02 -1.97384209e+01] [-1.35220305e-01 3.76791126e-03 9.90808393e-01 -5.94937677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86577952299999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:-19.77, Z:-5.95 [[ 9.31745512e-01 3.40738249e-01 1.25490026e-01 5.00262968e+01] [-3.37007887e-01 9.40146108e-01 -5.05072252e-02 -1.97657538e+01] [-1.35188703e-01 4.76875182e-03 9.90808394e-01 -5.95405195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925779522999996 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:50.08, Y:-19.79, Z:-5.95 [[ 9.35800181e-01 3.29442743e-01 1.25481075e-01 5.00840442e+01] [-3.25608065e-01 9.44153675e-01 -5.05294548e-02 -1.97906332e+01] [-1.35119980e-01 6.42782291e-03 9.90808394e-01 -5.95464497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.14, Y:-19.81, Z:-5.96 [[ 9.36745500e-01 3.26748475e-01 1.25472319e-01 5.01430219e+01] [-3.22886872e-01 9.45086581e-01 -5.05511874e-02 -1.98081419e+01] [-1.35099728e-01 6.84023262e-03 9.90808394e-01 -5.96238568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.20, Y:-19.82, Z:-5.98 [[ 9.38275208e-01 3.22334472e-01 1.25459640e-01 5.02031653e+01] [-3.18429450e-01 9.46596050e-01 -5.05826367e-02 -1.98245262e+01] [-1.35064127e-01 7.51038992e-03 9.90808395e-01 -5.97713165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.26, Y:-19.84, Z:-5.98 [[ 9.40324164e-01 3.16313090e-01 1.25445190e-01 5.02620453e+01] [-3.12350052e-01 9.48617530e-01 -5.06184461e-02 -1.98439969e+01] [-1.35010783e-01 8.41493639e-03 9.90808396e-01 -5.98472216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.32, Y:-19.86, Z:-5.99 [[ 9.41334052e-01 3.13300257e-01 1.25431864e-01 5.03220695e+01] [-3.09306305e-01 9.49612574e-01 -5.06514476e-02 -1.98620917e+01] [-1.34980786e-01 8.88306608e-03 9.90808396e-01 -5.98950896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22577952299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:50.38, Y:-19.88, Z:-6.00 [[ 9.42149374e-01 3.10845322e-01 1.25418268e-01 5.03824003e+01] [-3.06825350e-01 9.50415292e-01 -5.06850890e-02 -1.98783307e+01] [-1.34954663e-01 9.27142087e-03 9.90808397e-01 -5.99951803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285779522999995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:50.44, Y:-19.89, Z:-6.01 [[ 9.42321820e-01 3.10328171e-01 1.25403408e-01 5.04435226e+01] [-3.06298800e-01 9.50583159e-01 -5.07218292e-02 -1.98912878e+01] [-1.34946780e-01 9.38537303e-03 9.90808398e-01 -6.00900558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.50, Y:-19.91, Z:-6.01 [[ 9.42437395e-01 3.09982550e-01 1.25389693e-01 5.05034559e+01] [-3.05945667e-01 9.50695065e-01 -5.07557115e-02 -1.99096779e+01] [-1.34940747e-01 9.47164719e-03 9.90808399e-01 -6.01494674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.57, Y:-19.92, Z:-6.03 [[ 9.42702467e-01 3.09181301e-01 1.25375365e-01 5.05655546e+01] [-3.05132724e-01 9.50954409e-01 -5.07910799e-02 -1.99202721e+01] [-1.34929908e-01 9.62474966e-03 9.90808399e-01 -6.02573446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465779522999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:50.63, Y:-19.94, Z:-6.03 [[ 9.42625092e-01 3.09422291e-01 1.25362602e-01 5.06264456e+01] [-3.05371661e-01 9.50876025e-01 -5.08225629e-02 -1.99356087e+01] [-1.34929927e-01 9.62443705e-03 9.90808400e-01 -6.03076012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.69, Y:-19.95, Z:-6.04 [[ 9.42054965e-01 3.11159182e-01 1.25349139e-01 5.06885659e+01] [-3.07119375e-01 9.50311203e-01 -5.08557476e-02 -1.99490940e+01] [-1.34944923e-01 9.41176032e-03 9.90808400e-01 -6.03837686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.75, Y:-19.96, Z:-6.05 [[ 9.41386989e-01 3.13180024e-01 1.25334793e-01 5.07507894e+01] [-3.09153265e-01 9.49649597e-01 -5.08910785e-02 -1.99552633e+01] [-1.34962205e-01 9.16053875e-03 9.90808401e-01 -6.05420611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.81, Y:-19.97, Z:-6.06 [[ 9.40631379e-01 3.15444993e-01 1.25327828e-01 5.08110668e+01] [-3.11435860e-01 9.48902554e-01 -5.09082244e-02 -1.99723879e+01] [-1.34982641e-01 8.85429336e-03 9.90808401e-01 -6.06345969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.87, Y:-19.98, Z:-6.06 [[ 9.39315937e-01 3.19346378e-01 1.25313450e-01 5.08744952e+01] [-3.15366911e-01 9.47601426e-01 -5.09435934e-02 -1.99849614e+01] [-1.35015856e-01 8.33241364e-03 9.90808402e-01 -6.06430705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76577952299999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:50.94, Y:-19.99, Z:-6.07 [[ 9.38479168e-01 3.21803186e-01 1.25297884e-01 5.09371941e+01] [-3.17840326e-01 9.46772611e-01 -5.09818502e-02 -1.99935756e+01] [-1.35034726e-01 8.02068410e-03 9.90808403e-01 -6.06787707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:-20.00, Z:-6.08 [[ 9.35860136e-01 3.29346925e-01 1.25285307e-01 5.09986371e+01] [-3.25446828e-01 9.44183278e-01 -5.10127396e-02 -2.00036975e+01] [-1.35093180e-01 6.96708389e-03 9.90808403e-01 -6.08253848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:-20.02, Z:-6.10 [[ 9.35249652e-01 3.31081284e-01 1.25272788e-01 5.10590629e+01] [-3.27192520e-01 9.43578094e-01 -5.10434632e-02 -2.00182295e+01] [-1.35104194e-01 6.75006203e-03 9.90808404e-01 -6.09595383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:-20.03, Z:-6.10 [[ 9.34666205e-01 3.32730266e-01 1.25258351e-01 5.11226645e+01] [-3.28851464e-01 9.42999291e-01 -5.10788671e-02 -2.00277094e+01] [-1.35114021e-01 6.55029872e-03 9.90808405e-01 -6.10267944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.18, Y:-20.04, Z:-6.11 [[ 9.32363841e-01 3.39133599e-01 1.25244041e-01 5.11842989e+01] [-3.35307347e-01 9.40721186e-01 -5.11139301e-02 -2.00436513e+01] [-1.35154174e-01 5.66153299e-03 9.90808405e-01 -6.10888899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:-20.07, Z:-6.12 [[ 9.29944411e-01 3.45717973e-01 1.25229689e-01 5.12412336e+01] [-3.41946187e-01 9.38326477e-01 -5.11490697e-02 -2.00669427e+01] [-1.35189485e-01 4.74397694e-03 9.90808406e-01 -6.11532209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:51.30, Y:-20.07, Z:-6.13 [[ 9.25730643e-01 3.56850840e-01 1.25220826e-01 5.13047531e+01] [-3.53176964e-01 9.34156082e-01 -5.11707588e-02 -2.00735820e+01] [-1.35236124e-01 3.14522827e-03 9.90808406e-01 -6.12511299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.36, Y:-20.09, Z:-6.14 [[ 9.20925084e-01 3.69079786e-01 1.25208230e-01 5.13626803e+01] [-3.65513630e-01 9.29396679e-01 -5.12015617e-02 -2.00895559e+01] [-1.35265574e-01 1.38748805e-03 9.90808407e-01 -6.13866478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245779522999996 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:51.42, Y:-20.12, Z:-6.15 [[ 9.17986526e-01 3.76333009e-01 1.25196662e-01 5.14189233e+01] [-3.72829936e-01 9.26484400e-01 -5.12298318e-02 -2.01161684e+01] [-1.35272231e-01 3.51232020e-04 9.90808407e-01 -6.15068706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:51.48, Y:-20.14, Z:-6.16 [[ 9.16442194e-01 3.80082899e-01 1.25182644e-01 5.14772827e+01] [-3.76609922e-01 9.24952411e-01 -5.12640616e-02 -2.01399983e+01] [-1.35272582e-01 -1.64476742e-04 9.90808408e-01 -6.15711576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:51.54, Y:-20.16, Z:-6.16 [[ 9.13698823e-01 3.86635823e-01 1.25168690e-01 5.15350455e+01] [-3.83219213e-01 9.22231825e-01 -5.12981113e-02 -2.01591160e+01] [-1.35268237e-01 -1.09602272e-03 9.90808409e-01 -6.16358580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425779522999996 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:51.59, Y:-20.19, Z:-6.17 [[ 9.12529920e-01 3.89390214e-01 1.25157526e-01 5.15912013e+01] [-3.85995625e-01 9.21071706e-01 -5.13253346e-02 -2.01850127e+01] [-1.35264639e-01 -1.47435403e-03 9.90808409e-01 -6.17302914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:51.65, Y:-20.22, Z:-6.18 [[ 9.10127258e-01 3.94977680e-01 1.25143940e-01 5.16455249e+01] [-3.91630974e-01 9.18687918e-01 -5.13584402e-02 -2.02155255e+01] [-1.35253663e-01 -2.26752657e-03 9.90808410e-01 -6.18226591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-20.24, Z:-6.19 [[ 9.09072227e-01 3.97404434e-01 1.25129538e-01 5.17024294e+01] [-3.94075755e-01 9.17639911e-01 -5.13935052e-02 -2.02421202e+01] [-1.35247865e-01 -2.59010873e-03 9.90808411e-01 -6.19120073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:-20.28, Z:-6.20 [[ 9.08832816e-01 3.97956150e-01 1.25115209e-01 5.17538793e+01] [-3.94627874e-01 9.17400656e-01 -5.14283644e-02 -2.02777275e+01] [-1.35247009e-01 -2.63416372e-03 9.90808411e-01 -6.20350886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:-20.31, Z:-6.21 [[ 9.08701530e-01 3.98257292e-01 1.25110584e-01 5.18065556e+01] [-3.94930308e-01 9.17269872e-01 -5.14396139e-02 -2.03124492e+01] [-1.35246370e-01 -2.66670547e-03 9.90808411e-01 -6.21091776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:-20.34, Z:-6.22 [[ 9.09202309e-01 3.97117085e-01 1.25096694e-01 5.18618171e+01] [-3.93774712e-01 9.17764659e-01 -5.14733710e-02 -2.03418371e+01] [-1.35250280e-01 -2.46020683e-03 9.90808412e-01 -6.22027089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785779522999995 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:-20.38, Z:-6.23 [[ 9.11518194e-01 3.91776575e-01 1.25082762e-01 5.19129975e+01] [-3.88379388e-01 9.20058943e-01 -5.15072036e-02 -2.03808335e+01] [-1.35262830e-01 -1.62981350e-03 9.90808413e-01 -6.22646253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.97, Y:-20.41, Z:-6.24 [[ 9.13739526e-01 3.86572051e-01 1.25068492e-01 5.19666174e+01] [-3.83121473e-01 9.22258845e-01 -5.15418299e-02 -2.04110121e+01] [-1.35270154e-01 -8.20617890e-04 9.90808413e-01 -6.23809462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90577952299999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:-20.45, Z:-6.24 [[ 9.14788329e-01 3.84087612e-01 1.25056067e-01 5.20191072e+01] [-3.80609778e-01 9.23296556e-01 -5.15719608e-02 -2.04458571e+01] [-1.35271987e-01 -4.20134029e-04 9.90808414e-01 -6.24355968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.07, Y:-20.48, Z:-6.25 [[ 9.16894476e-01 3.79036401e-01 1.25043698e-01 5.20723575e+01] [-3.75507607e-01 9.25381693e-01 -5.16019325e-02 -2.04775722e+01] [-1.35272160e-01 3.58666936e-04 9.90808414e-01 -6.25049497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:52.12, Y:-20.52, Z:-6.26 [[ 9.21069875e-01 3.68778577e-01 1.25030581e-01 5.21224045e+01] [-3.65150958e-01 9.29515325e-01 -5.16336971e-02 -2.05171377e+01] [-1.35259242e-01 1.90320659e-03 9.90808415e-01 -6.26302690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.18, Y:-20.55, Z:-6.27 [[ 9.25242379e-01 3.58186391e-01 1.25016201e-01 5.21758023e+01] [-3.54457414e-01 9.33643566e-01 -5.16684913e-02 -2.05475374e+01] [-1.35227522e-01 3.49295858e-03 9.90808416e-01 -6.27388153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145779522999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:52.23, Y:-20.58, Z:-6.28 [[ 9.28084203e-01 3.50761985e-01 1.25002970e-01 5.22281263e+01] [-3.46961515e-01 9.36453292e-01 -5.17004806e-02 -2.05832152e+01] [-1.35194006e-01 4.61117937e-03 9.90808416e-01 -6.28145370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205779523 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:52.28, Y:-20.61, Z:-6.29 [[ 9.30920129e-01 3.43170086e-01 1.24988020e-01 5.22835070e+01] [-3.39296549e-01 9.39255650e-01 -5.17365985e-02 -2.06102767e+01] [-1.35150157e-01 5.75463716e-03 9.90808417e-01 -6.29106043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:-20.64, Z:-6.30 [[ 9.32795851e-01 3.38043278e-01 1.24974565e-01 5.23358676e+01] [-3.34119600e-01 9.41107887e-01 -5.17690794e-02 -2.06434060e+01] [-1.35114738e-01 6.53353069e-03 9.90808418e-01 -6.29671956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325779522999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:52.39, Y:-20.67, Z:-6.30 [[ 9.31280602e-01 3.42200029e-01 1.24962319e-01 5.23883309e+01] [-3.38309505e-01 9.39608206e-01 -5.17986233e-02 -2.06742039e+01] [-1.35141111e-01 5.96311276e-03 9.90808418e-01 -6.30352829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385779523 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:-20.70, Z:-6.31 [[ 9.29878355e-01 3.45995795e-01 1.24952608e-01 5.24432503e+01] [-3.42136130e-01 9.38220307e-01 -5.18220381e-02 -2.07002429e+01] [-1.35163282e-01 5.43738977e-03 9.90808418e-01 -6.31323529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.50, Y:-20.72, Z:-6.32 [[ 9.29536701e-01 3.46917322e-01 1.24939560e-01 5.25003659e+01] [-3.43061709e-01 9.37880526e-01 -5.18534763e-02 -2.07221129e+01] [-1.35167250e-01 5.33773012e-03 9.90808419e-01 -6.32115581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.56, Y:-20.75, Z:-6.33 [[ 9.26898103e-01 3.53911500e-01 1.24926204e-01 5.25553195e+01] [-3.50114539e-01 9.35268780e-01 -5.18856357e-02 -2.07477086e+01] [-1.35202501e-01 4.35421715e-03 9.90808420e-01 -6.32928123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.61, Y:-20.77, Z:-6.34 [[ 9.25154810e-01 3.58448131e-01 1.24914028e-01 5.26122424e+01] [-3.54688271e-01 9.33542217e-01 -5.19149325e-02 -2.07735503e+01] [-1.35221329e-01 3.72380897e-03 9.90808420e-01 -6.33909656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62577952299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:52.67, Y:-20.80, Z:-6.35 [[ 9.23927871e-01 3.61603893e-01 1.24899614e-01 5.26687094e+01] [-3.57868002e-01 9.32325980e-01 -5.19495862e-02 -2.08002357e+01] [-1.35232328e-01 3.30009512e-03 9.90808421e-01 -6.34817393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.73, Y:-20.83, Z:-6.35 [[ 9.22396050e-01 3.65498525e-01 1.24885372e-01 5.27268466e+01] [-3.61793466e-01 9.30807806e-01 -5.19838033e-02 -2.08255113e+01] [-1.35244282e-01 2.76694336e-03 9.90808422e-01 -6.35045761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.78, Y:-20.85, Z:-6.36 [[ 9.21256236e-01 3.68366833e-01 1.24871229e-01 5.27838061e+01] [-3.64683365e-01 9.29677469e-01 -5.20177524e-02 -2.08496295e+01] [-1.35251583e-01 2.38321866e-03 9.90808422e-01 -6.36204269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.84, Y:-20.87, Z:-6.38 [[ 9.20754593e-01 3.69623966e-01 1.24856334e-01 5.28426545e+01] [-3.65947153e-01 9.29178732e-01 -5.20534814e-02 -2.08658767e+01] [-1.35254064e-01 2.23766219e-03 9.90808423e-01 -6.38032346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.90, Y:-20.90, Z:-6.38 [[ 9.17899441e-01 3.76662855e-01 1.24842740e-01 5.28955870e+01] [-3.73046217e-01 9.26349589e-01 -5.20860654e-02 -2.08995966e+01] [-1.35266907e-01 1.23765858e-03 9.90808424e-01 -6.38456126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:-20.93, Z:-6.39 [[ 9.17200395e-01 3.78365049e-01 1.24833193e-01 5.29511031e+01] [-3.74760980e-01 9.25655911e-01 -5.21089360e-02 -2.09290467e+01] [-1.35268783e-01 1.01172703e-03 9.90808424e-01 -6.39096302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.01, Y:-20.96, Z:-6.39 [[ 9.15998407e-01 3.81270586e-01 1.24818503e-01 5.30057361e+01] [-3.77688547e-01 9.24463279e-01 -5.21441004e-02 -2.09568872e+01] [-1.35271134e-01 6.21393952e-04 9.90808425e-01 -6.39483338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:-20.98, Z:-6.41 [[ 9.15119667e-01 3.83378765e-01 1.24806724e-01 5.30630926e+01] [-3.79812384e-01 9.23591147e-01 -5.21722766e-02 -2.09782451e+01] [-1.35272129e-01 3.40736999e-04 9.90808425e-01 -6.40823604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:-21.01, Z:-6.42 [[ 9.16026300e-01 3.81212023e-01 1.24792672e-01 5.31141834e+01] [-3.77621028e-01 9.24487375e-01 -5.22058667e-02 -2.10142274e+01] [-1.35270754e-01 6.97609758e-04 9.90808426e-01 -6.41975245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-21.05, Z:-6.42 [[ 9.19444027e-01 3.72897698e-01 1.24779755e-01 5.31660093e+01] [-3.69226011e-01 9.27870399e-01 -5.22367216e-02 -2.10500295e+01] [-1.35258395e-01 1.95681039e-03 9.90808426e-01 -6.42247323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:-21.07, Z:-6.43 [[ 9.20086274e-01 3.71314164e-01 1.24767949e-01 5.32237525e+01] [-3.67624154e-01 9.28504637e-01 -5.22649064e-02 -2.10735497e+01] [-1.35254319e-01 2.22051129e-03 9.90808427e-01 -6.42760311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:-21.10, Z:-6.43 [[ 9.20249202e-01 3.70914576e-01 1.24754890e-01 5.32805260e+01] [-3.67216689e-01 9.28664108e-01 -5.22960605e-02 -2.10977655e+01] [-1.35252759e-01 2.31333052e-03 9.90808427e-01 -6.43221355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:-21.13, Z:-6.44 [[ 9.18673659e-01 3.74804209e-01 1.24741787e-01 5.33309705e+01] [-3.71137711e-01 9.27102289e-01 -5.23272958e-02 -2.11337587e+01] [-1.35260887e-01 1.77532693e-03 9.90808428e-01 -6.44208894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:-21.16, Z:-6.45 [[ 9.17977050e-01 3.76509487e-01 1.24734687e-01 5.33860810e+01] [-3.72856349e-01 9.26411478e-01 -5.23442142e-02 -2.11622410e+01] [-1.35263739e-01 1.54266725e-03 9.90808428e-01 -6.45220821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.44, Y:-21.19, Z:-6.47 [[ 9.17797351e-01 3.76948785e-01 1.24730255e-01 5.34420374e+01] [-3.73298249e-01 9.26232905e-01 -5.23547727e-02 -2.11862786e+01] [-1.35264335e-01 1.48948572e-03 9.90808428e-01 -6.46693175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.50, Y:-21.21, Z:-6.47 [[ 9.15025335e-01 3.83632818e-01 1.24717672e-01 5.34968125e+01] [-3.80039821e-01 9.23485557e-01 -5.23847310e-02 -2.12139851e+01] [-1.35271471e-01 5.35674204e-04 9.90808429e-01 -6.47446094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.55, Y:-21.24, Z:-6.48 [[ 9.12460855e-01 3.89694626e-01 1.24712818e-01 5.35537897e+01] [-3.86156254e-01 9.20944068e-01 -5.23962847e-02 -2.12376020e+01] [-1.35272081e-01 -3.49076027e-04 9.90808429e-01 -6.47954879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.61, Y:-21.26, Z:-6.49 [[ 9.09855347e-01 3.95744355e-01 1.24698247e-01 5.36127749e+01] [-3.92257636e-01 9.18359920e-01 -5.24309406e-02 -2.12584857e+01] [-1.35267121e-01 -1.20926784e-03 9.90808429e-01 -6.48918003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705779523 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:53.67, Y:-21.29, Z:-6.50 [[ 9.08994407e-01 3.97722593e-01 1.24683229e-01 5.36675163e+01] [-3.94249487e-01 9.17504548e-01 -5.24666289e-02 -2.12882761e+01] [-1.35264593e-01 -1.46442695e-03 9.90808430e-01 -6.49642829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-21.32, Z:-6.50 [[ 9.08563052e-01 3.98711662e-01 1.24668323e-01 5.37225207e+01] [-3.95242964e-01 9.17074990e-01 -5.25020253e-02 -2.13155424e+01] [-1.35263371e-01 -1.57287701e-03 9.90808431e-01 -6.50202277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-21.33, Z:-6.52 [[ 9.08027351e-01 3.99932429e-01 1.24661072e-01 5.37833931e+01] [-3.96472812e-01 9.16542983e-01 -5.25192360e-02 -2.13266567e+01] [-1.35261376e-01 -1.73582303e-03 9.90808431e-01 -6.52241365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.84, Y:-21.35, Z:-6.53 [[ 9.07153316e-01 4.01915592e-01 1.24646371e-01 5.38413572e+01] [-3.98469801e-01 9.15674551e-01 -5.25541024e-02 -2.13485874e+01] [-1.35257823e-01 -1.99318654e-03 9.90808432e-01 -6.53376888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.89, Y:-21.38, Z:-6.53 [[ 9.06250399e-01 4.03951956e-01 1.24631583e-01 5.38946034e+01] [-4.00520492e-01 9.14777414e-01 -5.25891502e-02 -2.13837967e+01] [-1.35253647e-01 -2.25856457e-03 9.90808432e-01 -6.53105823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.95, Y:-21.41, Z:-6.54 [[ 9.05571065e-01 4.05476755e-01 1.24618005e-01 5.39527915e+01] [-4.02055226e-01 9.14102070e-01 -5.26213047e-02 -2.14086966e+01] [-1.35250293e-01 -2.45098939e-03 9.90808433e-01 -6.53633062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.01, Y:-21.42, Z:-6.56 [[ 9.05348102e-01 4.05977363e-01 1.24608166e-01 5.40135427e+01] [-4.02557346e-01 9.13879713e-01 -5.26445936e-02 -2.14176855e+01] [-1.35249389e-01 -2.50024987e-03 9.90808433e-01 -6.56245144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.07, Y:-21.45, Z:-6.57 [[ 9.06367005e-01 4.03702092e-01 1.24593229e-01 5.40678589e+01] [-4.00255802e-01 9.14888036e-01 -5.26799212e-02 -2.14497288e+01] [-1.35255849e-01 -2.12182049e-03 9.90808434e-01 -6.56712110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.12, Y:-21.48, Z:-6.56 [[ 9.08104399e-01 3.99783193e-01 1.24578484e-01 5.41226067e+01] [-3.96295348e-01 9.16608504e-01 -5.27147687e-02 -2.14845182e+01] [-1.35264176e-01 -1.49936032e-03 9.90808435e-01 -6.56391124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.18, Y:-21.50, Z:-6.57 [[ 9.07587938e-01 4.00959001e-01 1.24563294e-01 5.41804806e+01] [-3.97477250e-01 9.16094540e-01 -5.27506388e-02 -2.15048589e+01] [-1.35262597e-01 -1.63523187e-03 9.90808436e-01 -6.57128077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.24, Y:-21.53, Z:-6.59 [[ 9.05997828e-01 4.04543475e-01 1.24549235e-01 5.42372415e+01] [-4.01090818e-01 9.14516279e-01 -5.27838123e-02 -2.15267203e+01] [-1.35255650e-01 -2.13353518e-03 9.90808436e-01 -6.58552862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:-21.55, Z:-6.60 [[ 9.05699133e-01 4.05215774e-01 1.24536167e-01 5.42915591e+01] [-4.01765204e-01 9.14218429e-01 -5.28146274e-02 -2.15532637e+01] [-1.35254579e-01 -2.20013604e-03 9.90808437e-01 -6.59602543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.35, Y:-21.58, Z:-6.60 [[ 9.06409504e-01 4.03627969e-01 1.24524187e-01 5.43496845e+01] [-4.00158597e-01 9.14921160e-01 -5.28428570e-02 -2.15750526e+01] [-1.35258669e-01 -1.93215620e-03 9.90808437e-01 -6.60305481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485779523 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:54.41, Y:-21.60, Z:-6.61 [[ 9.09232343e-01 3.97232248e-01 1.24511398e-01 5.44076609e+01] [-3.93698873e-01 9.17717629e-01 -5.28729744e-02 -2.15981360e+01] [-1.35269155e-01 -9.46178665e-04 9.90808438e-01 -6.61110686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:-21.63, Z:-6.62 [[ 9.10272742e-01 3.94846894e-01 1.24496853e-01 5.44631712e+01] [-3.91286601e-01 9.18746768e-01 -5.29072019e-02 -2.16266065e+01] [-1.35271325e-01 -5.53966647e-04 9.90808438e-01 -6.61769981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:-21.65, Z:-6.63 [[ 9.11853201e-01 3.91187840e-01 1.24482183e-01 5.45174124e+01] [-3.87588833e-01 9.20310857e-01 -5.29416945e-02 -2.16526025e+01] [-1.35272452e-01 2.71494814e-05 9.90808439e-01 -6.62802499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:-21.67, Z:-6.64 [[ 9.15813694e-01 3.81827689e-01 1.24470451e-01 5.45754912e+01] [-3.78138497e-01 9.24232403e-01 -5.29692625e-02 -2.16718624e+01] [-1.35264755e-01 1.44290648e-03 9.90808440e-01 -6.63759704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:-21.70, Z:-6.64 [[ 9.18034013e-01 3.76462292e-01 1.24457598e-01 5.46316162e+01] [-3.72719811e-01 9.26429167e-01 -5.29994458e-02 -2.16968922e+01] [-1.35253442e-01 2.26748140e-03 9.90808440e-01 -6.64431208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:-21.72, Z:-6.65 [[ 9.21038326e-01 3.69054133e-01 1.24448580e-01 5.46894428e+01] [-3.65241282e-01 9.29401754e-01 -5.30206126e-02 -2.17203951e+01] [-1.35230205e-01 3.38025723e-03 9.90808440e-01 -6.65211104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:54.74, Y:-21.75, Z:-6.66 [[ 9.23346111e-01 3.63246724e-01 1.24433825e-01 5.47447955e+01] [-3.59376623e-01 9.31683201e-01 -5.30552196e-02 -2.17464488e+01] [-1.35205039e-01 4.26972294e-03 9.90808441e-01 -6.66315105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:54.80, Y:-21.77, Z:-6.67 [[ 9.24838522e-01 3.59434456e-01 1.24420976e-01 5.48036963e+01] [-3.55525948e-01 9.33157675e-01 -5.30853349e-02 -2.17669975e+01] [-1.35185087e-01 4.86047717e-03 9.90808442e-01 -6.66927310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965779522999995 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:-21.79, Z:-6.68 [[ 9.25535463e-01 3.57641159e-01 1.24406222e-01 5.48629818e+01] [-3.53711896e-01 9.33844833e-01 -5.31198887e-02 -2.17854120e+01] [-1.35173966e-01 5.16038015e-03 9.90808442e-01 -6.67515210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:-21.81, Z:-6.68 [[ 9.26916391e-01 3.54051294e-01 1.24393270e-01 5.49220126e+01] [-3.50085795e-01 9.35208529e-01 -5.31502022e-02 -2.18070633e+01] [-1.35151545e-01 5.71747686e-03 9.90808443e-01 -6.68310280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:-21.82, Z:-6.69 [[ 9.27892226e-01 3.51491149e-01 1.24378409e-01 5.49838283e+01] [-3.47498128e-01 9.36171144e-01 -5.31849562e-02 -2.18218351e+01] [-1.35133519e-01 6.12864314e-03 9.90808444e-01 -6.68939383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145779522999995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:-21.84, Z:-6.70 [[ 9.27705241e-01 3.51989614e-01 1.24363569e-01 5.50410158e+01] [-3.47996403e-01 9.35984067e-01 -5.32196349e-02 -2.18429704e+01] [-1.35135078e-01 6.09405964e-03 9.90808444e-01 -6.69989719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:-21.87, Z:-6.70 [[ 9.24697381e-01 3.59821991e-01 1.24349864e-01 5.50987362e+01] [-3.55894635e-01 9.33007649e-01 -5.32516369e-02 -2.18681535e+01] [-1.35180485e-01 4.98619960e-03 9.90808445e-01 -6.70081976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.16, Y:-21.88, Z:-6.71 [[ 9.21907125e-01 3.66916225e-01 1.24337189e-01 5.51580934e+01] [-3.63048850e-01 9.30245475e-01 -5.32812156e-02 -2.18833186e+01] [-1.35213850e-01 3.97985868e-03 9.90808445e-01 -6.71407662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:-21.89, Z:-6.73 [[ 9.18954980e-01 3.74252875e-01 1.24324291e-01 5.52228522e+01] [-3.70448019e-01 9.27322043e-01 -5.33112942e-02 -2.18860428e+01] [-1.35240561e-01 2.93499190e-03 9.90808446e-01 -6.72799383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385779523 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:-21.91, Z:-6.74 [[ 9.18285898e-01 3.75895801e-01 1.24311528e-01 5.52793379e+01] [-3.72101890e-01 9.26657929e-01 -5.33410391e-02 -2.19112302e+01] [-1.35244936e-01 2.72576949e-03 9.90808446e-01 -6.74026623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.34, Y:-21.94, Z:-6.74 [[ 9.16053296e-01 3.81309236e-01 1.24296518e-01 5.53376382e+01] [-3.77560064e-01 9.24445456e-01 -5.33759927e-02 -2.19375335e+01] [-1.35258111e-01 1.96585269e-03 9.90808447e-01 -6.73620856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505779522999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:-21.95, Z:-6.75 [[ 9.11598684e-01 3.91844375e-01 1.24281238e-01 5.54020058e+01] [-3.88187350e-01 9.20031406e-01 -5.34115483e-02 -2.19452833e+01] [-1.35271657e-01 4.45492697e-04 9.90808448e-01 -6.74675202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.46, Y:-21.97, Z:-6.75 [[ 9.08741194e-01 3.98431132e-01 1.24266144e-01 5.54584182e+01] [-3.94830430e-01 9.17198118e-01 -5.34466420e-02 -2.19731259e+01] [-1.35271480e-01 -4.94889875e-04 9.90808449e-01 -6.75355603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62577952299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:55.52, Y:-21.99, Z:-6.77 [[ 9.06941105e-01 4.02516455e-01 1.24251097e-01 5.55164410e+01] [-3.98949056e-01 9.15412131e-01 -5.34815999e-02 -2.19942207e+01] [-1.35268186e-01 -1.06519679e-03 9.90808449e-01 -6.77001162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.58, Y:-22.01, Z:-6.78 [[ 9.05344412e-01 4.06099609e-01 1.24236075e-01 5.55768422e+01] [-4.02560951e-01 9.13827483e-01 -5.35164731e-02 -2.20079238e+01] [-1.35263359e-01 -1.56175272e-03 9.90808450e-01 -6.78208842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745779522999996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:-22.05, Z:-6.78 [[ 9.05617864e-01 4.05493690e-01 1.24222186e-01 5.56286345e+01] [-4.01944936e-01 9.14096716e-01 -5.35486933e-02 -2.20464361e+01] [-1.35264750e-01 -1.43582544e-03 9.90808451e-01 -6.78445372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.69, Y:-22.08, Z:-6.78 [[ 9.05843523e-01 4.04993955e-01 1.24207118e-01 5.56851667e+01] [-4.01435735e-01 9.14318405e-01 -5.35836217e-02 -2.20754226e+01] [-1.35265897e-01 -1.32279901e-03 9.90808451e-01 -6.78175196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86577952299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.75, Y:-22.09, Z:-6.80 [[ 9.05045891e-01 4.06776196e-01 1.24197672e-01 5.57467896e+01] [-4.03231661e-01 9.13526506e-01 -5.36055066e-02 -2.20859996e+01] [-1.35263310e-01 -1.56499023e-03 9.90808452e-01 -6.80117336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:-22.12, Z:-6.81 [[ 9.05721639e-01 4.05273923e-01 1.24182770e-01 5.57994417e+01] [-4.01710591e-01 9.14194373e-01 -5.36400067e-02 -2.21178214e+01] [-1.35266086e-01 -1.30261927e-03 9.90808452e-01 -6.81272377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985779523 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:-22.15, Z:-6.83 [[ 9.11019852e-01 3.93223713e-01 1.24169003e-01 5.58512924e+01] [-3.89543961e-01 9.19442676e-01 -5.36718577e-02 -2.21525240e+01] [-1.35271327e-01 5.26842565e-04 9.90808453e-01 -6.82546855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:-22.18, Z:-6.83 [[ 9.13547392e-01 3.87319061e-01 1.24157593e-01 5.59074650e+01] [-3.83581286e-01 9.21944628e-01 -5.36982390e-02 -2.21778451e+01] [-1.35264777e-01 1.43135711e-03 9.90808453e-01 -6.82976106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105779522999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.96, Y:-22.21, Z:-6.84 [[ 9.16715190e-01 3.79764034e-01 1.24147243e-01 5.59625575e+01] [-3.75953825e-01 9.25079808e-01 -5.37221568e-02 -2.22077018e+01] [-1.35247851e-01 2.57428628e-03 9.90808454e-01 -6.84009162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165779523 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:56.02, Y:-22.24, Z:-6.84 [[ 9.18589209e-01 3.75213406e-01 1.24132045e-01 5.60170614e+01] [-3.71357024e-01 9.26932640e-01 -5.37572509e-02 -2.22408060e+01] [-1.35232486e-01 3.28352365e-03 9.90808454e-01 -6.84350752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:-22.27, Z:-6.86 [[ 9.21314088e-01 3.68477083e-01 1.24116841e-01 5.60725580e+01] [-3.64554990e-01 9.29626830e-01 -5.37923321e-02 -2.22661606e+01] [-1.35203587e-01 4.31221958e-03 9.90808455e-01 -6.85934142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285779522999995 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:-22.30, Z:-6.86 [[ 9.21746945e-01 3.67394580e-01 1.24112016e-01 5.61272610e+01] [-3.63461229e-01 9.30054365e-01 -5.38034615e-02 -2.22969403e+01] [-1.35198023e-01 4.48327022e-03 9.90808455e-01 -6.85804193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:-22.32, Z:-6.87 [[ 9.25175669e-01 3.58677657e-01 1.24098025e-01 5.61848965e+01] [-3.54661749e-01 9.33443496e-01 -5.38357145e-02 -2.23190550e+01] [-1.35148162e-01 5.79467075e-03 9.90808456e-01 -6.87111717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:-22.34, Z:-6.89 [[ 9.26161980e-01 3.56128361e-01 1.24082949e-01 5.62417573e+01] [-3.52085056e-01 9.34416443e-01 -5.38704402e-02 -2.23419786e+01] [-1.35129939e-01 6.20500156e-03 9.90808457e-01 -6.88512165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465779522999995 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:56.30, Y:-22.37, Z:-6.89 [[ 9.23395026e-01 3.63245059e-01 1.24075193e-01 5.62954312e+01] [-3.59263002e-01 9.31679208e-01 -5.38882969e-02 -2.23723482e+01] [-1.35172935e-01 5.18455900e-03 9.90808457e-01 -6.89168972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525779523 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:-22.39, Z:-6.90 [[ 9.21239458e-01 3.68682740e-01 1.24060058e-01 5.63541050e+01] [-3.64744908e-01 9.29544754e-01 -5.39231186e-02 -2.23936028e+01] [-1.35199899e-01 4.42583017e-03 9.90808457e-01 -6.90037950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58577952299999 meters Centerline goodness : 0.995864 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:-22.42, Z:-6.90 [[ 9.18582207e-01 3.75256880e-01 1.24052420e-01 5.64089398e+01] [-3.71376131e-01 9.26914328e-01 -5.39406840e-02 -2.24225958e+01] [-1.35227578e-01 3.47884474e-03 9.90808458e-01 -6.90255217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645779522999995 meters Centerline goodness : 0.995577 with order 1 Centerline is valid? [True, True] Translation: X:56.47, Y:-22.44, Z:-6.91 [[ 9.15487936e-01 3.82749522e-01 1.24034842e-01 5.64672637e+01] [-3.78931509e-01 9.23848989e-01 -5.39810754e-02 -2.24426286e+01] [-1.35250694e-01 2.41831363e-03 9.90808459e-01 -6.91381972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705779523 meters Centerline goodness : 0.995762 with order 1 Centerline is valid? [True, True] Translation: X:56.52, Y:-22.46, Z:-6.93 [[ 9.13221294e-01 3.88133120e-01 1.24014312e-01 5.65238286e+01] [-3.84358003e-01 9.21601801e-01 -5.40281976e-02 -2.24623955e+01] [-1.35261947e-01 1.67380705e-03 9.90808460e-01 -6.92602645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:-22.49, Z:-6.93 [[ 9.09494941e-01 3.96791476e-01 1.23997890e-01 5.65796569e+01] [-3.93091011e-01 9.17908677e-01 -5.40658614e-02 -2.24885454e+01] [-1.35271612e-01 4.30171394e-04 9.90808461e-01 -6.92659578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:-22.52, Z:-6.93 [[ 9.07480711e-01 4.01379436e-01 1.23989141e-01 5.66365371e+01] [-3.97718768e-01 9.15911838e-01 -5.40859194e-02 -2.25171755e+01] [-1.35272098e-01 -2.30879614e-04 9.90808461e-01 -6.92846180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.69, Y:-22.54, Z:-6.94 [[ 9.04467564e-01 4.08128487e-01 1.23974046e-01 5.66947479e+01] [-4.04525988e-01 9.12923708e-01 -5.41204979e-02 -2.25370706e+01] [-1.35266962e-01 -1.20048846e-03 9.90808462e-01 -6.94281000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.75, Y:-22.56, Z:-6.96 [[ 9.02478619e-01 4.12512477e-01 1.23958861e-01 5.67512683e+01] [-4.08946279e-01 9.10950136e-01 -5.41552556e-02 -2.25621455e+01] [-1.35260060e-01 -1.81855457e-03 9.90808462e-01 -6.95637630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.81, Y:-22.59, Z:-6.96 [[ 9.01764635e-01 4.14075579e-01 1.23943367e-01 5.68077120e+01] [-4.10519195e-01 9.10240275e-01 -5.41906929e-02 -2.25902885e+01] [-1.35257287e-01 -2.01388083e-03 9.90808463e-01 -6.96273498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:-22.63, Z:-6.96 [[ 8.99874970e-01 4.18170885e-01 1.23928003e-01 5.68611625e+01] [-4.14648236e-01 9.08364686e-01 -5.42258061e-02 -2.26275047e+01] [-1.35247475e-01 -2.59008220e-03 9.90808464e-01 -6.96176508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12577952299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:-22.65, Z:-6.98 [[ 8.98796662e-01 4.20488044e-01 1.23912728e-01 5.69177217e+01] [-4.16982474e-01 9.07293444e-01 -5.42606897e-02 -2.26507767e+01] [-1.35241177e-01 -2.90010900e-03 9.90808465e-01 -6.97780471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185779522999994 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:-22.67, Z:-6.99 [[ 8.98123470e-01 4.21928473e-01 1.23897524e-01 5.69747222e+01] [-4.18431746e-01 9.06623894e-01 -5.42953841e-02 -2.26738600e+01] [-1.35237224e-01 -3.07869832e-03 9.90808465e-01 -6.99187360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:-22.71, Z:-7.00 [[ 8.99458540e-01 4.19079377e-01 1.23882242e-01 5.70272999e+01] [-4.15550925e-01 9.07945844e-01 -5.43302297e-02 -2.27105974e+01] [-1.35247045e-01 -2.61159101e-03 9.90808466e-01 -6.99542674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.08, Y:-22.75, Z:-7.00 [[ 9.02088160e-01 4.13393177e-01 1.23866998e-01 5.70795917e+01] [-4.09806450e-01 9.10551001e-01 -5.43649617e-02 -2.27455247e+01] [-1.35261323e-01 -1.71950654e-03 9.90808467e-01 -7.00020826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:-22.77, Z:-7.01 [[ 9.03253546e-01 4.10844837e-01 1.23852944e-01 5.71356075e+01] [-4.07229846e-01 9.11704351e-01 -5.43969604e-02 -2.27703866e+01] [-1.35265979e-01 -1.30236800e-03 9.90808467e-01 -7.00859289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:-22.80, Z:-7.02 [[ 9.05462347e-01 4.05957605e-01 1.23840063e-01 5.71893569e+01] [-4.02292989e-01 9.13891751e-01 -5.44262701e-02 -2.28029668e+01] [-1.35271170e-01 -5.39050850e-04 9.90808468e-01 -7.01850295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.24, Y:-22.84, Z:-7.03 [[ 9.08516448e-01 3.99080354e-01 1.23825423e-01 5.72412387e+01] [-3.95347391e-01 9.16915807e-01 -5.44595574e-02 -2.28376696e+01] [-1.35271227e-01 5.23345707e-04 9.90808468e-01 -7.02923302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.30, Y:-22.86, Z:-7.05 [[ 9.14006581e-01 3.86344959e-01 1.23812527e-01 5.72974466e+01] [-3.82491012e-01 9.22351121e-01 -5.44888606e-02 -2.28568228e+01] [-1.35250120e-01 2.44599843e-03 9.90808469e-01 -7.05479929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:-22.88, Z:-7.05 [[ 9.14572251e-01 3.85008353e-01 1.23798892e-01 5.73543177e+01] [-3.81138021e-01 9.22909203e-01 -5.45198221e-02 -2.28833413e+01] [-1.35245724e-01 2.67785163e-03 9.90808470e-01 -7.05354327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:-22.91, Z:-7.06 [[ 9.14386676e-01 3.85453372e-01 1.23784911e-01 5.74083260e+01] [-3.81582805e-01 9.22723518e-01 -5.45515479e-02 -2.29106318e+01] [-1.35246326e-01 2.64701514e-03 9.90808470e-01 -7.05874838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.46, Y:-22.94, Z:-7.07 [[ 9.15601015e-01 3.82563316e-01 1.23774352e-01 5.74635380e+01] [-3.78663201e-01 9.23924075e-01 -5.45754947e-02 -2.29373884e+01] [-1.35236686e-01 3.10058600e-03 9.90808470e-01 -7.06762874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.52, Y:-22.96, Z:-7.07 [[ 9.16876332e-01 3.79501201e-01 1.23760371e-01 5.75198713e+01] [-3.75569018e-01 9.25184289e-01 -5.46071803e-02 -2.29635047e+01] [-1.35224642e-01 3.58747010e-03 9.90808471e-01 -7.07252540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.58, Y:-22.97, Z:-7.09 [[ 9.18397055e-01 3.75810423e-01 1.23747224e-01 5.75822619e+01] [-3.71840849e-01 9.26687210e-01 -5.46369570e-02 -2.29734888e+01] [-1.35208108e-01 4.16414745e-03 9.90808472e-01 -7.09141575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.64, Y:-22.99, Z:-7.10 [[ 9.19258685e-01 3.73702831e-01 1.23732229e-01 5.76404675e+01] [-3.69709690e-01 9.27537513e-01 -5.46708941e-02 -2.29945217e+01] [-1.35196952e-01 4.51169006e-03 9.90808472e-01 -7.10259481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.70, Y:-23.02, Z:-7.10 [[ 9.20855731e-01 3.69755100e-01 1.23716968e-01 5.76962602e+01] [-3.65721844e-01 9.29115090e-01 -5.47054092e-02 -2.30217570e+01] [-1.35174906e-01 5.12979215e-03 9.90808473e-01 -7.10255398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.76, Y:-23.04, Z:-7.11 [[ 9.21660882e-01 3.67748310e-01 1.23702869e-01 5.77568062e+01] [-3.63692803e-01 9.29909337e-01 -5.47372716e-02 -2.30379557e+01] [-1.35161992e-01 5.45935882e-03 9.90808474e-01 -7.11037659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.82, Y:-23.05, Z:-7.13 [[ 9.19997377e-01 3.71894633e-01 1.23689965e-01 5.78175485e+01] [-3.67872396e-01 9.28262107e-01 -5.47664153e-02 -2.30508798e+01] [-1.35184043e-01 4.88283467e-03 9.90808474e-01 -7.12823525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145779522999995 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:-23.08, Z:-7.14 [[ 9.19038935e-01 3.74259184e-01 1.23683057e-01 5.78737076e+01] [-3.70256117e-01 9.27312967e-01 -5.47820126e-02 -2.30768168e+01] [-1.35195573e-01 4.55239431e-03 9.90808474e-01 -7.13546495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.93, Y:-23.09, Z:-7.14 [[ 9.16772900e-01 3.79780438e-01 1.23670001e-01 5.79340735e+01] [-3.75823242e-01 9.25068967e-01 -5.48114705e-02 -2.30930925e+01] [-1.35219604e-01 3.77161024e-03 9.90808475e-01 -7.13880434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:-23.10, Z:-7.16 [[ 9.15224492e-01 3.83501213e-01 1.23656574e-01 5.79966799e+01] [-3.79573660e-01 9.23534634e-01 -5.48417440e-02 -2.31005557e+01] [-1.35233005e-01 3.25572886e-03 9.90808475e-01 -7.15806294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.05, Y:-23.14, Z:-7.16 [[ 9.10243787e-01 3.95181864e-01 1.23642803e-01 5.80483045e+01] [-3.91356762e-01 9.18601580e-01 -5.48727742e-02 -2.31369257e+01] [-1.35263200e-01 1.55915459e-03 9.90808476e-01 -7.15520532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385779523 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:58.11, Y:-23.15, Z:-7.17 [[ 9.07283356e-01 4.01935924e-01 1.23630193e-01 5.81096847e+01] [-3.98169174e-01 9.15667609e-01 -5.49011701e-02 -2.31495424e+01] [-1.35270916e-01 5.85185858e-04 9.90808476e-01 -7.16856921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:-23.17, Z:-7.18 [[ 9.04206126e-01 4.08815473e-01 1.23617112e-01 5.81689572e+01] [-4.05108488e-01 9.12616974e-01 -5.49306091e-02 -2.31711277e+01] [-1.35271558e-01 -4.09747957e-04 9.90808477e-01 -7.17513287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.22, Y:-23.21, Z:-7.17 [[ 9.00850360e-01 4.16162491e-01 1.23601825e-01 5.82227338e+01] [-4.12519380e-01 9.09289070e-01 -5.49649848e-02 -2.32052746e+01] [-1.35264154e-01 -1.47292205e-03 9.90808478e-01 -7.17355911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565779522999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:58.28, Y:-23.22, Z:-7.19 [[ 9.00265055e-01 4.17431330e-01 1.23587681e-01 5.82809563e+01] [-4.13795749e-01 9.08707012e-01 -5.49967689e-02 -2.32247087e+01] [-1.35262367e-01 -1.62838803e-03 9.90808478e-01 -7.19009581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.34, Y:-23.25, Z:-7.20 [[ 8.99890411e-01 4.18242746e-01 1.23572864e-01 5.83372673e+01] [-4.14610209e-01 9.08333677e-01 -5.50300420e-02 -2.32507443e+01] [-1.35261310e-01 -1.71356400e-03 9.90808479e-01 -7.19799528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685779522999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:58.39, Y:-23.28, Z:-7.20 [[ 9.01724560e-01 4.14277924e-01 1.23558162e-01 5.83903590e+01] [-4.10603740e-01 9.10149785e-01 -5.50630323e-02 -2.32849349e+01] [-1.35267834e-01 -1.08175497e-03 9.90808479e-01 -7.20348940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.45, Y:-23.31, Z:-7.20 [[ 9.04216487e-01 4.08814917e-01 1.23543141e-01 5.84456822e+01] [-4.05085225e-01 9.12617287e-01 -5.50967150e-02 -2.33144410e+01] [-1.35271965e-01 -2.26142956e-04 9.90808480e-01 -7.20354271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:-23.34, Z:-7.21 [[ 9.05603888e-01 4.05736520e-01 1.23529249e-01 5.85019021e+01] [-4.01974025e-01 9.13990046e-01 -5.51278447e-02 -2.33427578e+01] [-1.35271884e-01 2.68441257e-04 9.90808481e-01 -7.20926582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:-23.36, Z:-7.23 [[ 9.10152702e-01 3.95432070e-01 1.23513308e-01 5.85584816e+01] [-3.91569794e-01 9.18493375e-01 -5.51635365e-02 -2.33635976e+01] [-1.35259587e-01 1.84316116e-03 9.90808481e-01 -7.22848551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:-23.39, Z:-7.23 [[ 9.08227711e-01 3.99837913e-01 1.23499262e-01 5.86114998e+01] [-3.96011827e-01 9.16585047e-01 -5.51949641e-02 -2.33946112e+01] [-1.35266617e-01 1.22242742e-03 9.90808482e-01 -7.23130773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.67, Y:-23.42, Z:-7.24 [[ 9.10382490e-01 3.94909483e-01 1.23491789e-01 5.86661591e+01] [-3.91035889e-01 9.18717913e-01 -5.52116805e-02 -2.34226407e+01] [-1.35257735e-01 1.97402576e-03 9.90808482e-01 -7.23955948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:-23.45, Z:-7.24 [[ 9.11452683e-01 3.92437583e-01 1.23477727e-01 5.87200639e+01] [-3.88537128e-01 9.19775570e-01 -5.52431101e-02 -2.34549792e+01] [-1.35251270e-01 2.37579927e-03 9.90808483e-01 -7.24426654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.78, Y:-23.48, Z:-7.25 [[ 9.12828976e-01 3.89229789e-01 1.23464296e-01 5.87768652e+01] [-3.85296032e-01 9.21136174e-01 -5.52731116e-02 -2.34800107e+01] [-1.35241371e-01 2.88459437e-03 9.90808483e-01 -7.25468412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.83, Y:-23.50, Z:-7.27 [[ 9.14547429e-01 3.85179680e-01 1.23448829e-01 5.88341885e+01] [-3.81204482e-01 9.22834876e-01 -5.53076347e-02 -2.35016759e+01] [-1.35226262e-01 3.52220802e-03 9.90808484e-01 -7.27290792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.89, Y:-23.53, Z:-7.27 [[ 9.15734286e-01 3.82354489e-01 1.23433233e-01 5.88877501e+01] [-3.78349041e-01 9.24007153e-01 -5.53424211e-02 -2.35316739e+01] [-1.35213613e-01 3.97810730e-03 9.90808485e-01 -7.27399790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.94, Y:-23.56, Z:-7.27 [[ 9.17837412e-01 3.77282118e-01 1.23420781e-01 5.89434577e+01] [-3.73227233e-01 9.26086160e-01 -5.53701751e-02 -2.35626921e+01] [-1.35188455e-01 4.75682141e-03 9.90808485e-01 -7.27228663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.00, Y:-23.58, Z:-7.29 [[ 9.18584673e-01 3.75464203e-01 1.23405152e-01 5.90034780e+01] [-3.71388325e-01 9.26823068e-01 -5.54049876e-02 -2.35787657e+01] [-1.35177331e-01 5.06293974e-03 9.90808486e-01 -7.28633778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.06, Y:-23.60, Z:-7.30 [[ 9.17359168e-01 3.78453653e-01 1.23389586e-01 5.90576785e+01] [-3.74399973e-01 9.25608507e-01 -5.54396317e-02 -2.36044528e+01] [-1.35191782e-01 4.66099668e-03 9.90808487e-01 -7.29725035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.12, Y:-23.62, Z:-7.31 [[ 9.14561511e-01 3.85169209e-01 1.23377154e-01 5.91158056e+01] [-3.81172391e-01 9.22838550e-01 -5.54672840e-02 -2.36243863e+01] [-1.35221484e-01 3.70027808e-03 9.90808487e-01 -7.30678356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:-23.64, Z:-7.32 [[ 9.13262297e-01 3.88243826e-01 1.23364131e-01 5.91742898e+01] [-3.84270969e-01 9.21550861e-01 -5.54962342e-02 -2.36415467e+01] [-1.35232392e-01 3.27736404e-03 9.90808488e-01 -7.32118497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-23.67, Z:-7.32 [[ 9.11401751e-01 3.92595701e-01 1.23350979e-01 5.92300492e+01] [-3.88658473e-01 9.19707299e-01 -5.55254531e-02 -2.36732495e+01] [-1.35245849e-01 2.66459216e-03 9.90808488e-01 -7.31535595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-23.69, Z:-7.33 [[ 9.08558848e-01 3.99134947e-01 1.23337398e-01 5.92872713e+01] [-3.95253412e-01 9.16890569e-01 -5.55556019e-02 -2.36921037e+01] [-1.35261080e-01 1.72600610e-03 9.90808489e-01 -7.32874633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70577952299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:-23.71, Z:-7.35 [[ 9.06806483e-01 4.03104151e-01 1.23324957e-01 5.93441303e+01] [-3.99255333e-01 9.15153368e-01 -5.55832065e-02 -2.37118843e+01] [-1.35267071e-01 1.16506526e-03 9.90808489e-01 -7.34973842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-23.74, Z:-7.35 [[ 9.04975529e-01 4.07202175e-01 1.23311318e-01 5.93995319e+01] [-4.03387035e-01 9.13337859e-01 -5.56134490e-02 -2.37406256e+01] [-1.35270812e-01 5.86623607e-04 9.90808490e-01 -7.35474843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.45, Y:-23.77, Z:-7.36 [[ 9.02480316e-01 4.12707410e-01 1.23295878e-01 5.94549194e+01] [-4.08938607e-01 9.10863631e-01 -5.56476578e-02 -2.37670718e+01] [-1.35271932e-01 -1.99528887e-04 9.90808490e-01 -7.35518168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.51, Y:-23.79, Z:-7.36 [[ 9.00492181e-01 4.17031181e-01 1.23283518e-01 5.95107032e+01] [-4.13298882e-01 9.08891812e-01 -5.56750280e-02 -2.37948239e+01] [-1.35269603e-01 -8.18012670e-04 9.90808491e-01 -7.36071665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:-23.82, Z:-7.37 [[ 8.99363188e-01 4.19464817e-01 1.23268504e-01 5.95667433e+01] [-4.15750693e-01 9.07770870e-01 -5.57082502e-02 -2.38220112e+01] [-1.35267208e-01 -1.14701656e-03 9.90808491e-01 -7.36848863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.62, Y:-23.85, Z:-7.38 [[ 8.97168462e-01 4.24142997e-01 1.23253674e-01 5.96215998e+01] [-4.20468207e-01 9.05593409e-01 -5.57410425e-02 -2.38475781e+01] [-1.35259888e-01 -1.81514588e-03 9.90808492e-01 -7.38227495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:-23.88, Z:-7.39 [[ 8.96528162e-01 4.25498730e-01 1.23239953e-01 5.96758834e+01] [-4.21832513e-01 9.04956842e-01 -5.57713612e-02 -2.38751776e+01] [-1.35257482e-01 -1.98602327e-03 9.90808493e-01 -7.39332786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.73, Y:-23.91, Z:-7.40 [[ 8.97794718e-01 4.22823840e-01 1.23225987e-01 5.97284834e+01] [-4.19128276e-01 9.06210573e-01 -5.58022031e-02 -2.39107356e+01] [-1.35263194e-01 -1.54857230e-03 9.90808493e-01 -7.39868865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.78, Y:-23.94, Z:-7.41 [[ 9.01203082e-01 4.15514431e-01 1.23210235e-01 5.97834065e+01] [-4.11745850e-01 9.09586493e-01 -5.58369606e-02 -2.39372646e+01] [-1.35271429e-01 -4.10862168e-04 9.90808494e-01 -7.40735397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-23.97, Z:-7.42 [[ 9.04183449e-01 4.08992222e-01 1.23197618e-01 5.98346232e+01] [-4.05159376e-01 9.12537673e-01 -5.58647850e-02 -2.39710801e+01] [-1.35270731e-01 5.97343683e-04 9.90808494e-01 -7.41962527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305779523 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-24.00, Z:-7.43 [[ 9.05902646e-01 4.05174143e-01 1.23184051e-01 5.98891212e+01] [-4.01302022e-01 9.14238739e-01 -5.58946856e-02 -2.39998257e+01] [-1.35266713e-01 1.20113476e-03 9.90808495e-01 -7.42828503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-24.03, Z:-7.43 [[ 9.10070925e-01 3.95727346e-01 1.23169717e-01 5.99466015e+01] [-3.91764436e-01 9.18364242e-01 -5.59262537e-02 -2.40272717e+01] [-1.35246212e-01 2.64334253e-03 9.90808496e-01 -7.42673003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.00, Y:-24.05, Z:-7.43 [[ 9.12196130e-01 3.90808545e-01 1.23153975e-01 6.00021848e+01] [-3.86796248e-01 9.20465665e-01 -5.59608995e-02 -2.40548185e+01] [-1.35229003e-01 3.41182077e-03 9.90808496e-01 -7.43399069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48577952299999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:60.05, Y:-24.08, Z:-7.45 [[ 9.14066585e-01 3.86418577e-01 1.23137980e-01 6.00545065e+01] [-3.82361836e-01 9.22314407e-01 -5.59960717e-02 -2.40822639e+01] [-1.35209856e-01 4.10087378e-03 9.90808497e-01 -7.45194543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:60.11, Y:-24.10, Z:-7.47 [[ 9.15352226e-01 3.83365698e-01 1.23130191e-01 6.01112663e+01] [-3.79279153e-01 9.23585322e-01 -5.60131951e-02 -2.41049588e+01] [-1.35194775e-01 4.57108842e-03 9.90808497e-01 -7.46581678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.17, Y:-24.13, Z:-7.47 [[ 9.15324541e-01 3.83436181e-01 1.23116528e-01 6.01660153e+01] [-3.79346237e-01 9.23555949e-01 -5.60432106e-02 -2.41317684e+01] [-1.35193996e-01 4.59393451e-03 9.90808498e-01 -7.47090845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.22, Y:-24.16, Z:-7.47 [[ 9.13549725e-01 3.87649715e-01 1.23104015e-01 6.02216175e+01] [-3.83594045e-01 9.21798073e-01 -5.60706831e-02 -2.41586047e+01] [-1.35212828e-01 4.00139014e-03 9.90808498e-01 -7.47407859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.28, Y:-24.18, Z:-7.48 [[ 9.11535483e-01 3.92366553e-01 1.23091636e-01 6.02799992e+01] [-3.88349906e-01 9.19802904e-01 -5.60978460e-02 -2.41799119e+01] [-1.35230962e-01 3.33255215e-03 9.90808499e-01 -7.48483796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.34, Y:-24.21, Z:-7.49 [[ 9.10197470e-01 3.95465216e-01 1.23076518e-01 6.03370876e+01] [-3.91472237e-01 9.18476347e-01 -5.61309932e-02 -2.42063387e+01] [-1.35240726e-01 2.90924802e-03 9.90808499e-01 -7.49130012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.39, Y:-24.24, Z:-7.49 [[ 9.08355808e-01 3.99682064e-01 1.23060857e-01 6.03926009e+01] [-3.95722874e-01 9.16650896e-01 -5.61653087e-02 -2.42359216e+01] [-1.35252111e-01 2.32008841e-03 9.90808500e-01 -7.49468272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.45, Y:-24.26, Z:-7.51 [[ 9.06231891e-01 4.04479508e-01 1.23045061e-01 6.04494393e+01] [-4.00559540e-01 9.14545585e-01 -5.61998935e-02 -2.42575157e+01] [-1.35262022e-01 1.64326293e-03 9.90808501e-01 -7.50507526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-24.28, Z:-7.53 [[ 9.03969496e-01 4.09515146e-01 1.23030466e-01 6.05073055e+01] [-4.05637146e-01 9.12302849e-01 -5.62318244e-02 -2.42753974e+01] [-1.35268829e-01 9.26126703e-04 9.90808501e-01 -7.52638606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.56, Y:-24.31, Z:-7.53 [[ 9.04806132e-01 4.07667510e-01 1.23016526e-01 6.05603337e+01] [-4.03768349e-01 9.13129604e-01 -5.62623043e-02 -2.43104659e+01] [-1.35266345e-01 1.23629818e-03 9.90808502e-01 -7.52736298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:-24.33, Z:-7.54 [[ 9.06937691e-01 4.02906163e-01 1.23006700e-01 6.06182653e+01] [-3.98960396e-01 9.15239170e-01 -5.62837788e-02 -2.43340306e+01] [-1.35257632e-01 1.97107860e-03 9.90808502e-01 -7.53825199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.67, Y:-24.36, Z:-7.54 [[ 9.10263572e-01 3.95337025e-01 1.22999457e-01 6.06743773e+01] [-3.91320103e-01 9.18530855e-01 -5.62996034e-02 -2.43584924e+01] [-1.35236114e-01 3.11531780e-03 9.90808502e-01 -7.54225563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:-24.39, Z:-7.55 [[ 9.11869708e-01 3.91622349e-01 1.22986063e-01 6.07300628e+01] [-3.87567812e-01 9.20118608e-01 -5.63288474e-02 -2.43866776e+01] [-1.35221401e-01 3.69913017e-03 9.90808503e-01 -7.55158678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26577952299999 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:-24.41, Z:-7.56 [[ 9.13819166e-01 3.87056430e-01 1.22970938e-01 6.07847498e+01] [-3.82956248e-01 9.22045473e-01 -5.63618476e-02 -2.44138355e+01] [-1.35200012e-01 4.41204754e-03 9.90808503e-01 -7.56372286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:-24.44, Z:-7.57 [[ 9.14844656e-01 3.84630488e-01 1.22957893e-01 6.08402404e+01] [-3.80504677e-01 9.23058138e-01 -5.63902933e-02 -2.44405833e+01] [-1.35186709e-01 4.80230527e-03 9.90808504e-01 -7.56861768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:-24.46, Z:-7.58 [[ 9.15447892e-01 3.83196956e-01 1.22944093e-01 6.08978501e+01] [-3.79054252e-01 9.23652866e-01 -5.64203645e-02 -2.44607449e+01] [-1.35177775e-01 5.04742263e-03 9.90808504e-01 -7.58421595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:-24.49, Z:-7.59 [[ 9.15262853e-01 3.83643011e-01 1.22930672e-01 6.09529781e+01] [-3.79500387e-01 9.23467866e-01 -5.64495899e-02 -2.44884165e+01] [-1.35179016e-01 5.01397497e-03 9.90808505e-01 -7.59015149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:-24.51, Z:-7.59 [[ 9.14400883e-01 3.85697293e-01 1.22917141e-01 6.10083187e+01] [-3.81569150e-01 9.22613192e-01 -5.64790393e-02 -2.45143768e+01] [-1.35188788e-01 4.74309435e-03 9.90808506e-01 -7.59165732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:-24.54, Z:-7.60 [[ 9.10491954e-01 3.94840254e-01 1.22904743e-01 6.10669569e+01] [-3.90790969e-01 9.18743430e-01 -5.65060063e-02 -2.45360785e+01] [-1.35228771e-01 3.41820059e-03 9.90808506e-01 -7.59893296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:-24.56, Z:-7.61 [[ 9.04667836e-01 4.08012618e-01 1.22889427e-01 6.11213628e+01] [-4.04078991e-01 9.12975069e-01 -5.65392960e-02 -2.45628621e+01] [-1.35263729e-01 1.49224695e-03 9.90808507e-01 -7.61149468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:-24.58, Z:-7.63 [[ 9.01822987e-01 4.14266700e-01 1.22875550e-01 6.11782537e+01] [-4.10386579e-01 9.10155346e-01 -5.65694383e-02 -2.45840261e+01] [-1.35270673e-01 5.89143167e-04 9.90808507e-01 -7.62546965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-24.61, Z:-7.63 [[ 8.98764861e-01 4.20863083e-01 1.22865735e-01 6.12340555e+01] [-4.17041203e-01 9.07124094e-01 -5.65907474e-02 -2.46096571e+01] [-1.35271425e-01 -3.78298919e-04 9.90808507e-01 -7.63245274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-24.64, Z:-7.64 [[ 8.96745880e-01 4.25152139e-01 1.22851477e-01 6.12889322e+01] [-4.21366001e-01 9.05121361e-01 -5.66216837e-02 -2.46377942e+01] [-1.35268326e-01 -9.90174009e-04 9.90808508e-01 -7.63889793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:-24.66, Z:-7.65 [[ 8.94440167e-01 4.29986055e-01 1.22836398e-01 6.13444671e+01] [-4.26240688e-01 9.02833959e-01 -5.66543779e-02 -2.46644864e+01] [-1.35261464e-01 -1.68391961e-03 9.90808509e-01 -7.64832697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:-24.69, Z:-7.66 [[ 8.93329482e-01 4.32291665e-01 1.22826517e-01 6.14002817e+01] [-4.28565018e-01 9.01731601e-01 -5.66757926e-02 -2.46921249e+01] [-1.35257024e-01 -2.00899177e-03 9.90808509e-01 -7.65644739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.45, Y:-24.72, Z:-7.66 [[ 8.92967732e-01 4.33042938e-01 1.22810598e-01 6.14545654e+01] [-4.29318619e-01 9.01370883e-01 -5.67102657e-02 -2.47210630e+01] [-1.35255877e-01 -2.08443899e-03 9.90808510e-01 -7.66467805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.51, Y:-24.75, Z:-7.68 [[ 8.93395478e-01 4.32163966e-01 1.22795871e-01 6.15096537e+01] [-4.28427000e-01 9.01793011e-01 -5.67421358e-02 -2.47461333e+01] [-1.35258365e-01 -1.91589936e-03 9.90808510e-01 -7.68060523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.56, Y:-24.78, Z:-7.69 [[ 8.95229248e-01 4.28356270e-01 1.22782325e-01 6.15643506e+01] [-4.24579566e-01 9.03608984e-01 -5.67714327e-02 -2.47753757e+01] [-1.35265611e-01 -1.30741945e-03 9.90808511e-01 -7.69003187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165779523 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:61.62, Y:-24.80, Z:-7.70 [[ 8.95984901e-01 4.26774879e-01 1.22777277e-01 6.16194275e+01] [-4.22981889e-01 9.04357278e-01 -5.67823493e-02 -2.48047652e+01] [-1.35267804e-01 -1.05643676e-03 9.90808511e-01 -7.69895209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.68, Y:-24.82, Z:-7.71 [[ 8.98259374e-01 4.21972050e-01 1.22758651e-01 6.16805913e+01] [-4.18128792e-01 9.06608795e-01 -5.68225890e-02 -2.48176281e+01] [-1.35271617e-01 -2.87503154e-04 9.90808512e-01 -7.70966401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.74, Y:-24.85, Z:-7.71 [[ 8.96619871e-01 4.25449743e-01 1.22740880e-01 6.17350036e+01] [-4.21633618e-01 9.04981726e-01 -5.68609491e-02 -2.48464073e+01] [-1.35269730e-01 -7.69024499e-04 9.90808513e-01 -7.71398563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:-24.88, Z:-7.72 [[ 8.98252322e-01 4.21996738e-01 1.22725383e-01 6.17872826e+01] [-4.18143900e-01 9.06597324e-01 -5.68943770e-02 -2.48831245e+01] [-1.35271746e-01 -2.11364208e-04 9.90808513e-01 -7.71562152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.85, Y:-24.90, Z:-7.73 [[ 9.01677497e-01 4.14632378e-01 1.22709745e-01 6.18454880e+01] [-4.10706797e-01 9.09988527e-01 -5.69280854e-02 -2.49033776e+01] [-1.35268688e-01 9.33047149e-04 9.90808514e-01 -7.73027954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-24.93, Z:-7.75 [[ 9.04357557e-01 4.08758744e-01 1.22693511e-01 6.19002427e+01] [-4.04774444e-01 9.12640597e-01 -5.69630534e-02 -2.49254721e+01] [-1.35259225e-01 1.85177023e-03 9.90808515e-01 -7.74652818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:-24.96, Z:-7.74 [[ 9.03527005e-01 4.10595211e-01 1.22680577e-01 6.19543614e+01] [-4.06623967e-01 9.11816312e-01 -5.69908961e-02 -2.49591391e+01] [-1.35262340e-01 1.60795100e-03 9.90808515e-01 -7.74294700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:-24.98, Z:-7.76 [[ 9.04458338e-01 4.08543722e-01 1.22666793e-01 6.20138615e+01] [-4.04549656e-01 9.12736672e-01 -5.70205480e-02 -2.49770284e+01] [-1.35257868e-01 1.94790106e-03 9.90808516e-01 -7.75529244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.07, Y:-25.00, Z:-7.76 [[ 9.02023780e-01 4.13896210e-01 1.22650020e-01 6.20691369e+01] [-4.09946368e-01 9.10323305e-01 -5.70566041e-02 -2.50025874e+01] [-1.35266684e-01 1.18648345e-03 9.90808517e-01 -7.76458466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:-25.03, Z:-7.77 [[ 9.01448382e-01 4.15152475e-01 1.22634569e-01 6.21247442e+01] [-4.11209683e-01 9.09751258e-01 -5.70897951e-02 -2.50308809e+01] [-1.35267923e-01 1.03498115e-03 9.90808517e-01 -7.77123114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.18, Y:-25.06, Z:-7.78 [[ 9.00955921e-01 4.16224819e-01 1.22618632e-01 6.21813045e+01] [-4.12287254e-01 9.09261276e-01 -5.71240038e-02 -2.50570539e+01] [-1.35268802e-01 9.12110220e-04 9.90808518e-01 -7.78053998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.24, Y:-25.08, Z:-7.79 [[ 8.99889931e-01 4.18529132e-01 1.22602927e-01 6.22368166e+01] [-4.14608245e-01 9.08203172e-01 -5.71576908e-02 -2.50836273e+01] [-1.35270526e-01 6.03445818e-04 9.90808519e-01 -7.79076346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:-25.11, Z:-7.80 [[ 8.96979205e-01 4.24735459e-01 1.22589137e-01 6.22923761e+01] [-4.20868052e-01 9.05317459e-01 -5.71872531e-02 -2.51094974e+01] [-1.35271540e-01 -2.98074425e-04 9.90808519e-01 -7.80096480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.35, Y:-25.13, Z:-7.81 [[ 8.94804814e-01 4.29301539e-01 1.22574602e-01 6.23502830e+01] [-4.25472414e-01 9.03160717e-01 -5.72183896e-02 -2.51330017e+01] [-1.35268508e-01 -9.52821472e-04 9.90808520e-01 -7.80946019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.41, Y:-25.16, Z:-7.82 [[ 8.94565720e-01 4.29804034e-01 1.22558825e-01 6.24068875e+01] [-4.25974976e-01 9.02921652e-01 -5.72521640e-02 -2.51592011e+01] [-1.35268228e-01 -9.91169131e-04 9.90808520e-01 -7.81598996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.46, Y:-25.19, Z:-7.82 [[ 8.95276308e-01 4.28326506e-01 1.22542797e-01 6.24621029e+01] [-4.24478964e-01 9.03623745e-01 -5.72864504e-02 -2.51884000e+01] [-1.35269886e-01 -7.29637614e-04 9.90808521e-01 -7.82208340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.52, Y:-25.21, Z:-7.83 [[ 8.96126204e-01 4.26550227e-01 1.22526446e-01 6.25169231e+01] [-4.22681359e-01 9.04463778e-01 -5.73214007e-02 -2.52147816e+01] [-1.35271189e-01 -4.22435610e-04 9.90808522e-01 -7.83170386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:-25.24, Z:-7.84 [[ 8.97724445e-01 4.23180562e-01 1.22511356e-01 6.25725051e+01] [-4.19276000e-01 9.06045361e-01 -5.73536338e-02 -2.52420834e+01] [-1.35271789e-01 1.21687670e-04 9.90808523e-01 -7.84137469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.63, Y:-25.27, Z:-7.85 [[ 8.98804494e-01 4.20886396e-01 1.22495402e-01 6.26275770e+01] [-4.16955952e-01 9.07113216e-01 -5.73876897e-02 -2.52678425e+01] [-1.35270896e-01 5.05126606e-04 9.90808523e-01 -7.85348139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.68, Y:-25.29, Z:-7.87 [[ 8.99585098e-01 4.19219384e-01 1.22481666e-01 6.26825480e+01] [-4.15269555e-01 9.07884622e-01 -5.74169905e-02 -2.52949027e+01] [-1.35269536e-01 7.88562122e-04 9.90808524e-01 -7.86610864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:-25.32, Z:-7.87 [[ 8.99062778e-01 4.20342380e-01 1.22467977e-01 6.27399140e+01] [-4.16398941e-01 9.07365339e-01 -5.74461748e-02 -2.53184404e+01] [-1.35270259e-01 6.52181623e-04 9.90808524e-01 -7.86815311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:-25.34, Z:-7.88 [[ 8.99354076e-01 4.19722444e-01 1.22455366e-01 6.27982749e+01] [-4.15769624e-01 9.07652174e-01 -5.74730432e-02 -2.53407384e+01] [-1.35269606e-01 7.75394006e-04 9.90808525e-01 -7.87715508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.85, Y:-25.37, Z:-7.88 [[ 8.98937465e-01 4.20618623e-01 1.22439403e-01 6.28529213e+01] [-4.16669447e-01 9.07237297e-01 -5.75070306e-02 -2.53734029e+01] [-1.35270121e-01 6.78465908e-04 9.90808525e-01 -7.88060147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.91, Y:-25.40, Z:-7.89 [[ 8.97289541e-01 4.24127250e-01 1.22423675e-01 6.29111994e+01] [-4.20205962e-01 9.05602585e-01 -5.75404944e-02 -2.53968440e+01] [-1.35271688e-01 1.87325692e-04 9.90808526e-01 -7.88826602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.97, Y:-25.42, Z:-7.91 [[ 8.95425146e-01 4.28053826e-01 1.22408046e-01 6.29691847e+01] [-4.24164449e-01 9.03753167e-01 -5.75737233e-02 -2.54150092e+01] [-1.35271312e-01 -3.68181819e-04 9.90808527e-01 -7.90601725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.02, Y:-25.44, Z:-7.92 [[ 8.94158836e-01 4.30696580e-01 1.22394577e-01 6.30229313e+01] [-4.26827899e-01 9.02496490e-01 -5.76023431e-02 -2.54439454e+01] [-1.35269808e-01 -7.35776152e-04 9.90808527e-01 -7.91522147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:-25.48, Z:-7.91 [[ 8.92596433e-01 4.33929237e-01 1.22380658e-01 6.30781939e+01] [-4.30086699e-01 9.00946167e-01 -5.76319000e-02 -2.54754875e+01] [-1.35266551e-01 -1.19226490e-03 9.90808528e-01 -7.91255724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:-25.50, Z:-7.92 [[ 8.90775868e-01 4.37658188e-01 1.22366923e-01 6.31367667e+01] [-4.33846598e-01 8.99139774e-01 -5.76610475e-02 -2.54969373e+01] [-1.35260797e-01 -1.72540375e-03 9.90808528e-01 -7.92266821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.19, Y:-25.52, Z:-7.94 [[ 8.89434428e-01 4.40382500e-01 1.22350524e-01 6.31917363e+01] [-4.36591744e-01 8.97807797e-01 -5.76958240e-02 -2.55204961e+01] [-1.35255486e-01 -2.10057652e-03 9.90808529e-01 -7.93819961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.24, Y:-25.55, Z:-7.94 [[ 8.91645215e-01 4.35892599e-01 1.22337453e-01 6.32448349e+01] [-4.32055874e-01 8.99997620e-01 -5.77235270e-02 -2.55542775e+01] [-1.35264675e-01 -1.38770852e-03 9.90808529e-01 -7.94484158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:-25.58, Z:-7.95 [[ 8.94636150e-01 4.29725029e-01 1.22321542e-01 6.33003263e+01] [-4.25826111e-01 9.02959704e-01 -5.77572243e-02 -2.55842911e+01] [-1.35271148e-01 -4.16005725e-04 9.90808530e-01 -7.94909133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:-25.61, Z:-7.96 [[ 8.98693676e-01 4.21178162e-01 1.22305491e-01 6.33562749e+01] [-4.17195461e-01 9.06977467e-01 -5.77911947e-02 -2.56089771e+01] [-1.35268713e-01 9.11285628e-04 9.90808531e-01 -7.96253931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.41, Y:-25.64, Z:-7.97 [[ 9.00449905e-01 4.17414447e-01 1.22291244e-01 6.34114627e+01] [-4.13393030e-01 9.08714970e-01 -5.78213268e-02 -2.56376610e+01] [-1.35263341e-01 1.51086036e-03 9.90808531e-01 -7.96800611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.47, Y:-25.67, Z:-7.97 [[ 9.01485661e-01 4.15176950e-01 1.22277162e-01 6.34672636e+01] [-4.11130983e-01 9.09738735e-01 -5.78510919e-02 -2.56661887e+01] [-1.35258710e-01 1.88000018e-03 9.90808532e-01 -7.97162874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.53, Y:-25.69, Z:-7.98 [[ 9.04198529e-01 4.09239817e-01 1.22261165e-01 6.35256180e+01] [-4.05135100e-01 9.12422540e-01 -5.78848784e-02 -2.56862207e+01] [-1.35242640e-01 2.80713244e-03 9.90808533e-01 -7.98238048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.58, Y:-25.72, Z:-7.99 [[ 9.05298969e-01 4.06804127e-01 1.22246386e-01 6.35808442e+01] [-4.02673074e-01 9.13509783e-01 -5.79160746e-02 -2.57154530e+01] [-1.35233767e-01 3.20603473e-03 9.90808533e-01 -7.98837633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.64, Y:-25.74, Z:-7.99 [[ 9.07612183e-01 4.01621400e-01 1.22230831e-01 6.36372144e+01] [-3.97439055e-01 9.15796988e-01 -5.79488839e-02 -2.57403751e+01] [-1.35212139e-01 4.01580697e-03 9.90808534e-01 -7.99460333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.70, Y:-25.76, Z:-8.01 [[ 9.11585066e-01 3.92524807e-01 1.22216786e-01 6.36954455e+01] [-3.88256858e-01 9.19725561e-01 -5.79784914e-02 -2.57603778e+01] [-1.35163898e-01 5.40082175e-03 9.90808534e-01 -8.00898528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.75, Y:-25.79, Z:-8.02 [[ 9.13826494e-01 3.87280379e-01 1.22209031e-01 6.37495574e+01] [-3.82963546e-01 9.21941171e-01 -5.79948319e-02 -2.57883668e+01] [-1.35129798e-01 6.19560992e-03 9.90808535e-01 -8.01502782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.81, Y:-25.81, Z:-8.02 [[ 9.14755830e-01 3.85084301e-01 1.22195959e-01 6.38079649e+01] [-3.80744322e-01 9.22858151e-01 -5.80223632e-02 -2.58101908e+01] [-1.35113038e-01 6.55087762e-03 9.90808535e-01 -8.01966195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.87, Y:-25.83, Z:-8.03 [[ 9.14144080e-01 3.86538828e-01 1.22181568e-01 6.38675471e+01] [-3.82207704e-01 9.22251138e-01 -5.80526499e-02 -2.58309287e+01] [-1.35121694e-01 6.36974946e-03 9.90808536e-01 -8.02714514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.93, Y:-25.85, Z:-8.03 [[ 9.12322247e-01 3.90824445e-01 1.22165338e-01 6.39251123e+01] [-3.86526853e-01 9.20447129e-01 -5.80867855e-02 -2.58544042e+01] [-1.35148470e-01 5.77368309e-03 9.90808536e-01 -8.03466941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.98, Y:-25.87, Z:-8.05 [[ 9.11853530e-01 3.91921857e-01 1.22149080e-01 6.39839867e+01] [-3.87629475e-01 9.19981165e-01 -5.81209533e-02 -2.58720177e+01] [-1.35153725e-01 5.64921258e-03 9.90808537e-01 -8.05101823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:-25.89, Z:-8.05 [[ 9.06516001e-01 4.04115913e-01 1.22143644e-01 6.40418397e+01] [-3.99931383e-01 9.14699686e-01 -5.81323762e-02 -2.58936335e+01] [-1.35216971e-01 3.84885276e-03 9.90808537e-01 -8.05293684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:-25.91, Z:-8.06 [[ 9.03582468e-01 4.10637436e-01 1.22129524e-01 6.41017280e+01] [-4.06507978e-01 9.11794079e-01 -5.81620259e-02 -2.59102256e+01] [-1.35240482e-01 2.90756111e-03 9.90808538e-01 -8.06337430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:-25.93, Z:-8.07 [[ 9.00536997e-01 4.17275558e-01 1.22123811e-01 6.41605580e+01] [-4.13205014e-01 9.08777971e-01 -5.81740190e-02 -2.59289302e+01] [-1.35258025e-01 1.92568547e-03 9.90808538e-01 -8.06919966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.22, Y:-25.95, Z:-8.09 [[ 9.00923515e-01 4.16444738e-01 1.22108970e-01 6.42183525e+01] [-4.12362375e-01 9.09158639e-01 -5.82051533e-02 -2.59469186e+01] [-1.35255655e-01 2.08524634e-03 9.90808538e-01 -8.08893824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.28, Y:-25.97, Z:-8.09 [[ 9.02427427e-01 4.13177319e-01 1.22103405e-01 6.42769172e+01] [-4.09063562e-01 9.10646915e-01 -5.82168267e-02 -2.59717639e+01] [-1.35246961e-01 2.58840749e-03 9.90808538e-01 -8.08635008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:-26.00, Z:-8.09 [[ 9.03648908e-01 4.10500634e-01 1.22097830e-01 6.43348935e+01] [-4.06360953e-01 9.11855370e-01 -5.82285164e-02 -2.59970199e+01] [-1.35238405e-01 3.00234488e-03 9.90808538e-01 -8.08952610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.40, Y:-26.01, Z:-8.10 [[ 9.04172787e-01 4.09350433e-01 1.22081097e-01 6.43951880e+01] [-4.05195582e-01 9.12371578e-01 -5.82635763e-02 -2.60121225e+01] [-1.35233544e-01 3.21361878e-03 9.90808539e-01 -8.09665271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:-26.03, Z:-8.11 [[ 9.04145779e-01 4.09414066e-01 1.22067742e-01 6.44523062e+01] [-4.05256019e-01 9.12342948e-01 -5.82915443e-02 -2.60345598e+01] [-1.35233022e-01 3.23536665e-03 9.90808540e-01 -8.10959180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.51, Y:-26.06, Z:-8.12 [[ 9.04267060e-01 4.09150442e-01 1.22053272e-01 6.45104161e+01] [-4.04985920e-01 9.12460941e-01 -5.83218262e-02 -2.60571648e+01] [-1.35231244e-01 3.30864957e-03 9.90808540e-01 -8.11853731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.57, Y:-26.07, Z:-8.13 [[ 9.05151232e-01 4.07195665e-01 1.22036626e-01 6.45713085e+01] [-4.03008759e-01 9.13333697e-01 -5.83566367e-02 -2.60734639e+01] [-1.35222732e-01 3.63975239e-03 9.90808541e-01 -8.12927586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.63, Y:-26.10, Z:-8.13 [[ 9.05354218e-01 4.06749215e-01 1.22019738e-01 6.46285115e+01] [-4.02553523e-01 9.13532180e-01 -5.83919275e-02 -2.60957486e+01] [-1.35219828e-01 3.74590247e-03 9.90808542e-01 -8.13298348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:-26.12, Z:-8.15 [[ 9.04749479e-01 4.08094963e-01 1.22011810e-01 6.46862326e+01] [-4.03909204e-01 9.12932530e-01 -5.84084886e-02 -2.61159470e+01] [-1.35224760e-01 3.56335657e-03 9.90808542e-01 -8.14585455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.75, Y:-26.14, Z:-8.15 [[ 9.02970842e-01 4.12017138e-01 1.22006297e-01 6.47455720e+01] [-4.07865372e-01 9.11171192e-01 -5.84200014e-02 -2.61351793e+01] [-1.35238665e-01 2.98941399e-03 9.90808542e-01 -8.14931501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.80, Y:-26.16, Z:-8.16 [[ 9.02196223e-01 4.13715453e-01 1.21989750e-01 6.48041907e+01] [-4.09574457e-01 9.10402016e-01 -5.84545355e-02 -2.61570342e+01] [-1.35243259e-01 2.77357573e-03 9.90808543e-01 -8.15704901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.86, Y:-26.17, Z:-8.17 [[ 9.02047252e-01 4.14045013e-01 1.21973288e-01 6.48646152e+01] [-4.09902375e-01 9.10252215e-01 -5.84888647e-02 -2.61741943e+01] [-1.35243478e-01 2.76257921e-03 9.90808543e-01 -8.16986960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.92, Y:-26.20, Z:-8.18 [[ 9.02533119e-01 4.12989740e-01 1.21956729e-01 6.49218542e+01] [-4.08832849e-01 9.10730869e-01 -5.85233731e-02 -2.61997055e+01] [-1.35239310e-01 2.95936561e-03 9.90808544e-01 -8.17573218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.98, Y:-26.22, Z:-8.19 [[ 9.04053067e-01 4.09656732e-01 1.21940210e-01 6.49807240e+01] [-4.05464984e-01 9.12233048e-01 -5.85577724e-02 -2.62208409e+01] [-1.35226475e-01 3.49684849e-03 9.90808545e-01 -8.18583708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76577952299999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:65.04, Y:-26.24, Z:-8.20 [[ 9.06359529e-01 4.04533205e-01 1.21923297e-01 6.50394198e+01] [-4.00290497e-01 9.14513194e-01 -5.85929654e-02 -2.62391555e+01] [-1.35203264e-01 4.30155535e-03 9.90808546e-01 -8.19699357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.10, Y:-26.26, Z:-8.20 [[ 9.07791384e-01 4.01314488e-01 1.21907690e-01 6.50969528e+01] [-3.97038521e-01 9.15927657e-01 -5.86254200e-02 -2.62636861e+01] [-1.35185855e-01 4.81760232e-03 9.90808546e-01 -8.20392505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:-26.28, Z:-8.21 [[ 9.07424890e-01 4.02147478e-01 1.21891242e-01 6.51564818e+01] [-3.97874396e-01 9.15562678e-01 -5.86595979e-02 -2.62834974e+01] [-1.35188881e-01 4.73177499e-03 9.90808547e-01 -8.21442532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:65.22, Y:-26.30, Z:-8.22 [[ 9.05885934e-01 4.05607145e-01 1.21875009e-01 6.52157236e+01] [-4.01360618e-01 9.14037609e-01 -5.86933040e-02 -2.63029791e+01] [-1.35204766e-01 4.25360948e-03 9.90808548e-01 -8.22392995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:65.28, Y:-26.32, Z:-8.23 [[ 9.04626855e-01 4.08412515e-01 1.21858406e-01 6.52752782e+01] [-4.04186633e-01 9.12789251e-01 -5.87277554e-02 -2.63232963e+01] [-1.35216194e-01 3.87316562e-03 9.90808548e-01 -8.23441982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.33, Y:-26.35, Z:-8.24 [[ 9.02413291e-01 4.13285401e-01 1.21841820e-01 6.53331492e+01] [-4.09098961e-01 9.10595986e-01 -5.87621476e-02 -2.63482020e+01] [-1.35234210e-01 3.18238111e-03 9.90808549e-01 -8.23995559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:-26.37, Z:-8.25 [[ 9.00032476e-01 4.18449668e-01 1.21825359e-01 6.53932757e+01] [-4.14305571e-01 9.08236695e-01 -5.87962535e-02 -2.63682744e+01] [-1.35249534e-01 2.44561249e-03 9.90808550e-01 -8.24652940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:-26.39, Z:-8.26 [[ 8.98673366e-01 4.21365422e-01 1.21808709e-01 6.54498418e+01] [-4.17243274e-01 9.06888635e-01 -5.88307284e-02 -2.63906580e+01] [-1.35256168e-01 2.04574427e-03 9.90808551e-01 -8.25991567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:-26.42, Z:-8.27 [[ 8.97169532e-01 4.24562387e-01 1.21793307e-01 6.55052486e+01] [-4.20465189e-01 9.05397272e-01 -5.88625960e-02 -2.64177335e+01] [-1.35262173e-01 1.59988175e-03 9.90808551e-01 -8.26718973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.56, Y:-26.44, Z:-8.27 [[ 8.95984585e-01 4.27060213e-01 1.21783407e-01 6.55625911e+01] [-4.22983170e-01 9.04222330e-01 -5.88830722e-02 -2.64419464e+01] [-1.35265893e-01 1.24599346e-03 9.90808551e-01 -8.27496977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:-26.46, Z:-8.28 [[ 8.94117658e-01 4.30959917e-01 1.21766843e-01 6.56192724e+01] [-4.26914142e-01 9.02370803e-01 -5.89173061e-02 -2.64647426e+01] [-1.35269841e-01 6.95016484e-04 9.90808552e-01 -8.28335756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.67, Y:-26.50, Z:-8.29 [[ 8.92359318e-01 4.34593387e-01 1.21751533e-01 6.56719920e+01] [-4.30576902e-01 9.00626757e-01 -5.89489268e-02 -2.64974494e+01] [-1.35271502e-01 1.80226203e-04 9.90808553e-01 -8.29007319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:-26.52, Z:-8.30 [[ 8.90869798e-01 4.37642822e-01 1.21736452e-01 6.57295705e+01] [-4.33650382e-01 8.99148875e-01 -5.89800541e-02 -2.65217008e+01] [-1.35271391e-01 -2.47510210e-04 9.90808553e-01 -8.30077284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:-26.55, Z:-8.31 [[ 8.90162262e-01 4.39084876e-01 1.21719426e-01 6.57854067e+01] [-4.35101046e-01 8.98445485e-01 -5.90151707e-02 -2.65463553e+01] [-1.35270938e-01 -4.27171898e-04 9.90808554e-01 -8.31096912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:-26.58, Z:-8.32 [[ 8.88421738e-01 4.42600297e-01 1.21703707e-01 6.58382585e+01] [-4.38644804e-01 8.96718529e-01 -5.90475710e-02 -2.65798560e+01] [-1.35268441e-01 -9.25552905e-04 9.90808555e-01 -8.31858834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.89, Y:-26.61, Z:-8.33 [[ 8.87203498e-01 4.45041879e-01 1.21686808e-01 6.58923451e+01] [-4.41104444e-01 8.95508873e-01 -5.90823757e-02 -2.66106419e+01] [-1.35265748e-01 -1.25850149e-03 9.90808555e-01 -8.32917955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:65.94, Y:-26.64, Z:-8.34 [[ 8.85397154e-01 4.48629429e-01 1.21669702e-01 6.59446480e+01] [-4.44720807e-01 8.93716127e-01 -5.91175829e-02 -2.66409545e+01] [-1.35260062e-01 -1.76650826e-03 9.90808556e-01 -8.34118641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.00, Y:-26.68, Z:-8.34 [[ 8.84377787e-01 4.50637835e-01 1.21661298e-01 6.59969879e+01] [-4.46745726e-01 8.92704499e-01 -5.91348728e-02 -2.66764152e+01] [-1.35255999e-01 -2.05409683e-03 9.90808556e-01 -8.33924059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.05, Y:-26.71, Z:-8.34 [[ 8.84587141e-01 4.50230689e-01 1.21646690e-01 6.60522381e+01] [-4.46330619e-01 8.92910126e-01 -5.91649062e-02 -2.67055794e+01] [-1.35257418e-01 -1.95812745e-03 9.90808557e-01 -8.34363967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.10, Y:-26.74, Z:-8.36 [[ 8.84320950e-01 4.50757303e-01 1.21631868e-01 6.61006817e+01] [-4.46858002e-01 8.92644294e-01 -5.91953627e-02 -2.67401989e+01] [-1.35256735e-01 -2.00447416e-03 9.90808558e-01 -8.36206918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:-26.78, Z:-8.37 [[ 8.82552000e-01 4.54214108e-01 1.21620355e-01 6.61482995e+01] [-4.50344147e-01 8.90889027e-01 -5.92190082e-02 -2.67810988e+01] [-1.35248348e-01 -2.50716079e-03 9.90808558e-01 -8.36695250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:-26.81, Z:-8.38 [[ 8.81358727e-01 4.56527413e-01 1.21612152e-01 6.62047400e+01] [-4.52677011e-01 8.89704804e-01 -5.92358494e-02 -2.68066760e+01] [-1.35241705e-01 -2.84299247e-03 9.90808558e-01 -8.37745432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:-26.85, Z:-8.39 [[ 8.82538502e-01 4.54246985e-01 1.21595515e-01 6.62552001e+01] [-4.50370314e-01 8.90872409e-01 -5.92699814e-02 -2.68452126e+01] [-1.35249299e-01 -2.45496955e-03 9.90808559e-01 -8.38697947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.30, Y:-26.89, Z:-8.39 [[ 8.84419017e-01 4.50579254e-01 1.21578525e-01 6.63029858e+01] [-4.46663232e-01 8.92734505e-01 -5.93048109e-02 -2.68915169e+01] [-1.35258862e-01 -1.85435441e-03 9.90808560e-01 -8.39080062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20577952299999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:66.36, Y:-26.92, Z:-8.40 [[ 8.85028530e-01 4.49385435e-01 1.21561640e-01 6.63587258e+01] [-4.45453445e-01 8.93336479e-01 -5.93394012e-02 -2.69158315e+01] [-1.35261710e-01 -1.63298844e-03 9.90808560e-01 -8.40426713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.41, Y:-26.95, Z:-8.41 [[ 8.84855513e-01 4.49730100e-01 1.21546529e-01 6.64112430e+01] [-4.45797096e-01 8.93162982e-01 -5.93703389e-02 -2.69529251e+01] [-1.35261488e-01 -1.65091780e-03 9.90808561e-01 -8.40726999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:-27.00, Z:-8.41 [[ 8.86077286e-01 4.47322757e-01 1.21529399e-01 6.64591444e+01] [-4.43362376e-01 8.94371737e-01 -5.94053832e-02 -2.69954295e+01] [-1.35265839e-01 -1.24380223e-03 9.90808562e-01 -8.41134994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:-27.02, Z:-8.43 [[ 8.87914191e-01 4.43669493e-01 1.21514482e-01 6.65143637e+01] [-4.39670810e-01 8.96190245e-01 -5.94358792e-02 -2.70202336e+01] [-1.35269980e-01 -6.52410271e-04 9.90808562e-01 -8.42824693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:-27.06, Z:-8.44 [[ 8.92210837e-01 4.34968579e-01 1.21499622e-01 6.65647998e+01] [-4.30885050e-01 9.00445356e-01 -5.94662410e-02 -2.70550352e+01] [-1.35269717e-01 7.04053894e-04 9.90808563e-01 -8.44152264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:-27.09, Z:-8.44 [[ 8.96714704e-01 4.25610330e-01 1.21484923e-01 6.66149250e+01] [-4.21436809e-01 9.04903979e-01 -5.94962544e-02 -2.70945060e+01] [-1.35254411e-01 2.15294762e-03 9.90808563e-01 -8.44005010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:-27.12, Z:-8.45 [[ 8.99673486e-01 4.19323635e-01 1.21471427e-01 6.66708965e+01] [-4.15089181e-01 9.07831421e-01 -5.95237975e-02 -2.71207675e+01] [-1.35235313e-01 3.13050739e-03 9.90808564e-01 -8.45021869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:-27.15, Z:-8.46 [[ 9.02251718e-01 4.13751857e-01 1.21454680e-01 6.67243305e+01] [-4.09462441e-01 9.10380887e-01 -5.95579487e-02 -2.71532386e+01] [-1.35212231e-01 4.00513168e-03 9.90808564e-01 -8.45593429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:-27.19, Z:-8.46 [[ 9.03633743e-01 4.10729060e-01 1.21440098e-01 6.67771489e+01] [-4.06408466e-01 9.11746384e-01 -5.95876665e-02 -2.71896594e+01] [-1.35196957e-01 4.49114203e-03 9.90808565e-01 -8.45943859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.84, Y:-27.21, Z:-8.48 [[ 9.03558901e-01 4.10898608e-01 1.21423417e-01 6.68351629e+01] [-4.06574977e-01 9.11669923e-01 -5.96216396e-02 -2.72089225e+01] [-1.35196526e-01 4.50394028e-03 9.90808566e-01 -8.47552549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.89, Y:-27.23, Z:-8.49 [[ 9.02602892e-01 4.12998750e-01 1.21408617e-01 6.68920101e+01] [-4.08689945e-01 9.10721799e-01 -5.96517615e-02 -2.72321551e+01] [-1.35205577e-01 4.22337134e-03 9.90808566e-01 -8.48738656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:-27.27, Z:-8.49 [[ 9.00859518e-01 4.16790847e-01 1.21398186e-01 6.69432115e+01] [-4.12513366e-01 9.08994971e-01 -5.96729833e-02 -2.72692514e+01] [-1.35221494e-01 3.67860064e-03 9.90808567e-01 -8.48723665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.00, Y:-27.29, Z:-8.50 [[ 9.02694115e-01 4.12806694e-01 1.21383560e-01 6.70003357e+01] [-4.08489318e-01 9.10808466e-01 -5.97027201e-02 -2.72875614e+01] [-1.35202856e-01 4.30940653e-03 9.90808567e-01 -8.50147125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.06, Y:-27.31, Z:-8.51 [[ 9.05661564e-01 4.06259046e-01 1.21370175e-01 6.70575240e+01] [-4.01879385e-01 9.13742468e-01 -5.97299171e-02 -2.73110023e+01] [-1.35166903e-01 5.31891871e-03 9.90808568e-01 -8.50994569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-27.34, Z:-8.52 [[ 9.08370445e-01 4.00169894e-01 1.21355635e-01 6.71141655e+01] [-3.95732148e-01 9.16419596e-01 -5.97594450e-02 -2.73365778e+01] [-1.35126613e-01 6.25938758e-03 9.90808568e-01 -8.51570873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:-27.36, Z:-8.51 [[ 9.05979351e-01 4.05559018e-01 1.21339599e-01 6.71697016e+01] [-4.01164816e-01 9.14052355e-01 -5.97919872e-02 -2.73646209e+01] [-1.35159926e-01 5.49312767e-03 9.90808569e-01 -8.51484116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.23, Y:-27.38, Z:-8.53 [[ 9.04306035e-01 4.09281545e-01 1.21322764e-01 6.72315920e+01] [-4.04916008e-01 9.12394575e-01 -5.98261289e-02 -2.73786753e+01] [-1.35179962e-01 4.97560016e-03 9.90808569e-01 -8.52831771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.29, Y:-27.40, Z:-8.54 [[ 9.01710893e-01 4.14972690e-01 1.21305945e-01 6.72878181e+01] [-4.10653637e-01 9.09824349e-01 -5.98602127e-02 -2.74023251e+01] [-1.35207456e-01 4.16187858e-03 9.90808570e-01 -8.54302133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.34, Y:-27.43, Z:-8.55 [[ 8.97485361e-01 4.24038339e-01 1.21291026e-01 6.73426169e+01] [-4.19797185e-01 9.05639807e-01 -5.98904271e-02 -2.74308433e+01] [-1.35241818e-01 2.83315041e-03 9.90808571e-01 -8.54962980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:-27.44, Z:-8.56 [[ 8.94320030e-01 4.30678258e-01 1.21276222e-01 6.74057626e+01] [-4.26493593e-01 9.02503608e-01 -5.99203889e-02 -2.74412774e+01] [-1.35258637e-01 1.86447222e-03 9.90808571e-01 -8.55873188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:-27.47, Z:-8.57 [[ 8.89970607e-01 4.39599855e-01 1.21261228e-01 6.74588907e+01] [-4.35493103e-01 8.98193559e-01 -5.99507183e-02 -2.74737435e+01] [-1.35270381e-01 5.45948985e-04 9.90808572e-01 -8.56712803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:-27.51, Z:-8.57 [[ 8.87963562e-01 4.43642193e-01 1.21253114e-01 6.75132777e+01] [-4.39570634e-01 8.96203996e-01 -5.99671229e-02 -2.75055740e+01] [-1.35271472e-01 -5.06883242e-05 9.90808572e-01 -8.57193465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:-27.52, Z:-8.58 [[ 8.82674265e-01 4.54079288e-01 1.21235893e-01 6.75730621e+01] [-4.50100377e-01 8.90959831e-01 -6.00019187e-02 -2.75249143e+01] [-1.35261940e-01 -1.60617183e-03 9.90808573e-01 -8.57542868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585779523 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:-27.54, Z:-8.59 [[ 8.79979282e-01 4.59284189e-01 1.21220862e-01 6.76340035e+01] [-4.55350099e-01 8.88286223e-01 -6.00322723e-02 -2.75378354e+01] [-1.35250695e-01 -2.37077545e-03 9.90808573e-01 -8.59436900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.68, Y:-27.59, Z:-8.59 [[ 8.77834330e-01 4.63374853e-01 1.21204932e-01 6.76796568e+01] [-4.59475033e-01 8.86157413e-01 -6.00644178e-02 -2.75873023e+01] [-1.35238989e-01 -2.96403192e-03 9.90808574e-01 -8.59374545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.74, Y:-27.61, Z:-8.60 [[ 8.78117007e-01 4.62842888e-01 1.21189867e-01 6.77362575e+01] [-4.58933834e-01 8.86435757e-01 -6.00947980e-02 -2.76099790e+01] [-1.35241481e-01 -2.84786621e-03 9.90808575e-01 -8.60389170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.80, Y:-27.62, Z:-8.62 [[ 8.77950911e-01 4.63161485e-01 1.21176058e-01 6.77960725e+01] [-4.59251611e-01 8.86269275e-01 -6.01226303e-02 -2.76249761e+01] [-1.35241104e-01 -2.86558178e-03 9.90808575e-01 -8.61932112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:-27.68, Z:-8.62 [[ 8.80468957e-01 4.58360594e-01 1.21160975e-01 6.78406751e+01] [-4.54401176e-01 8.88763853e-01 -6.01530100e-02 -2.76757690e+01] [-1.35255265e-01 -2.09283169e-03 9.90808576e-01 -8.62094034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.89, Y:-27.71, Z:-8.63 [[ 8.86193114e-01 4.47197311e-01 1.21145902e-01 6.78929660e+01] [-4.43129237e-01 8.94435265e-01 -6.01833516e-02 -2.77077423e+01] [-1.35271000e-01 -3.49219401e-04 9.90808576e-01 -8.63047774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:-27.73, Z:-8.64 [[ 8.88576247e-01 4.42447278e-01 1.21130753e-01 6.79476130e+01] [-4.38330990e-01 8.96794424e-01 -6.02138272e-02 -2.77316682e+01] [-1.35270828e-01 4.09213825e-04 9.90808577e-01 -8.64447121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.00, Y:-27.78, Z:-8.65 [[ 8.91427428e-01 4.36678163e-01 1.21116981e-01 6.79952649e+01] [-4.32504928e-01 8.99616833e-01 -6.02415150e-02 -2.77751487e+01] [-1.35265029e-01 1.31724737e-03 9.90808577e-01 -8.64688212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:-27.81, Z:-8.65 [[ 8.95005178e-01 4.29301972e-01 1.21101393e-01 6.80463169e+01] [-4.25057016e-01 9.03157638e-01 -6.02728365e-02 -2.78105314e+01] [-1.35248895e-01 2.46950420e-03 9.90808578e-01 -8.65345062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-27.84, Z:-8.67 [[ 8.95432133e-01 4.28414830e-01 1.21086864e-01 6.81026664e+01] [-4.24157853e-01 9.03578322e-01 -6.03020111e-02 -2.78352478e+01] [-1.35245741e-01 2.63641432e-03 9.90808578e-01 -8.66539690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.15, Y:-27.87, Z:-8.66 [[ 8.94639934e-01 4.30071319e-01 1.21070435e-01 6.81544916e+01] [-4.25824966e-01 9.02791664e-01 -6.03349771e-02 -2.78707192e+01] [-1.35249723e-01 2.42326588e-03 9.90808579e-01 -8.66373948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:-27.90, Z:-8.67 [[ 8.95815920e-01 4.27620147e-01 1.21057205e-01 6.82085652e+01] [-4.23347907e-01 9.03954113e-01 -6.03615100e-02 -2.78997180e+01] [-1.35241957e-01 2.82348708e-03 9.90808579e-01 -8.67207815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.26, Y:-27.93, Z:-8.69 [[ 8.97957904e-01 4.23108051e-01 1.21042060e-01 6.82617090e+01] [-4.18790835e-01 9.06072326e-01 -6.03918668e-02 -2.79260716e+01] [-1.35225145e-01 3.53804895e-03 9.90808580e-01 -8.68928780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:-27.95, Z:-8.70 [[ 8.99962190e-01 4.18831985e-01 1.21028198e-01 6.83163686e+01] [-4.14472489e-01 9.08053976e-01 -6.04196337e-02 -2.79545198e+01] [-1.35205811e-01 4.21252744e-03 9.90808581e-01 -8.69596372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.37, Y:-27.98, Z:-8.70 [[ 9.01608148e-01 4.15281145e-01 1.21013712e-01 6.83716331e+01] [-4.10885900e-01 9.09680570e-01 -6.04486333e-02 -2.79835507e+01] [-1.35187000e-01 4.77815231e-03 9.90808581e-01 -8.70346662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.43, Y:-28.01, Z:-8.71 [[ 9.01838466e-01 4.14785606e-01 1.20997033e-01 6.84270101e+01] [-4.10381456e-01 9.09906033e-01 -6.04820012e-02 -2.80127466e+01] [-1.35182994e-01 4.89005680e-03 9.90808582e-01 -8.70727029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.49, Y:-28.03, Z:-8.72 [[ 8.99009727e-01 4.20883185e-01 1.20991136e-01 6.84850154e+01] [-4.16532182e-01 9.07106081e-01 -6.04937954e-02 -2.80313633e+01] [-1.35212616e-01 3.98780863e-03 9.90808582e-01 -8.71557467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:-28.05, Z:-8.73 [[ 8.95724901e-01 4.27833793e-01 1.20975818e-01 6.85420186e+01] [-4.23541497e-01 9.03852530e-01 -6.05244136e-02 -2.80549034e+01] [-1.35238688e-01 2.97494540e-03 9.90808582e-01 -8.72682043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:-28.08, Z:-8.73 [[ 8.92673857e-01 4.34167996e-01 1.20960887e-01 6.85969947e+01] [-4.29929341e-01 9.00829588e-01 -6.05542378e-02 -2.80846395e+01] [-1.35255858e-01 2.05055045e-03 9.90808583e-01 -8.73222314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.65, Y:-28.11, Z:-8.74 [[ 8.91399391e-01 4.36780115e-01 1.20955595e-01 6.86533287e+01] [-4.32563926e-01 8.99566759e-01 -6.05648071e-02 -2.81076497e+01] [-1.35261136e-01 1.66640505e-03 9.90808583e-01 -8.73899185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78577952299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:68.71, Y:-28.13, Z:-8.76 [[ 8.91812425e-01 4.35939924e-01 1.20942058e-01 6.87102833e+01] [-4.31712377e-01 8.99973919e-01 -6.05918267e-02 -2.81296882e+01] [-1.35259095e-01 1.82436046e-03 9.90808583e-01 -8.75625242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.76, Y:-28.16, Z:-8.76 [[ 8.91670645e-01 4.36231449e-01 1.20936279e-01 6.87644167e+01] [-4.32005006e-01 8.99832711e-01 -6.06033603e-02 -2.81579913e+01] [-1.35259511e-01 1.79315951e-03 9.90808584e-01 -8.75780601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.82, Y:-28.18, Z:-8.77 [[ 8.93856287e-01 4.31739489e-01 1.20921265e-01 6.88185508e+01] [-4.27467983e-01 9.01994859e-01 -6.06333027e-02 -2.81849165e+01] [-1.35248150e-01 2.50748959e-03 9.90808584e-01 -8.76645797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.87, Y:-28.21, Z:-8.77 [[ 8.95660144e-01 4.27987185e-01 1.20912677e-01 6.88748951e+01] [-4.23679277e-01 9.03779507e-01 -6.06504228e-02 -2.82118052e+01] [-1.35236004e-01 3.09397073e-03 9.90808584e-01 -8.77178166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:-28.24, Z:-8.78 [[ 8.98228137e-01 4.22575360e-01 1.20897802e-01 6.89320851e+01] [-4.18214556e-01 9.06319213e-01 -6.06800602e-02 -2.82370997e+01] [-1.35213899e-01 3.94331686e-03 9.90808585e-01 -8.78002892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:-28.26, Z:-8.80 [[ 8.99199220e-01 4.20509867e-01 1.20880997e-01 6.89886491e+01] [-4.16125986e-01 9.07277814e-01 -6.07135191e-02 -2.82582179e+01] [-1.35203281e-01 4.29182489e-03 9.90808586e-01 -8.79629025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14577952299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:-28.29, Z:-8.81 [[ 9.00545736e-01 4.17622723e-01 1.20866198e-01 6.90426215e+01] [-4.13209000e-01 9.08608064e-01 -6.07429667e-02 -2.82875343e+01] [-1.35187645e-01 4.75881893e-03 9.90808586e-01 -8.80573159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:-28.31, Z:-8.81 [[ 9.02068820e-01 4.14327014e-01 1.20851022e-01 6.91014193e+01] [-4.09879804e-01 9.10112724e-01 -6.07731460e-02 -2.83074435e+01] [-1.35168009e-01 5.28716701e-03 9.90808587e-01 -8.80920888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:-28.33, Z:-8.81 [[ 9.03580110e-01 4.11021999e-01 1.20846597e-01 6.91589260e+01] [-4.06544198e-01 9.11607026e-01 -6.07819431e-02 -2.83312638e+01] [-1.35147323e-01 5.79187202e-03 9.90808587e-01 -8.81426982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:-28.37, Z:-8.82 [[ 9.04246705e-01 4.09557959e-01 1.20831185e-01 6.92118201e+01] [-4.05063081e-01 9.12264069e-01 -6.08125654e-02 -2.83657897e+01] [-1.35136219e-01 6.04530968e-03 9.90808587e-01 -8.82180786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:-28.39, Z:-8.83 [[ 9.04368524e-01 4.09291374e-01 1.20822778e-01 6.92687485e+01] [-4.04791907e-01 9.12383315e-01 -6.08292644e-02 -2.83864317e+01] [-1.35133580e-01 6.10398935e-03 9.90808587e-01 -8.83068712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.33, Y:-28.40, Z:-8.84 [[ 9.00380743e-01 4.17995371e-01 1.20807234e-01 6.93277393e+01] [-4.13569286e-01 9.08436289e-01 -6.08601197e-02 -2.84033844e+01] [-1.35184924e-01 4.83511843e-03 9.90808588e-01 -8.84489956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.38, Y:-28.43, Z:-8.85 [[ 8.99733710e-01 4.19387891e-01 1.20801686e-01 6.93822924e+01] [-4.14972799e-01 9.07795286e-01 -6.08711290e-02 -2.84291099e+01] [-1.35191816e-01 4.63839281e-03 9.90808588e-01 -8.85338469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:-28.46, Z:-8.86 [[ 8.97716638e-01 4.23692637e-01 1.20786534e-01 6.94394939e+01] [-4.19312170e-01 9.05797080e-01 -6.09011815e-02 -2.84551344e+01] [-1.35211472e-01 4.02474031e-03 9.90808589e-01 -8.85508345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:-28.47, Z:-8.87 [[ 8.92961186e-01 4.33629613e-01 1.20771183e-01 6.94999121e+01] [-4.29334980e-01 9.01087573e-01 -6.09316079e-02 -2.84701575e+01] [-1.35247162e-01 2.55826743e-03 9.90808589e-01 -8.86847335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:-28.49, Z:-8.88 [[ 8.87548072e-01 4.44606972e-01 1.20760341e-01 6.95569160e+01] [-4.40409942e-01 8.95725295e-01 -6.09530877e-02 -2.84927260e+01] [-1.35268260e-01 9.14740432e-04 9.90808590e-01 -8.87994151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:-28.52, Z:-8.88 [[ 8.85242547e-01 4.49183983e-01 1.20745109e-01 6.96102068e+01] [-4.45025120e-01 8.93439246e-01 -6.09832472e-02 -2.85236639e+01] [-1.35271117e-01 2.50358453e-04 9.90808590e-01 -8.88436338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:-28.55, Z:-8.89 [[ 8.83715893e-01 4.52184405e-01 1.20728970e-01 6.96671483e+01] [-4.48049008e-01 8.91924455e-01 -6.10151810e-02 -2.85503902e+01] [-1.35271234e-01 -1.72410170e-04 9.90808591e-01 -8.89184052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:-28.57, Z:-8.90 [[ 8.81486903e-01 4.56518910e-01 1.20711739e-01 6.97274740e+01] [-4.52419210e-01 8.89713351e-01 -6.10492521e-02 -2.85659129e+01] [-1.35268984e-01 -7.98193494e-04 9.90808591e-01 -8.90296273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:-28.60, Z:-8.91 [[ 8.79486422e-01 4.60365080e-01 1.20696424e-01 6.97804313e+01] [-4.56297201e-01 8.87728651e-01 -6.10795153e-02 -2.86000889e+01] [-1.35264550e-01 -1.35483618e-03 9.90808592e-01 -8.91157266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.83, Y:-28.63, Z:-8.92 [[ 8.78021640e-01 4.63157193e-01 1.20678975e-01 6.98309851e+01] [-4.59110788e-01 8.86274431e-01 -6.11139727e-02 -2.86338001e+01] [-1.35260066e-01 -1.74562856e-03 9.90808593e-01 -8.92122496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.89, Y:-28.65, Z:-8.94 [[ 8.79909909e-01 4.59563904e-01 1.20663046e-01 6.98906837e+01] [-4.55479483e-01 8.88143952e-01 -6.11454067e-02 -2.86507586e+01] [-1.35266376e-01 -1.15709245e-03 9.90808593e-01 -8.93544213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.94, Y:-28.69, Z:-8.93 [[ 8.79933030e-01 4.59523940e-01 1.20646642e-01 6.99391475e+01] [-4.55434710e-01 8.88164685e-01 -6.11777553e-02 -2.86933857e+01] [-1.35266730e-01 -1.11434101e-03 9.90808594e-01 -8.93415127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165779523 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:69.99, Y:-28.72, Z:-8.95 [[ 8.81228968e-01 4.57037993e-01 1.20630757e-01 6.99921358e+01] [-4.52921256e-01 8.89446899e-01 -6.12090632e-02 -2.87244767e+01] [-1.35269520e-01 -6.97034160e-04 9.90808595e-01 -8.94540873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.05, Y:-28.75, Z:-8.95 [[ 8.82636519e-01 4.54317883e-01 1.20615240e-01 7.00481602e+01] [-4.50171642e-01 8.90839604e-01 -6.12396238e-02 -2.87488886e+01] [-1.35271089e-01 -2.45232388e-04 9.90808595e-01 -8.95320366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.10, Y:-28.79, Z:-8.96 [[ 8.83304420e-01 4.53022959e-01 1.20596433e-01 7.00984733e+01] [-4.48859639e-01 8.91498849e-01 -6.12766382e-02 -2.87885178e+01] [-1.35271305e-01 -4.94590900e-06 9.90808596e-01 -8.95694372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-28.82, Z:-8.98 [[ 8.82495697e-01 4.54601402e-01 1.20577402e-01 7.01505168e+01] [-4.50447624e-01 8.90694967e-01 -6.13140628e-02 -2.88164279e+01] [-1.35271144e-01 -2.04407763e-04 9.90808597e-01 -8.97547465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:-28.85, Z:-8.99 [[ 8.80784478e-01 4.57912064e-01 1.20562203e-01 7.02035082e+01] [-4.53785016e-01 8.88997233e-01 -6.13439346e-02 -2.88466244e+01] [-1.35269593e-01 -6.78535857e-04 9.90808597e-01 -8.98688444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:-28.88, Z:-8.99 [[ 8.79296019e-01 4.60768180e-01 1.20545405e-01 7.02552266e+01] [-4.56663285e-01 8.87519869e-01 -6.13769277e-02 -2.88841297e+01] [-1.35266977e-01 -1.08017223e-03 9.90808598e-01 -8.98668294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.31, Y:-28.92, Z:-9.00 [[ 8.77799355e-01 4.63617268e-01 1.20529339e-01 7.03072204e+01] [-4.59534734e-01 8.86034327e-01 -6.14084601e-02 -2.89165489e+01] [-1.35263154e-01 -1.48311120e-03 9.90808599e-01 -8.99566498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585779523 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:70.36, Y:-28.95, Z:-9.01 [[ 8.75295114e-01 4.68329502e-01 1.20523608e-01 7.03588348e+01] [-4.64289749e-01 8.83551158e-01 -6.14197057e-02 -2.89456849e+01] [-1.35253434e-01 -2.19750758e-03 9.90808599e-01 -9.01369131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:-28.98, Z:-9.01 [[ 8.75100577e-01 4.68696957e-01 1.20507850e-01 7.04082601e+01] [-4.64656416e-01 8.83356235e-01 -6.14506082e-02 -2.89846886e+01] [-1.35253074e-01 -2.21928311e-03 9.90808599e-01 -9.01419119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.46, Y:-29.02, Z:-9.01 [[ 8.75193358e-01 4.68527666e-01 1.20492374e-01 7.04611486e+01] [-4.64481354e-01 8.83446187e-01 -6.14809391e-02 -2.90204965e+01] [-1.35254049e-01 -2.15875161e-03 9.90808600e-01 -9.01287206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-29.05, Z:-9.03 [[ 8.75242873e-01 4.68440071e-01 1.20473288e-01 7.05164299e+01] [-4.64387790e-01 8.83492772e-01 -6.15183167e-02 -2.90482822e+01] [-1.35254924e-01 -2.10285559e-03 9.90808601e-01 -9.02834223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.56, Y:-29.09, Z:-9.04 [[ 8.77009969e-01 4.65127902e-01 1.20455587e-01 7.05643322e+01] [-4.61039703e-01 8.85242128e-01 -6.15529568e-02 -2.90892281e+01] [-1.35262358e-01 -1.55225125e-03 9.90808602e-01 -9.03547301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.62, Y:-29.12, Z:-9.05 [[ 8.81192868e-01 4.57157839e-01 1.20440187e-01 7.06150361e+01] [-4.52991060e-01 8.89385532e-01 -6.15830741e-02 -2.91230302e+01] [-1.35270945e-01 -2.91762396e-04 9.90808602e-01 -9.05229767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945779523 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:70.67, Y:-29.15, Z:-9.07 [[ 8.82899759e-01 4.53854104e-01 1.20434497e-01 7.06691033e+01] [-4.49655150e-01 8.91075979e-01 -6.15942002e-02 -2.91488395e+01] [-1.35271068e-01 2.27512673e-04 9.90808602e-01 -9.06560010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.72, Y:-29.20, Z:-9.05 [[ 8.84093526e-01 4.51528578e-01 1.20418353e-01 7.07154957e+01] [-4.47303820e-01 8.92256443e-01 -6.16257466e-02 -2.91991096e+01] [-1.35269837e-01 6.19334240e-04 9.90808603e-01 -9.05430888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.77, Y:-29.23, Z:-9.07 [[ 8.84875516e-01 4.49998880e-01 1.20400703e-01 7.07685198e+01] [-4.45755321e-01 8.93028674e-01 -6.16602111e-02 -2.92278698e+01] [-1.35268306e-01 8.92357065e-04 9.90808604e-01 -9.06780924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:-29.25, Z:-9.08 [[ 8.85309234e-01 4.49149244e-01 1.20384868e-01 7.08239510e+01] [-4.44893659e-01 8.93456120e-01 -6.16911124e-02 -2.92545730e+01] [-1.35267113e-01 1.05724710e-03 9.90808604e-01 -9.08329939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:-29.30, Z:-9.09 [[ 8.87227496e-01 4.45352762e-01 1.20367304e-01 7.08715037e+01] [-4.41057672e-01 8.95353623e-01 -6.17253628e-02 -2.92978454e+01] [-1.35260862e-01 1.67551628e-03 9.90808605e-01 -9.08723967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:-29.33, Z:-9.09 [[ 8.88449497e-01 4.42914074e-01 1.20352044e-01 7.09221187e+01] [-4.38592651e-01 8.96561651e-01 -6.17551029e-02 -2.93325665e+01] [-1.35255231e-01 2.08076813e-03 9.90808606e-01 -9.09451331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.98, Y:-29.36, Z:-9.11 [[ 8.89714725e-01 4.40369338e-01 1.20343489e-01 7.09789757e+01] [-4.36022461e-01 8.97813267e-01 -6.17717684e-02 -2.93553573e+01] [-1.35248374e-01 2.48678747e-03 9.90808606e-01 -9.10679394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:-29.39, Z:-9.12 [[ 8.91149680e-01 4.37462460e-01 1.20328067e-01 7.10319470e+01] [-4.33085115e-01 8.99231795e-01 -6.18017969e-02 -2.93872542e+01] [-1.35238789e-01 2.96235693e-03 9.90808606e-01 -9.11605160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.08, Y:-29.43, Z:-9.12 [[ 8.92204927e-01 4.35310502e-01 1.20312654e-01 7.10815090e+01] [-4.30909624e-01 9.00274251e-01 -6.18317878e-02 -2.94281442e+01] [-1.35230411e-01 3.32274544e-03 9.90808607e-01 -9.11746725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.14, Y:-29.46, Z:-9.13 [[ 8.95222523e-01 4.29074775e-01 1.20297432e-01 7.11352055e+01] [-4.24613730e-01 9.03258739e-01 -6.18613891e-02 -2.94578291e+01] [-1.35202868e-01 4.29976777e-03 9.90808607e-01 -9.13103875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:-29.48, Z:-9.15 [[ 8.97676757e-01 4.23918526e-01 1.20289333e-01 7.11908316e+01] [-4.19409225e-01 9.05685996e-01 -6.18771320e-02 -2.94831043e+01] [-1.35175227e-01 5.09520712e-03 9.90808608e-01 -9.14726403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.24, Y:-29.52, Z:-9.15 [[ 8.98060125e-01 4.23110619e-01 1.20272256e-01 7.12417325e+01] [-4.18589678e-01 9.06062799e-01 -6.19103081e-02 -2.95198087e+01] [-1.35169126e-01 5.25445404e-03 9.90808608e-01 -9.14720650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.30, Y:-29.55, Z:-9.15 [[ 8.97351171e-01 4.24616004e-01 1.20258576e-01 7.12973031e+01] [-4.20104936e-01 9.05359413e-01 -6.19368694e-02 -2.95478312e+01] [-1.35176620e-01 5.05790082e-03 9.90808609e-01 -9.15277244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.35, Y:-29.57, Z:-9.16 [[ 8.95914283e-01 4.27644031e-01 1.20242176e-01 7.13547260e+01] [-4.23155768e-01 9.03935328e-01 -6.19686930e-02 -2.95665091e+01] [-1.35191692e-01 4.63746690e-03 9.90808609e-01 -9.16430142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78577952299999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:71.41, Y:-29.59, Z:-9.17 [[ 8.95420835e-01 4.28678258e-01 1.20235098e-01 7.14113928e+01] [-4.24197419e-01 9.03446030e-01 -6.19824217e-02 -2.95935955e+01] [-1.35196439e-01 4.49693345e-03 9.90808609e-01 -9.17256629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:-29.62, Z:-9.18 [[ 8.88719651e-01 4.42405802e-01 1.20226818e-01 7.14639102e+01] [-4.38046811e-01 8.96811675e-01 -6.19984790e-02 -2.96224869e+01] [-1.35249301e-01 2.43429254e-03 9.90808610e-01 -9.18391949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90577952299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:-29.65, Z:-9.19 [[ 8.84081938e-01 4.51606379e-01 1.20211503e-01 7.15200751e+01] [-4.47327577e-01 8.92216647e-01 -6.20281601e-02 -2.96458310e+01] [-1.35267017e-01 1.06405572e-03 9.90808610e-01 -9.19256691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.57, Y:-29.67, Z:-9.20 [[ 8.81248887e-01 4.57113646e-01 1.20197809e-01 7.15732856e+01] [-4.52882064e-01 8.89408259e-01 -6.20546845e-02 -2.96741494e+01] [-1.35270967e-01 2.50189762e-04 9.90808611e-01 -9.20000129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.63, Y:-29.70, Z:-9.21 [[ 8.79384069e-01 4.60694469e-01 1.20184301e-01 7.16289598e+01] [-4.56492537e-01 8.87558749e-01 -6.20808362e-02 -2.97009317e+01] [-1.35270925e-01 -2.70337939e-04 9.90808611e-01 -9.20913766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:-29.73, Z:-9.22 [[ 8.75146586e-01 4.68698099e-01 1.20168819e-01 7.16825149e+01] [-4.64566808e-01 8.83357193e-01 -6.21107897e-02 -2.97305890e+01] [-1.35263199e-01 -1.47039909e-03 9.90808612e-01 -9.21576507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14577952299999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:-29.76, Z:-9.22 [[ 8.73210665e-01 4.72297070e-01 1.20160775e-01 7.17365856e+01] [-4.68197477e-01 8.81437144e-01 -6.21263481e-02 -2.97623368e+01] [-1.35256262e-01 -2.00958181e-03 9.90808612e-01 -9.22242338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:-29.79, Z:-9.23 [[ 8.70150152e-01 4.77916487e-01 1.20143850e-01 7.17929486e+01] [-4.73865497e-01 8.78400673e-01 -6.21590618e-02 -2.97888216e+01] [-1.35241279e-01 -2.84430796e-03 9.90808612e-01 -9.23358115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:-29.82, Z:-9.24 [[ 8.67747233e-01 4.82270012e-01 1.20126495e-01 7.18443879e+01] [-4.78255772e-01 8.76015696e-01 -6.21925833e-02 -2.98195085e+01] [-1.35226313e-01 -3.48374742e-03 9.90808613e-01 -9.24480385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:-29.85, Z:-9.25 [[ 8.70944558e-01 4.76475117e-01 1.20112610e-01 7.18984137e+01] [-4.72402156e-01 8.79184253e-01 -6.22193882e-02 -2.98491654e+01] [-1.35247105e-01 -2.55181819e-03 9.90808614e-01 -9.24990583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:-29.88, Z:-9.26 [[ 8.69997832e-01 4.78205618e-01 1.20096457e-01 7.19487365e+01] [-4.74144746e-01 8.78243491e-01 -6.22505502e-02 -2.98827053e+01] [-1.35242495e-01 -2.78526050e-03 9.90808614e-01 -9.26155999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.00, Y:-29.91, Z:-9.27 [[ 8.71283683e-01 4.75862480e-01 1.20081820e-01 7.19998983e+01] [-4.71775543e-01 8.79516453e-01 -6.22787728e-02 -2.99147247e+01] [-1.35250068e-01 -2.38918728e-03 9.90808615e-01 -9.27177886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:-29.95, Z:-9.27 [[ 8.72780906e-01 4.73114375e-01 1.20067807e-01 7.20518478e+01] [-4.68997799e-01 8.80998896e-01 -6.23057783e-02 -2.99519043e+01] [-1.35257364e-01 -1.93224337e-03 9.90808615e-01 -9.26660223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56577952299999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:-29.98, Z:-9.28 [[ 8.74155816e-01 4.70572932e-01 1.20053009e-01 7.21083169e+01] [-4.66428549e-01 8.82359817e-01 -6.23342769e-02 -2.99753751e+01] [-1.35262775e-01 -1.50628031e-03 9.90808616e-01 -9.28169519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:-30.00, Z:-9.30 [[ 8.76377482e-01 4.66426225e-01 1.20037855e-01 7.21651814e+01] [-4.62239025e-01 8.84559712e-01 -6.23634458e-02 -2.99974418e+01] [-1.35268597e-01 -8.32261683e-04 9.90808616e-01 -9.29504616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.22, Y:-30.03, Z:-9.29 [[ 8.82477645e-01 4.54783440e-01 1.20021784e-01 7.22178339e+01] [-4.50484082e-01 8.90601502e-01 -6.23943600e-02 -3.00342990e+01] [-1.35267503e-01 9.93724481e-04 9.90808617e-01 -9.29325512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.27, Y:-30.06, Z:-9.31 [[ 8.86303489e-01 4.47286290e-01 1.20004583e-01 7.22744435e+01] [-4.42913745e-01 8.94388188e-01 -6.24274259e-02 -3.00573453e+01] [-1.35253614e-01 2.17796599e-03 9.90808617e-01 -9.30621245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805779523 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:72.33, Y:-30.08, Z:-9.32 [[ 8.90922756e-01 4.38017310e-01 1.19989493e-01 7.23292834e+01] [-4.33556773e-01 8.98959243e-01 -6.24564179e-02 -3.00837538e+01] [-1.35222656e-01 3.62158668e-03 9.90808618e-01 -9.31977013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865779523 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-30.12, Z:-9.32 [[ 8.93662149e-01 4.32405148e-01 1.19973962e-01 7.23830456e+01] [-4.27890155e-01 9.01668168e-01 -6.24862373e-02 -3.01150290e+01] [-1.35196073e-01 4.50590793e-03 9.90808619e-01 -9.32342837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92577952299999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-30.14, Z:-9.33 [[ 8.97886048e-01 4.23569149e-01 1.19957579e-01 7.24410437e+01] [-4.18971216e-01 9.05844722e-01 -6.25176733e-02 -3.01355182e+01] [-1.35143497e-01 5.87497409e-03 9.90808619e-01 -9.33263996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-30.16, Z:-9.34 [[ 9.01808447e-01 4.15156805e-01 1.19943116e-01 7.24980590e+01] [-4.10480996e-01 9.09721619e-01 -6.25454079e-02 -3.01607951e+01] [-1.35080998e-01 7.16960735e-03 9.90808620e-01 -9.33886260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.55, Y:-30.19, Z:-9.34 [[ 9.00377645e-01 4.18255288e-01 1.19927521e-01 7.25526317e+01] [-4.13602748e-01 9.08304519e-01 -6.25752961e-02 -3.01905139e+01] [-1.35103158e-01 6.73904529e-03 9.90808620e-01 -9.33858907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105779523 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:-30.21, Z:-9.35 [[ 8.98945630e-01 4.21327393e-01 1.19916564e-01 7.26114018e+01] [-4.16699156e-01 9.06886718e-01 -6.25962866e-02 -3.02114600e+01] [-1.35124270e-01 6.30152715e-03 9.90808621e-01 -9.35166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:-30.23, Z:-9.36 [[ 8.96537694e-01 4.26432144e-01 1.19899083e-01 7.26681147e+01] [-4.21844669e-01 9.04502399e-01 -6.26297528e-02 -3.02331691e+01] [-1.35156348e-01 5.57114498e-03 9.90808621e-01 -9.36154167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.72, Y:-30.26, Z:-9.37 [[ 8.94983069e-01 4.29687743e-01 1.19890576e-01 7.27242263e+01] [-4.25127069e-01 9.02963150e-01 -6.26460342e-02 -3.02617704e+01] [-1.35175005e-01 5.09841080e-03 9.90808621e-01 -9.36717683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.78, Y:-30.28, Z:-9.38 [[ 8.95875564e-01 4.27828592e-01 1.19873557e-01 7.27837845e+01] [-4.23247013e-01 9.03843660e-01 -6.26785827e-02 -3.02792298e+01] [-1.35162645e-01 5.41608562e-03 9.90808622e-01 -9.37955887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:-30.30, Z:-9.39 [[ 8.97209495e-01 4.25028253e-01 1.19858691e-01 7.28439256e+01] [-4.20418020e-01 9.05161047e-01 -6.27069987e-02 -3.02975287e+01] [-1.35143664e-01 5.87056122e-03 9.90808623e-01 -9.39011532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:-30.33, Z:-9.39 [[ 8.96979130e-01 4.25519349e-01 1.19840406e-01 7.29004114e+01] [-4.20908814e-01 9.04930506e-01 -6.27419244e-02 -3.03257259e+01] [-1.35145142e-01 5.83631365e-03 9.90808623e-01 -9.39228706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:-30.35, Z:-9.40 [[ 8.98285901e-01 4.22759105e-01 1.19821445e-01 7.29580851e+01] [-4.18119327e-01 9.06220247e-01 -6.27781144e-02 -3.03477319e+01] [-1.35124639e-01 6.29303319e-03 9.90808624e-01 -9.39857033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525779523 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:-30.37, Z:-9.41 [[ 9.00452253e-01 4.18130077e-01 1.19803918e-01 7.30150158e+01] [-4.13445090e-01 9.08359988e-01 -6.28115438e-02 -3.03700683e+01] [-1.35088482e-01 7.02645435e-03 9.90808625e-01 -9.40996059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585779523 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:-30.39, Z:-9.43 [[ 9.01756299e-01 4.15311656e-01 1.19799020e-01 7.30721827e+01] [-4.10600723e-01 9.09648604e-01 -6.28208845e-02 -3.03874034e+01] [-1.35065257e-01 7.45956400e-03 9.90808625e-01 -9.43010785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:-30.41, Z:-9.43 [[ 9.01960026e-01 4.14873069e-01 1.19785010e-01 7.31312145e+01] [-4.10154766e-01 9.09847926e-01 -6.28475869e-02 -3.04093775e+01] [-1.35059915e-01 7.55561827e-03 9.90808625e-01 -9.43048683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.19, Y:-30.43, Z:-9.42 [[ 9.00020459e-01 4.19068595e-01 1.19769305e-01 7.31895190e+01] [-4.14383105e-01 9.07927894e-01 -6.28775028e-02 -3.04317743e+01] [-1.35091880e-01 6.96066234e-03 9.90808626e-01 -9.42472737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.25, Y:-30.46, Z:-9.43 [[ 8.99874743e-01 4.19383917e-01 1.19760501e-01 7.32465482e+01] [-4.14698974e-01 9.07782503e-01 -6.28942678e-02 -3.04553791e+01] [-1.35093331e-01 6.93240635e-03 9.90808626e-01 -9.43416498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.31, Y:-30.47, Z:-9.44 [[ 8.99956614e-01 4.19212525e-01 1.19745360e-01 7.33072684e+01] [-4.14522255e-01 9.07861215e-01 -6.29230816e-02 -3.04742226e+01] [-1.35090312e-01 6.99092697e-03 9.90808627e-01 -9.44379375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.37, Y:-30.49, Z:-9.45 [[ 9.00924282e-01 4.17133918e-01 1.19727741e-01 7.33691797e+01] [-4.12420977e-01 9.08815386e-01 -6.29565885e-02 -3.04903268e+01] [-1.35071741e-01 7.34088743e-03 9.90808627e-01 -9.45300929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.43, Y:-30.51, Z:-9.47 [[ 9.01477475e-01 4.15942199e-01 1.19709856e-01 7.34269445e+01] [-4.11214331e-01 9.09359643e-01 -6.29905771e-02 -3.05088238e+01] [-1.35059751e-01 7.55817779e-03 9.90808628e-01 -9.46666255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.48, Y:-30.54, Z:-9.47 [[ 9.01856909e-01 4.15122975e-01 1.19695573e-01 7.34841295e+01] [-4.10384362e-01 9.09732622e-01 -6.30177065e-02 -3.05352297e+01] [-1.35051066e-01 7.71176248e-03 9.90808629e-01 -9.47262238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:-30.55, Z:-9.48 [[ 9.01249122e-01 4.16445752e-01 1.19678553e-01 7.35473234e+01] [-4.11714426e-01 9.09129214e-01 -6.30500133e-02 -3.05482197e+01] [-1.35060179e-01 7.55038226e-03 9.90808629e-01 -9.47702659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.61, Y:-30.57, Z:-9.49 [[ 8.99430898e-01 4.20362504e-01 1.19663798e-01 7.36062567e+01] [-4.15661792e-01 9.07329290e-01 -6.30780062e-02 -3.05666601e+01] [-1.35090097e-01 6.99463925e-03 9.90808630e-01 -9.48994932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-30.59, Z:-9.50 [[ 8.95613047e-01 4.28440883e-01 1.19648147e-01 7.36621388e+01] [-4.23807496e-01 9.03551121e-01 -6.31076781e-02 -3.05920690e+01] [-1.35146127e-01 5.81227818e-03 9.90808630e-01 -9.49553264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-30.61, Z:-9.50 [[ 8.90792084e-01 4.38380820e-01 1.19631601e-01 7.37249401e+01] [-4.33831850e-01 8.98778832e-01 -6.31390287e-02 -3.06068786e+01] [-1.35201290e-01 4.34374803e-03 9.90808631e-01 -9.50043035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:-30.62, Z:-9.51 [[ 8.86658226e-01 4.46686882e-01 1.19616137e-01 7.37846586e+01] [-4.42208806e-01 8.94684937e-01 -6.31683130e-02 -3.06236892e+01] [-1.35235212e-01 3.11339538e-03 9.90808631e-01 -9.51419536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:-30.65, Z:-9.52 [[ 8.80204530e-01 4.59277349e-01 1.19600596e-01 7.38390279e+01] [-4.54910121e-01 8.88292086e-01 -6.31977235e-02 -3.06534164e+01] [-1.35265546e-01 1.21940084e-03 9.90808632e-01 -9.52143972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:-30.67, Z:-9.53 [[ 8.74735960e-01 4.69611886e-01 1.19589617e-01 7.38994558e+01] [-4.65337371e-01 8.82872898e-01 -6.32184916e-02 -3.06736584e+01] [-1.35270587e-01 -3.50030206e-04 9.90808632e-01 -9.52921463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:-30.69, Z:-9.54 [[ 8.72036788e-01 4.74609670e-01 1.19572156e-01 7.39571199e+01] [-4.70377260e-01 8.80195706e-01 -6.32515018e-02 -3.06943856e+01] [-1.35266672e-01 -1.08638647e-03 9.90808633e-01 -9.54172534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.01, Y:-30.73, Z:-9.55 [[ 8.69897092e-01 4.78524206e-01 1.19555986e-01 7.40070202e+01] [-4.74324311e-01 8.78072793e-01 -6.32820509e-02 -3.07318405e+01] [-1.35260852e-01 -1.65943861e-03 9.90808634e-01 -9.54905479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.06, Y:-30.76, Z:-9.56 [[ 8.68849439e-01 4.80427713e-01 1.19540222e-01 7.40612439e+01] [-4.76241634e-01 8.77032223e-01 -6.33118158e-02 -3.07613823e+01] [-1.35257377e-01 -1.92159489e-03 9.90808634e-01 -9.55877208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:74.12, Y:-30.79, Z:-9.57 [[ 8.68398891e-01 4.81245491e-01 1.19524660e-01 7.41178128e+01] [-4.77063076e-01 8.76583548e-01 -6.33411814e-02 -3.07869306e+01] [-1.35256008e-01 -2.01539014e-03 9.90808635e-01 -9.57160174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:-30.82, Z:-9.58 [[ 8.67259756e-01 4.83299751e-01 1.19506762e-01 7.41677301e+01] [-4.79132074e-01 8.75451926e-01 -6.33749310e-02 -3.08245905e+01] [-1.35251514e-01 -2.29699558e-03 9.90808635e-01 -9.57728234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:-30.86, Z:-9.59 [[ 8.66894372e-01 4.83958916e-01 1.19490234e-01 7.42173467e+01] [-4.79793175e-01 8.75087526e-01 -6.34060798e-02 -3.08633693e+01] [-1.35250351e-01 -2.36422487e-03 9.90808636e-01 -9.58536353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.27, Y:-30.89, Z:-9.59 [[ 8.66916889e-01 4.83922333e-01 1.19475032e-01 7.42716241e+01] [-4.79752302e-01 8.75107860e-01 -6.34347106e-02 -3.08912886e+01] [-1.35251013e-01 -2.32579981e-03 9.90808637e-01 -9.59346627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:-30.93, Z:-9.60 [[ 8.67592869e-01 4.82712806e-01 1.19461126e-01 7.43239674e+01] [-4.78527752e-01 8.75776174e-01 -6.34608886e-02 -3.09270529e+01] [-1.35254591e-01 -2.10724962e-03 9.90808637e-01 -9.59911191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:-30.97, Z:-9.61 [[ 8.70002012e-01 4.78361652e-01 1.19442996e-01 7.43715015e+01] [-4.74130985e-01 8.78161827e-01 -6.34949931e-02 -3.09692386e+01] [-1.35263850e-01 -1.39085377e-03 9.90808638e-01 -9.60634268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:-31.00, Z:-9.62 [[ 8.73818815e-01 4.71357419e-01 1.19427229e-01 7.44232397e+01] [-4.67057288e-01 8.81942238e-01 -6.35246368e-02 -3.10034208e+01] [-1.35270726e-01 -2.70334684e-04 9.90808638e-01 -9.61833586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:-31.04, Z:-9.62 [[ 8.74492994e-01 4.70110021e-01 1.19409260e-01 7.44760099e+01] [-4.65793692e-01 8.82607822e-01 -6.35583957e-02 -3.10356241e+01] [-1.35270985e-01 -3.87081530e-05 9.90808639e-01 -9.62335109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:-31.07, Z:-9.63 [[ 8.74796956e-01 4.69546971e-01 1.19398189e-01 7.45268498e+01] [-4.65222582e-01 8.82907490e-01 -6.35791853e-02 -3.10733910e+01] [-1.35270970e-01 7.21437997e-05 9.90808639e-01 -9.62653246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20577952299999 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:74.58, Y:-31.10, Z:-9.64 [[ 8.74822772e-01 4.69503526e-01 1.19379887e-01 7.45794050e+01] [-4.65174046e-01 8.82930589e-01 -6.36135331e-02 -3.11048208e+01] [-1.35270932e-01 1.18142455e-04 9.90808640e-01 -9.63815429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.63, Y:-31.14, Z:-9.65 [[ 8.76289137e-01 4.66765059e-01 1.19363849e-01 7.46317331e+01] [-4.62406144e-01 8.84381167e-01 -6.36436118e-02 -3.11365885e+01] [-1.35269754e-01 5.75628433e-04 9.90808641e-01 -9.65353755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325779523 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:74.68, Y:-31.18, Z:-9.66 [[ 8.81159197e-01 4.57506397e-01 1.19358139e-01 7.46788290e+01] [-4.53061015e-01 8.89204051e-01 -6.36543193e-02 -3.11793266e+01] [-1.35255999e-01 2.01306943e-03 9.90808641e-01 -9.65851797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:-31.21, Z:-9.66 [[ 8.86598309e-01 4.46879065e-01 1.19342113e-01 7.47322687e+01] [-4.42333241e-01 8.94586836e-01 -6.36843517e-02 -3.12094319e+01] [-1.35221087e-01 3.67345501e-03 9.90808641e-01 -9.66283973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.79, Y:-31.24, Z:-9.67 [[ 8.89575505e-01 4.40926717e-01 1.19327493e-01 7.47887859e+01] [-4.36323786e-01 8.97531263e-01 -6.37117341e-02 -3.12359758e+01] [-1.35192361e-01 4.61097465e-03 9.90808642e-01 -9.67336576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:-31.28, Z:-9.68 [[ 8.93426781e-01 4.33074929e-01 1.19309236e-01 7.48352945e+01] [-4.28397555e-01 9.01339001e-01 -6.37459050e-02 -3.12791116e+01] [-1.35144820e-01 5.84051389e-03 9.90808642e-01 -9.67975900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:-31.31, Z:-9.69 [[ 8.95241523e-01 4.29315376e-01 1.19293437e-01 7.48904080e+01] [-4.24600856e-01 9.03131665e-01 -6.37754559e-02 -3.13078116e+01] [-1.35117465e-01 6.44234055e-03 9.90808643e-01 -9.68745028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62577952299999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:-31.32, Z:-9.70 [[ 8.94569848e-01 4.30718183e-01 1.19275455e-01 7.49506329e+01] [-4.26011567e-01 9.02464707e-01 -6.38090706e-02 -3.13248042e+01] [-1.35125615e-01 6.26894727e-03 9.90808644e-01 -9.70235787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:-31.37, Z:-9.70 [[ 8.91529060e-01 4.36982317e-01 1.19257663e-01 7.49979816e+01] [-4.32326756e-01 8.99454132e-01 -6.38423058e-02 -3.13682130e+01] [-1.35164756e-01 5.35899233e-03 9.90808644e-01 -9.70158455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.05, Y:-31.39, Z:-9.71 [[ 8.86556477e-01 4.46988979e-01 1.19241211e-01 7.50549424e+01] [-4.42418785e-01 8.94531082e-01 -6.38730190e-02 -3.13905289e+01] [-1.35215505e-01 3.87248693e-03 9.90808645e-01 -9.71478325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:-31.40, Z:-9.73 [[ 8.81749091e-01 4.56403090e-01 1.19225670e-01 7.51183915e+01] [-4.51914143e-01 8.89769712e-01 -6.39020158e-02 -3.13987549e+01] [-1.35248467e-01 2.46577799e-03 9.90808646e-01 -9.73271944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.16, Y:-31.44, Z:-9.73 [[ 8.78253333e-01 4.63098528e-01 1.19209215e-01 7.51647844e+01] [-4.58666571e-01 8.86305583e-01 -6.39326964e-02 -3.14443159e+01] [-1.35262931e-01 1.47182160e-03 9.90808646e-01 -9.73016730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:-31.47, Z:-9.73 [[ 8.77731840e-01 4.64090033e-01 1.19194200e-01 7.52200792e+01] [-4.59663373e-01 8.85787003e-01 -6.39606781e-02 -3.14715184e+01] [-1.35264187e-01 1.35111552e-03 9.90808647e-01 -9.73231325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:-31.48, Z:-9.75 [[ 8.76784983e-01 4.65880148e-01 1.19179620e-01 7.52806557e+01] [-4.61466242e-01 8.84847142e-01 -6.39878339e-02 -3.14848728e+01] [-1.35266408e-01 1.10620025e-03 9.90808647e-01 -9.75460687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.33, Y:-31.53, Z:-9.76 [[ 8.76309005e-01 4.66777654e-01 1.19168577e-01 7.53258205e+01] [-4.62369210e-01 8.84374151e-01 -6.40083938e-02 -3.15322287e+01] [-1.35267297e-01 9.91250940e-04 9.90808647e-01 -9.75819642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.38, Y:-31.56, Z:-9.77 [[ 8.75514263e-01 4.68270671e-01 1.19152650e-01 7.53811241e+01] [-4.63871948e-01 8.83584714e-01 -6.40380289e-02 -3.15591716e+01] [-1.35268591e-01 7.94635812e-04 9.90808648e-01 -9.76697200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.44, Y:-31.58, Z:-9.78 [[ 8.73366118e-01 4.72269288e-01 1.19135816e-01 7.54420719e+01] [-4.67903245e-01 8.81454295e-01 -6.40693313e-02 -3.15758087e+01] [-1.35270754e-01 2.11948177e-04 9.90808649e-01 -9.77650889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:-31.62, Z:-9.78 [[ 8.72199226e-01 4.74424826e-01 1.19120086e-01 7.54874703e+01] [-4.70074778e-01 8.80296017e-01 -6.40985652e-02 -3.16225184e+01] [-1.35270887e-01 -8.86289064e-05 9.90808649e-01 -9.78171257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.54, Y:-31.65, Z:-9.79 [[ 8.72422147e-01 4.74018693e-01 1.19104475e-01 7.55432358e+01] [-4.69660918e-01 8.80514780e-01 -6.41275580e-02 -3.16488049e+01] [-1.35270912e-01 7.58451190e-06 9.90808650e-01 -9.79481486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.60, Y:-31.68, Z:-9.80 [[ 8.70995728e-01 4.76639186e-01 1.19086219e-01 7.55974004e+01] [-4.72301125e-01 8.79098946e-01 -6.41614439e-02 -3.16754470e+01] [-1.35270428e-01 -3.60211415e-04 9.90808650e-01 -9.80329869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:-31.72, Z:-9.80 [[ 8.68860226e-01 4.80524563e-01 1.19071629e-01 7.56460759e+01] [-4.76219027e-01 8.76980771e-01 -6.41885088e-02 -3.17191582e+01] [-1.35267684e-01 -9.33332875e-04 9.90808651e-01 -9.80435928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:-31.75, Z:-9.82 [[ 8.66336003e-01 4.85065245e-01 1.19053091e-01 7.56996180e+01] [-4.80797546e-01 8.74476496e-01 -6.42228733e-02 -3.17505920e+01] [-1.35261414e-01 -1.60184649e-03 9.90808652e-01 -9.81652801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:-31.79, Z:-9.82 [[ 8.64769803e-01 4.87856453e-01 1.19034737e-01 7.57520700e+01] [-4.83610349e-01 8.72921580e-01 -6.42568735e-02 -3.17855459e+01] [-1.35256121e-01 -1.99902687e-03 9.90808652e-01 -9.82490093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:75.80, Y:-31.82, Z:-9.84 [[ 8.64210232e-01 4.88851444e-01 1.19016557e-01 7.58029630e+01] [-4.84610090e-01 8.72364481e-01 -6.42905297e-02 -3.18212116e+01] [-1.35254335e-01 -2.11609077e-03 9.90808653e-01 -9.83545981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.85, Y:-31.86, Z:-9.85 [[ 8.62541726e-01 4.91793911e-01 1.18997983e-01 7.58507068e+01] [-4.87575634e-01 8.70707936e-01 -6.43248908e-02 -3.18592697e+01] [-1.35247078e-01 -2.53761462e-03 9.90808654e-01 -9.84621363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70577952299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:-31.90, Z:-9.85 [[ 8.61061144e-01 4.94383824e-01 1.18988824e-01 7.59000394e+01] [-4.90187768e-01 8.69238794e-01 -6.43418293e-02 -3.18981461e+01] [-1.35239261e-01 -2.92461661e-03 9.90808654e-01 -9.85152573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.95, Y:-31.93, Z:-9.85 [[ 8.60399035e-01 4.95539088e-01 1.18972738e-01 7.59522483e+01] [-4.91349903e-01 8.68580207e-01 -6.43715597e-02 -3.19320928e+01] [-1.35235989e-01 -3.07201520e-03 9.90808655e-01 -9.85272545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825779523 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:-31.97, Z:-9.87 [[ 8.60923436e-01 4.94631334e-01 1.18956634e-01 7.60000926e+01] [-4.90429415e-01 8.69098073e-01 -6.44013061e-02 -3.19710145e+01] [-1.35239885e-01 -2.89523850e-03 9.90808655e-01 -9.86750269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:-32.01, Z:-9.87 [[ 8.60447149e-01 4.95463217e-01 1.18940762e-01 7.60491373e+01] [-4.91265153e-01 8.68623766e-01 -6.44306061e-02 -3.20096742e+01] [-1.35237768e-01 -2.99232014e-03 9.90808656e-01 -9.87482990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:-32.05, Z:-9.88 [[ 8.61265121e-01 4.94043869e-01 1.18924544e-01 7.60990700e+01] [-4.89828200e-01 8.69432674e-01 -6.44605266e-02 -3.20491625e+01] [-1.35243212e-01 -2.73499205e-03 9.90808656e-01 -9.88195920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:-32.08, Z:-9.89 [[ 8.61947555e-01 4.92856753e-01 1.18905988e-01 7.61504962e+01] [-4.88625116e-01 8.70106846e-01 -6.44947381e-02 -3.20814127e+01] [-1.35247581e-01 -2.50937030e-03 9.90808657e-01 -9.89120897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.20, Y:-32.13, Z:-9.90 [[ 8.62346426e-01 4.92162100e-01 1.18891165e-01 7.61976014e+01] [-4.87920126e-01 8.70500348e-01 -6.45220513e-02 -3.21266117e+01] [-1.35250109e-01 -2.36903199e-03 9.90808658e-01 -9.89592186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.25, Y:-32.16, Z:-9.91 [[ 8.63247113e-01 4.90584908e-01 1.18873339e-01 7.62463699e+01] [-4.86323517e-01 8.71390903e-01 -6.45548764e-02 -3.21626907e+01] [-1.35254794e-01 -2.08408973e-03 9.90808658e-01 -9.90526233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.30, Y:-32.20, Z:-9.92 [[ 8.66215391e-01 4.85328144e-01 1.18859115e-01 7.62980741e+01] [-4.81013733e-01 8.74331216e-01 -6.45810561e-02 -3.21979494e+01] [-1.35265239e-01 -1.23176184e-03 9.90808659e-01 -9.91712293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:-32.24, Z:-9.92 [[ 8.70413177e-01 4.77763123e-01 1.18841489e-01 7.63472686e+01] [-4.73373743e-01 8.78488701e-01 -6.46134757e-02 -3.22400330e+01] [-1.35270841e-01 -1.60195477e-05 9.90808659e-01 -9.92032108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:-32.28, Z:-9.93 [[ 8.73507248e-01 4.72086833e-01 1.18823858e-01 7.63976101e+01] [-4.67640568e-01 8.81551592e-01 -6.46458829e-02 -3.22770655e+01] [-1.35267831e-01 9.01791040e-04 9.90808660e-01 -9.92828133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:-32.30, Z:-9.94 [[ 8.72678725e-01 4.73620471e-01 1.18808639e-01 7.64521766e+01] [-4.69184536e-01 8.80728769e-01 -6.46738409e-02 -3.23030241e+01] [-1.35269041e-01 6.96308954e-04 9.90808660e-01 -9.94065088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:-32.33, Z:-9.95 [[ 8.74513329e-01 4.70228416e-01 1.18792571e-01 7.65064815e+01] [-4.65757251e-01 8.82543858e-01 -6.47033399e-02 -3.23322941e+01] [-1.35265003e-01 1.25543166e-03 9.90808661e-01 -9.94669961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.56, Y:-32.36, Z:-9.95 [[ 8.77752259e-01 4.64158474e-01 1.18776611e-01 7.65595303e+01] [-4.59627819e-01 8.85749375e-01 -6.47326256e-02 -3.23649051e+01] [-1.35252506e-01 2.22617371e-03 9.90808662e-01 -9.95123596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.62, Y:-32.39, Z:-9.96 [[ 8.80171544e-01 4.59558667e-01 1.18759777e-01 7.66150105e+01] [-4.54982060e-01 8.88142452e-01 -6.47634957e-02 -3.23899329e+01] [-1.35238225e-01 2.96941814e-03 9.90808662e-01 -9.96401553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:76.67, Y:-32.42, Z:-9.98 [[ 8.81573321e-01 4.56867912e-01 1.18744223e-01 7.66699418e+01] [-4.52263142e-01 8.89527991e-01 -6.47920005e-02 -3.24167711e+01] [-1.35227696e-01 3.41526368e-03 9.90808663e-01 -9.97779685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.72, Y:-32.45, Z:-9.98 [[ 8.84588203e-01 4.51006943e-01 1.18728462e-01 7.67242050e+01] [-4.46345611e-01 8.92509860e-01 -6.48208701e-02 -3.24451152e+01] [-1.35200985e-01 4.34584933e-03 9.90808663e-01 -9.98464460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.78, Y:-32.47, Z:-9.99 [[ 8.88152617e-01 4.43950590e-01 1.18713107e-01 7.67792340e+01] [-4.39222593e-01 8.96034667e-01 -6.48489785e-02 -3.24718823e+01] [-1.35160802e-01 5.45431134e-03 9.90808664e-01 -9.98547823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78577952299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-32.50, Z:-9.99 [[ 8.89728349e-01 4.40786981e-01 1.18702581e-01 7.68349012e+01] [-4.36028399e-01 8.97591971e-01 -6.48682394e-02 -3.24997085e+01] [-1.35139559e-01 5.95741502e-03 9.90808664e-01 -9.99125831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-32.53, Z:-10.00 [[ 8.88144811e-01 4.43973296e-01 1.18686593e-01 7.68907551e+01] [-4.39239032e-01 8.96023097e-01 -6.48974795e-02 -3.25251353e+01] [-1.35158677e-01 5.50657531e-03 9.90808665e-01 -1.00018291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90577952299999 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:-32.55, Z:-10.01 [[ 8.86179193e-01 4.47887995e-01 1.18670899e-01 7.69453406e+01] [-4.43184706e-01 8.94076009e-01 -6.49261654e-02 -3.25502049e+01] [-1.35180454e-01 4.94308953e-03 9.90808665e-01 -1.00132594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:-32.57, Z:-10.02 [[ 8.82281351e-01 4.55521994e-01 1.18656360e-01 7.70024925e+01] [-4.50883487e-01 8.90216392e-01 -6.49527251e-02 -3.25747056e+01] [-1.35217232e-01 3.80638459e-03 9.90808666e-01 -1.00214433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-32.60, Z:-10.03 [[ 8.78840612e-01 4.62129487e-01 1.18640281e-01 7.70587544e+01] [-4.57546691e-01 8.86807958e-01 -6.49820813e-02 -3.25986657e+01] [-1.35241281e-01 2.82542411e-03 9.90808666e-01 -1.00288637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:-32.63, Z:-10.03 [[ 8.76222410e-01 4.67078431e-01 1.18625576e-01 7.71145831e+01] [-4.62537009e-01 8.84213411e-01 -6.50089139e-02 -3.26280137e+01] [-1.35254587e-01 2.09354780e-03 9.90808667e-01 -1.00283627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:-32.65, Z:-10.04 [[ 8.73900873e-01 4.71411674e-01 1.18609852e-01 7.71703965e+01] [-4.66905987e-01 8.81912077e-01 -6.50375913e-02 -3.26535700e+01] [-1.35262941e-01 1.45675791e-03 9.90808667e-01 -1.00418146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:-32.68, Z:-10.06 [[ 8.70139327e-01 4.78320599e-01 1.18604198e-01 7.72261375e+01] [-4.73877119e-01 8.78185201e-01 -6.50478995e-02 -3.26783706e+01] [-1.35270202e-01 3.96919775e-04 9.90808667e-01 -1.00573376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.28, Y:-32.71, Z:-10.07 [[ 8.67749035e-01 4.82647375e-01 1.18588042e-01 7.72807795e+01] [-4.78239989e-01 8.75814736e-01 -6.50773414e-02 -3.27070191e+01] [-1.35270562e-01 -2.42743491e-04 9.90808668e-01 -1.00667599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325779523 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:77.34, Y:-32.73, Z:-10.07 [[ 8.65617449e-01 4.86464048e-01 1.18571333e-01 7.73363941e+01] [-4.82088056e-01 8.73700226e-01 -6.51077703e-02 -3.27345388e+01] [-1.35268390e-01 -8.03401450e-04 9.90808668e-01 -1.00702088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385779523 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:77.39, Y:-32.76, Z:-10.08 [[ 8.64761808e-01 4.87987157e-01 1.18556102e-01 7.73902092e+01] [-4.83621601e-01 8.72850225e-01 -6.51354925e-02 -3.27643389e+01] [-1.35267004e-01 -1.00960579e-03 9.90808669e-01 -1.00764662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.45, Y:-32.79, Z:-10.08 [[ 8.60664647e-01 4.95179063e-01 1.18549823e-01 7.74455963e+01] [-4.90879511e-01 8.68788343e-01 -6.51469190e-02 -3.27937833e+01] [-1.35254095e-01 -2.12402925e-03 9.90808669e-01 -1.00841229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:-32.82, Z:-10.10 [[ 8.58542398e-01 4.98854638e-01 1.18528483e-01 7.75001023e+01] [-4.94584507e-01 8.66681595e-01 -6.51857229e-02 -3.28199827e+01] [-1.35244655e-01 -2.65764437e-03 9.90808670e-01 -1.00972859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.55, Y:-32.85, Z:-10.10 [[ 8.59487836e-01 4.97227832e-01 1.18512201e-01 7.75509829e+01] [-4.92938216e-01 8.67616781e-01 -6.52153115e-02 -3.28531223e+01] [-1.35250042e-01 -2.36742596e-03 9.90808670e-01 -1.01039353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.61, Y:-32.88, Z:-10.11 [[ 8.59272306e-01 4.97603748e-01 1.18497315e-01 7.76052155e+01] [-4.93313961e-01 8.67401160e-01 -6.52423477e-02 -3.28830209e+01] [-1.35249545e-01 -2.39543746e-03 9.90808671e-01 -1.01079415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685779523 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:-32.92, Z:-10.12 [[ 8.59296577e-01 4.97565543e-01 1.18481741e-01 7.76582749e+01] [-4.93271498e-01 8.67423181e-01 -6.52706184e-02 -3.29152034e+01] [-1.35250220e-01 -2.35684701e-03 9.90808671e-01 -1.01169199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.71, Y:-32.95, Z:-10.12 [[ 8.60504639e-01 4.95474722e-01 1.18476014e-01 7.77087671e+01] [-4.91159499e-01 8.68620018e-01 -6.52810123e-02 -3.29491488e+01] [-1.35255729e-01 -2.01600590e-03 9.90808671e-01 -1.01217038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.76, Y:-32.98, Z:-10.14 [[ 8.62187686e-01 4.92542319e-01 1.18467116e-01 7.77615426e+01] [-4.88197275e-01 8.70287138e-01 -6.52971569e-02 -3.29772445e+01] [-1.35262020e-01 -1.53691841e-03 9.90808672e-01 -1.01356453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865779523 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:77.81, Y:-33.01, Z:-10.15 [[ 8.62947417e-01 4.91213500e-01 1.18452746e-01 7.78147150e+01] [-4.86852407e-01 8.71038237e-01 -6.53232136e-02 -3.30061519e+01] [-1.35264516e-01 -1.29850613e-03 9.90808672e-01 -1.01495361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.87, Y:-33.04, Z:-10.15 [[ 8.63606698e-01 4.90057725e-01 1.18435206e-01 7.78657604e+01] [-4.85681445e-01 8.71689313e-01 -6.53550001e-02 -3.30427683e+01] [-1.35266426e-01 -1.08076602e-03 9.90808673e-01 -1.01482004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:-33.08, Z:-10.16 [[ 8.65534059e-01 4.86649574e-01 1.18418686e-01 7.79184470e+01] [-4.82237372e-01 8.73597120e-01 -6.53849201e-02 -3.30758719e+01] [-1.35269766e-01 -5.13040442e-04 9.90808673e-01 -1.01563586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:-33.10, Z:-10.17 [[ 8.68777034e-01 4.80837957e-01 1.18411670e-01 7.79716695e+01] [-4.76370086e-01 8.76809382e-01 -6.53976235e-02 -3.31044588e+01] [-1.35270123e-01 4.08176132e-04 9.90808673e-01 -1.01653253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.02, Y:-33.14, Z:-10.18 [[ 8.72461848e-01 4.74122978e-01 1.18396474e-01 7.80237284e+01] [-4.69589556e-01 8.80457382e-01 -6.54251229e-02 -3.31370976e+01] [-1.35262603e-01 1.48317617e-03 9.90808674e-01 -1.01769125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.08, Y:-33.17, Z:-10.19 [[ 8.75060524e-01 4.69313433e-01 1.18380662e-01 7.80774987e+01] [-4.64732202e-01 8.83028760e-01 -6.54537200e-02 -3.31665325e+01] [-1.35251839e-01 2.26066061e-03 9.90808674e-01 -1.01873171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.13, Y:-33.20, Z:-10.19 [[ 8.79534118e-01 4.60879278e-01 1.18363962e-01 7.81289432e+01] [-4.56217596e-01 8.87455556e-01 -6.54839070e-02 -3.32027969e+01] [-1.35222931e-01 3.59560840e-03 9.90808675e-01 -1.01889784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:-33.23, Z:-10.20 [[ 8.82987052e-01 4.54232786e-01 1.18348815e-01 7.81833302e+01] [-4.49507832e-01 8.90870912e-01 -6.55112693e-02 -3.32341694e+01] [-1.35190884e-01 4.64688313e-03 9.90808676e-01 -1.01951742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:-33.26, Z:-10.21 [[ 8.85012544e-01 4.50278349e-01 1.18330916e-01 7.82394909e+01] [-4.45513863e-01 8.92872576e-01 -6.55435838e-02 -3.32593189e+01] [-1.35167287e-01 5.28883006e-03 9.90808676e-01 -1.02086351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40577952299999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:-33.29, Z:-10.22 [[ 8.86489556e-01 4.47368280e-01 1.18312674e-01 7.82920828e+01] [-4.42573614e-01 8.94331214e-01 -6.55764963e-02 -3.32911132e+01] [-1.35147562e-01 5.77081132e-03 9.90808677e-01 -1.02201492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:-33.32, Z:-10.22 [[ 8.86572045e-01 4.47208940e-01 1.18296967e-01 7.83478929e+01] [-4.42409094e-01 8.94410533e-01 -6.56048203e-02 -3.33206803e+01] [-1.35145115e-01 5.82774598e-03 9.90808677e-01 -1.02201577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:-33.34, Z:-10.24 [[ 8.87022653e-01 4.46319396e-01 1.18278531e-01 7.84054925e+01] [-4.41507270e-01 8.94853607e-01 -6.56380412e-02 -3.33430084e+01] [-1.35137501e-01 6.00159805e-03 9.90808678e-01 -1.02363394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:-33.37, Z:-10.25 [[ 8.83467185e-01 4.53321369e-01 1.18260181e-01 7.84590601e+01] [-4.48566917e-01 8.91333288e-01 -6.56710855e-02 -3.33701398e+01] [-1.35179342e-01 4.97064418e-03 9.90808679e-01 -1.02455761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:-33.40, Z:-10.25 [[ 8.81386701e-01 4.57357057e-01 1.18245536e-01 7.85166566e+01] [-4.52635098e-01 8.89272351e-01 -6.56974448e-02 -3.33955941e+01] [-1.35199676e-01 4.38277439e-03 9.90808679e-01 -1.02543314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:-33.42, Z:-10.26 [[ 8.81776836e-01 4.56609221e-01 1.18227032e-01 7.85725100e+01] [-4.51876118e-01 8.89655801e-01 -6.57307278e-02 -3.34218282e+01] [-1.35194621e-01 4.53586094e-03 9.90808680e-01 -1.02618004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:-33.45, Z:-10.27 [[ 8.82180144e-01 4.55833801e-01 1.18210577e-01 7.86282832e+01] [-4.51089815e-01 8.90052561e-01 -6.57603077e-02 -3.34486295e+01] [-1.35189397e-01 4.68885056e-03 9.90808681e-01 -1.02691683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825779523 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:78.68, Y:-33.47, Z:-10.28 [[ 8.79796019e-01 4.60422705e-01 1.18194320e-01 7.86838975e+01] [-4.55715870e-01 8.87690704e-01 -6.57895145e-02 -3.34717197e+01] [-1.35210985e-01 4.01832584e-03 9.90808681e-01 -1.02788975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885779523 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:78.74, Y:-33.50, Z:-10.29 [[ 8.78733939e-01 4.62448548e-01 1.18186313e-01 7.87374382e+01] [-4.57757982e-01 8.86638301e-01 -6.58038942e-02 -3.35000278e+01] [-1.35219427e-01 3.72338688e-03 9.90808681e-01 -1.02915226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.80, Y:-33.52, Z:-10.30 [[ 8.81365358e-01 4.57415823e-01 1.18177285e-01 7.87970862e+01] [-4.52677962e-01 8.89241462e-01 -6.58201035e-02 -3.35204089e+01] [-1.35195299e-01 4.51530650e-03 9.90808681e-01 -1.02982234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.85, Y:-33.55, Z:-10.30 [[ 8.82235754e-01 4.55739146e-01 1.18160505e-01 7.88507669e+01] [-4.50982291e-01 8.90100400e-01 -6.58502140e-02 -3.35521329e+01] [-1.35185233e-01 4.80711798e-03 9.90808682e-01 -1.02999593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06577952299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:-33.58, Z:-10.31 [[ 8.84900233e-01 4.50547902e-01 1.18144680e-01 7.89048878e+01] [-4.45741141e-01 8.92734477e-01 -6.58785935e-02 -3.35787831e+01] [-1.35153291e-01 5.63403808e-03 9.90808683e-01 -1.03147062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12577952299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:-33.60, Z:-10.32 [[ 8.85790543e-01 4.48799135e-01 1.18128955e-01 7.89624571e+01] [-4.43973160e-01 8.93612964e-01 -6.59067800e-02 -3.36008846e+01] [-1.35140471e-01 5.93351731e-03 9.90808683e-01 -1.03228307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:-33.63, Z:-10.33 [[ 8.86830210e-01 4.46745620e-01 1.18112363e-01 7.90181715e+01] [-4.41897587e-01 8.94638978e-01 -6.59365003e-02 -3.36300084e+01] [-1.35124767e-01 6.28091216e-03 9.90808684e-01 -1.03261223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245779523 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:-33.66, Z:-10.34 [[ 8.86943874e-01 4.46524916e-01 1.18093455e-01 7.90703398e+01] [-4.41670446e-01 8.94748641e-01 -6.59703483e-02 -3.36594026e+01] [-1.35121363e-01 6.35360738e-03 9.90808684e-01 -1.03377089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305779523 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:-33.68, Z:-10.34 [[ 8.89628091e-01 4.41157281e-01 1.18076722e-01 7.91304411e+01] [-4.36251779e-01 8.97400885e-01 -6.60002836e-02 -3.36820216e+01] [-1.35078661e-01 7.20452622e-03 9.90808685e-01 -1.03408934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-33.70, Z:-10.35 [[ 8.89411555e-01 4.41599384e-01 1.18055367e-01 7.91863133e+01] [-4.36692697e-01 8.97183599e-01 -6.60384596e-02 -3.37046554e+01] [-1.35079882e-01 7.18145228e-03 9.90808686e-01 -1.03524764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.24, Y:-33.73, Z:-10.36 [[ 8.88720431e-01 4.42992646e-01 1.18040294e-01 7.92416932e+01] [-4.38094579e-01 8.96497911e-01 -6.60653915e-02 -3.37321239e+01] [-1.35089360e-01 7.00085033e-03 9.90808686e-01 -1.03596376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.30, Y:-33.76, Z:-10.36 [[ 8.88832517e-01 4.42769391e-01 1.18033987e-01 7.93006473e+01] [-4.37867880e-01 8.96607827e-01 -6.60766583e-02 -3.37551917e+01] [-1.35086918e-01 7.04779093e-03 9.90808686e-01 -1.03644222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.35, Y:-33.78, Z:-10.37 [[ 8.86446525e-01 4.47532863e-01 1.18012269e-01 7.93547168e+01] [-4.42668002e-01 8.94244816e-01 -6.61154242e-02 -3.37824395e+01] [-1.35120685e-01 6.36753292e-03 9.90808687e-01 -1.03735795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.41, Y:-33.80, Z:-10.39 [[ 8.85528902e-01 4.49350038e-01 1.17996214e-01 7.94138506e+01] [-4.44497375e-01 8.93334790e-01 -6.61440643e-02 -3.38026056e+01] [-1.35131961e-01 6.12347308e-03 9.90808688e-01 -1.03865853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.47, Y:-33.83, Z:-10.40 [[ 8.84113076e-01 4.52134212e-01 1.17977638e-01 7.94724254e+01] [-4.47301726e-01 8.91931470e-01 -6.61771807e-02 -3.38265058e+01] [-1.35148936e-01 5.73650954e-03 9.90808689e-01 -1.03950418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.53, Y:-33.85, Z:-10.40 [[ 8.82776739e-01 4.54742715e-01 1.17958860e-01 7.95260229e+01] [-4.49928873e-01 8.90606625e-01 -6.62106355e-02 -3.38545886e+01] [-1.35163747e-01 5.37611176e-03 9.90808689e-01 -1.04028127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:-33.88, Z:-10.41 [[ 8.81993535e-01 4.56263779e-01 1.17943920e-01 7.95807032e+01] [-4.51459891e-01 8.89829531e-01 -6.62372383e-02 -3.38837237e+01] [-1.35171636e-01 5.17386655e-03 9.90808690e-01 -1.04118813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84577952299999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:-33.90, Z:-10.43 [[ 8.80125387e-01 4.59861868e-01 1.17925250e-01 7.96403425e+01] [-4.55085576e-01 8.87978234e-01 -6.62704606e-02 -3.39038099e+01] [-1.35190313e-01 4.66023435e-03 9.90808691e-01 -1.04277787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90577952299999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:79.70, Y:-33.93, Z:-10.43 [[ 8.78334335e-01 4.63278412e-01 1.17906354e-01 7.96962790e+01] [-4.58528165e-01 8.86202964e-01 -6.63040643e-02 -3.39293962e+01] [-1.35206202e-01 4.17375226e-03 9.90808691e-01 -1.04325352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965779523 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:79.75, Y:-33.96, Z:-10.44 [[ 8.78652831e-01 4.62677921e-01 1.17891237e-01 7.97505236e+01] [-4.57918697e-01 8.86516032e-01 -6.63309321e-02 -3.39587773e+01] [-1.35202329e-01 4.29725985e-03 9.90808692e-01 -1.04411238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025779523 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:79.81, Y:-33.98, Z:-10.46 [[ 8.79224479e-01 4.61594998e-01 1.17874400e-01 7.98085393e+01] [-4.56822085e-01 8.87079377e-01 -6.63608392e-02 -3.39802930e+01] [-1.35195780e-01 4.49844528e-03 9.90808692e-01 -1.04565447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.86, Y:-34.01, Z:-10.46 [[ 8.80232216e-01 4.59672726e-01 1.17865307e-01 7.98611481e+01] [-4.54880503e-01 8.88075348e-01 -6.63769842e-02 -3.40136589e+01] [-1.35184963e-01 4.81252960e-03 9.90808693e-01 -1.04580272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14577952299999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:-34.04, Z:-10.46 [[ 8.81267540e-01 4.57688968e-01 1.17848769e-01 7.99143407e+01] [-4.52875173e-01 8.89097450e-01 -6.64063345e-02 -3.40448814e+01] [-1.35172487e-01 5.15096534e-03 9.90808693e-01 -1.04635991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.98, Y:-34.06, Z:-10.48 [[ 8.79723893e-01 4.60653515e-01 1.17831285e-01 7.99754446e+01] [-4.55861963e-01 8.87567434e-01 -6.64373435e-02 -3.40626698e+01] [-1.35187807e-01 4.73171751e-03 9.90808694e-01 -1.04771047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:-34.10, Z:-10.49 [[ 8.76781267e-01 4.66234663e-01 1.17812766e-01 8.00270793e+01] [-4.61488646e-01 8.84652444e-01 -6.64701681e-02 -3.40978676e+01] [-1.35214047e-01 3.91054459e-03 9.90808694e-01 -1.04855444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:80.08, Y:-34.13, Z:-10.49 [[ 8.74657092e-01 4.70212313e-01 1.17793683e-01 8.00794359e+01] [-4.65497548e-01 8.82547027e-01 -6.65039676e-02 -3.41299181e+01] [-1.35229449e-01 3.33549620e-03 9.90808695e-01 -1.04929034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.14, Y:-34.15, Z:-10.50 [[ 8.71543111e-01 4.75963419e-01 1.17777035e-01 8.01380600e+01] [-4.71296746e-01 8.79461585e-01 -6.65334390e-02 -3.41493103e+01] [-1.35247861e-01 2.47882724e-03 9.90808696e-01 -1.05035358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:-34.19, Z:-10.50 [[ 8.68351284e-01 4.81764199e-01 1.17768008e-01 8.01872049e+01] [-4.77148263e-01 8.76299441e-01 -6.65494125e-02 -3.41920910e+01] [-1.35261164e-01 1.59546728e-03 9.90808696e-01 -1.05037328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:-34.22, Z:-10.51 [[ 8.66089348e-01 4.85823466e-01 1.17748887e-01 8.02421261e+01] [-4.81240187e-01 8.74056381e-01 -6.65832281e-02 -3.42220178e+01] [-1.35266860e-01 1.00152852e-03 9.90808697e-01 -1.05147238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.30, Y:-34.24, Z:-10.53 [[ 8.65122867e-01 4.87545606e-01 1.17735747e-01 8.02990642e+01] [-4.82975025e-01 8.73097191e-01 -6.66064546e-02 -3.42426778e+01] [-1.35268434e-01 7.59341730e-04 9.90808697e-01 -1.05340585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:80.34, Y:-34.29, Z:-10.54 [[ 8.62671981e-01 4.91873307e-01 1.17718747e-01 8.03443206e+01] [-4.87338632e-01 8.70666777e-01 -6.66364871e-02 -3.42878411e+01] [-1.35270511e-01 1.16537355e-04 9.90808698e-01 -1.05409364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:-34.32, Z:-10.54 [[ 8.63472494e-01 4.90470652e-01 1.17702132e-01 8.03950962e+01] [-4.85918991e-01 8.71457631e-01 -6.66658207e-02 -3.43248518e+01] [-1.35270050e-01 3.70401084e-04 9.90808698e-01 -1.05393870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.45, Y:-34.35, Z:-10.55 [[ 8.66461682e-01 4.85174188e-01 1.17686711e-01 8.04517904e+01] [-4.80570021e-01 8.74416659e-01 -6.66930335e-02 -3.43511568e+01] [-1.35264959e-01 1.23025282e-03 9.90808699e-01 -1.05483686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:-34.40, Z:-10.56 [[ 8.65922739e-01 4.86139995e-01 1.17667816e-01 8.04962768e+01] [-4.81540174e-01 8.73880229e-01 -6.67263528e-02 -3.43973584e+01] [-1.35265927e-01 1.11808545e-03 9.90808699e-01 -1.05608829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.54, Y:-34.44, Z:-10.57 [[ 8.64530014e-01 4.88613902e-01 1.17661843e-01 8.05446960e+01] [-4.84035419e-01 8.72499800e-01 -6.67368851e-02 -3.44367558e+01] [-1.35268504e-01 7.43540918e-04 9.90808699e-01 -1.05679719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.60, Y:-34.47, Z:-10.58 [[ 8.61650755e-01 4.93677615e-01 1.17645181e-01 8.05979704e+01] [-4.89141959e-01 8.69644992e-01 -6.67662440e-02 -3.44682536e+01] [-1.35270542e-01 -1.60096212e-05 9.90808700e-01 -1.05762811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.65, Y:-34.51, Z:-10.58 [[ 8.59894002e-01 4.96735185e-01 1.17628489e-01 8.06478719e+01] [-4.92223934e-01 8.67902035e-01 -6.67956385e-02 -3.45079658e+01] [-1.35269749e-01 -4.62388758e-04 9.90808701e-01 -1.05826570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.70, Y:-34.55, Z:-10.59 [[ 8.56855970e-01 5.01961996e-01 1.17609529e-01 8.06966819e+01] [-4.97495010e-01 8.64888778e-01 -6.68290061e-02 -3.45471433e+01] [-1.35264783e-01 -1.24732085e-03 9.90808701e-01 -1.05913553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:-34.58, Z:-10.59 [[ 8.52178521e-01 5.09866384e-01 1.17592685e-01 8.07471627e+01] [-5.05469805e-01 8.60250079e-01 -6.68586318e-02 -3.45828512e+01] [-1.35248085e-01 -2.46406160e-03 9.90808702e-01 -1.05936258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:-34.62, Z:-10.60 [[ 8.47410956e-01 5.17755016e-01 1.17577272e-01 8.07956556e+01] [-5.13429798e-01 8.55520977e-01 -6.68857268e-02 -3.46231154e+01] [-1.35220243e-01 -3.68797706e-03 9.90808702e-01 -1.06020042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-34.66, Z:-10.61 [[ 8.45115226e-01 5.21495165e-01 1.17571455e-01 8.08452400e+01] [-5.17204412e-01 8.53243534e-01 -6.68959505e-02 -3.46593599e+01] [-1.35202998e-01 -4.27368867e-03 9.90808702e-01 -1.06128497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.89, Y:-34.70, Z:-10.63 [[ 8.44573837e-01 5.22375300e-01 1.17554582e-01 8.08933584e+01] [-5.18088897e-01 8.52704439e-01 -6.69255867e-02 -3.46962941e+01] [-1.35199588e-01 -4.38012439e-03 9.90808703e-01 -1.06308499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.94, Y:-34.74, Z:-10.63 [[ 8.46828044e-01 5.18716775e-01 1.17537956e-01 8.09382490e+01] [-5.14391192e-01 8.54937869e-01 -6.69547734e-02 -3.47406774e+01] [-1.35218214e-01 -3.76130965e-03 9.90808704e-01 -1.06339717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:80.98, Y:-34.79, Z:-10.63 [[ 8.49173031e-01 5.14872389e-01 1.17522705e-01 8.09835862e+01] [-5.10506384e-01 8.57261165e-01 -6.69815327e-02 -3.47852814e+01] [-1.35234593e-01 -3.11718014e-03 9.90808704e-01 -1.06349061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465779523 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:-34.82, Z:-10.64 [[ 8.49290081e-01 5.14682683e-01 1.17507848e-01 8.10340326e+01] [-5.10311269e-01 8.57375293e-01 -6.70075870e-02 -3.48209497e+01] [-1.35235970e-01 -3.05670001e-03 9.90808705e-01 -1.06399216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-34.86, Z:-10.66 [[ 8.49389371e-01 5.14520869e-01 1.17498819e-01 8.10821350e+01] [-5.10145726e-01 8.57472565e-01 -6.70234154e-02 -3.48577308e+01] [-1.35236960e-01 -3.01254375e-03 9.90808705e-01 -1.06568252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.13, Y:-34.90, Z:-10.67 [[ 8.50403063e-01 5.12847545e-01 1.17482026e-01 8.11299008e+01] [-5.08452433e-01 8.58475416e-01 -6.70528394e-02 -3.48968297e+01] [-1.35243315e-01 -2.71208173e-03 9.90808705e-01 -1.06683004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:-34.94, Z:-10.67 [[ 8.52977170e-01 5.08558595e-01 1.17465325e-01 8.11753374e+01] [-5.04118862e-01 8.61025068e-01 -6.70820831e-02 -3.49414244e+01] [-1.35255759e-01 -1.99700061e-03 9.90808706e-01 -1.06655671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:-34.98, Z:-10.67 [[ 8.55886915e-01 5.03649438e-01 1.17451401e-01 8.12255046e+01] [-4.99160195e-01 8.63907300e-01 -6.71064537e-02 -3.49790257e+01] [-1.35265250e-01 -1.19152849e-03 9.90808706e-01 -1.06684812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:-35.01, Z:-10.69 [[ 8.58556586e-01 4.99088869e-01 1.17434617e-01 8.12752473e+01] [-4.94553004e-01 8.66550696e-01 -6.71358129e-02 -3.50131528e+01] [-1.35269786e-01 -4.37748195e-04 9.90808707e-01 -1.06871714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:-35.05, Z:-10.70 [[ 8.57753231e-01 5.00472192e-01 1.17417968e-01 8.13243587e+01] [-4.95945235e-01 8.65752388e-01 -6.71649188e-02 -3.50498347e+01] [-1.35269060e-01 -6.21955477e-04 9.90808707e-01 -1.06957069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885779523 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:-35.08, Z:-10.71 [[ 8.60642720e-01 4.95490361e-01 1.17402773e-01 8.13792047e+01] [-4.90913476e-01 8.68613415e-01 -6.71914693e-02 -3.50767991e+01] [-1.35270349e-01 1.93245647e-04 9.90808708e-01 -1.07077524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:-35.11, Z:-10.71 [[ 8.62374857e-01 4.92473497e-01 1.17385949e-01 8.14336088e+01] [-4.87864730e-01 8.70327159e-01 -6.72208483e-02 -3.51094251e+01] [-1.35268666e-01 7.01105156e-04 9.90808708e-01 -1.07094694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:-35.13, Z:-10.73 [[ 8.62429348e-01 4.92382791e-01 1.17366122e-01 8.14891288e+01] [-4.87768478e-01 8.70378433e-01 -6.72554472e-02 -3.51348488e+01] [-1.35268367e-01 7.55576564e-04 9.90808709e-01 -1.07278525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:-35.17, Z:-10.73 [[ 8.58936200e-01 4.98455995e-01 1.17346608e-01 8.15381808e+01] [-4.93893238e-01 8.66914988e-01 -6.72894795e-02 -3.51713368e+01] [-1.35270377e-01 -1.59326161e-04 9.90808710e-01 -1.07307850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12577952299999 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:81.59, Y:-35.21, Z:-10.73 [[ 8.63951568e-01 4.89714779e-01 1.17333384e-01 8.15904824e+01] [-4.85068166e-01 8.71881814e-01 -6.73125301e-02 -3.52087803e+01] [-1.35264784e-01 1.24007662e-03 9.90808710e-01 -1.07295586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:81.65, Y:-35.23, Z:-10.74 [[ 8.73661604e-01 4.72178591e-01 1.17314880e-01 8.16506262e+01] [-4.67368551e-01 8.81493801e-01 -6.73447642e-02 -3.52256997e+01] [-1.35211095e-01 4.00724924e-03 9.90808711e-01 -1.07441763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.70, Y:-35.26, Z:-10.75 [[ 8.72884440e-01 4.73617706e-01 1.17298866e-01 8.17008878e+01] [-4.68816837e-01 8.80722261e-01 -6.73726447e-02 -3.52609418e+01] [-1.35216600e-01 3.81684978e-03 9.90808711e-01 -1.07467575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.75, Y:-35.29, Z:-10.75 [[ 8.76548188e-01 4.66806043e-01 1.17283386e-01 8.17527886e+01] [-4.61940686e-01 8.84346142e-01 -6.73995829e-02 -3.52944773e+01] [-1.35181642e-01 4.90101458e-03 9.90808712e-01 -1.07521085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365779523 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:81.81, Y:-35.32, Z:-10.76 [[ 8.79777281e-01 4.60695458e-01 1.17267345e-01 8.18081175e+01] [-4.55772250e-01 8.87538839e-01 -6.74274798e-02 -3.53215940e+01] [-1.35142857e-01 5.87396296e-03 9.90808712e-01 -1.07628158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42577952299999 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:81.87, Y:-35.35, Z:-10.77 [[ 8.80382926e-01 4.59541170e-01 1.17251082e-01 8.18654334e+01] [-4.54604031e-01 8.88135630e-01 -6.74557487e-02 -3.53458635e+01] [-1.35133557e-01 6.08407488e-03 9.90808713e-01 -1.07680809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-35.38, Z:-10.78 [[ 8.79960120e-01 4.60354151e-01 1.17235840e-01 8.19184495e+01] [-4.55420656e-01 8.87715143e-01 -6.74822295e-02 -3.53751539e+01] [-1.35137755e-01 5.99004784e-03 9.90808713e-01 -1.07758953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:81.97, Y:-35.40, Z:-10.78 [[ 8.77966580e-01 4.64148701e-01 1.17220593e-01 8.19741375e+01] [-4.59245203e-01 8.85740604e-01 -6.75087040e-02 -3.54010379e+01] [-1.35161116e-01 5.43739107e-03 9.90808714e-01 -1.07815771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.03, Y:-35.43, Z:-10.78 [[ 8.75491243e-01 4.68804720e-01 1.17205879e-01 8.20303562e+01] [-4.63939163e-01 8.83289069e-01 -6.75342400e-02 -3.54303648e+01] [-1.35187042e-01 4.74923830e-03 9.90808714e-01 -1.07845231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.08, Y:-35.46, Z:-10.80 [[ 8.71296463e-01 4.76560324e-01 1.17186735e-01 8.20849578e+01] [-4.71759739e-01 8.79134454e-01 -6.75674431e-02 -3.54564150e+01] [-1.35222859e-01 3.58729074e-03 9.90808715e-01 -1.07959856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:-35.48, Z:-10.81 [[ 8.64029218e-01 4.89616556e-01 1.17171405e-01 8.21427151e+01] [-4.84930848e-01 8.71936420e-01 -6.75940167e-02 -3.54808124e+01] [-1.35261165e-01 1.58317653e-03 9.90808716e-01 -1.08078814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78577952299999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:82.20, Y:-35.51, Z:-10.82 [[ 8.57857002e-01 5.00356484e-01 1.17152691e-01 8.21976030e+01] [-4.95765348e-01 8.65819487e-01 -6.76264359e-02 -3.55100141e+01] [-1.35270409e-01 -6.64331893e-05 9.90808716e-01 -1.08155413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.25, Y:-35.54, Z:-10.82 [[ 8.54525379e-01 5.06029789e-01 1.17133387e-01 8.22527025e+01] [-5.01486933e-01 8.62515507e-01 -6.76598561e-02 -3.55392877e+01] [-1.35267265e-01 -9.23798759e-04 9.90808717e-01 -1.08211916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.31, Y:-35.57, Z:-10.83 [[ 8.50915312e-01 5.12078477e-01 1.17127132e-01 8.23067571e+01] [-5.07590922e-01 8.58936630e-01 -6.76706824e-02 -3.55706307e+01] [-1.35257484e-01 -1.87064898e-03 9.90808717e-01 -1.08252491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:-35.60, Z:-10.83 [[ 8.48038821e-01 5.16832184e-01 1.17109569e-01 8.23614916e+01] [-5.12385394e-01 8.56082808e-01 -6.77010623e-02 -3.55996398e+01] [-1.35245577e-01 -2.59210360e-03 9.90808718e-01 -1.08339510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025779523 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:-35.63, Z:-10.85 [[ 8.48717272e-01 5.15721709e-01 1.17090186e-01 8.24137791e+01] [-5.11259772e-01 8.56752866e-01 -6.77345690e-02 -3.56311572e+01] [-1.35249540e-01 -2.37600347e-03 9.90808718e-01 -1.08482105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.47, Y:-35.67, Z:-10.85 [[ 8.49252335e-01 5.14843947e-01 1.17073404e-01 8.24659115e+01] [-5.10369709e-01 8.57281086e-01 -6.77635635e-02 -3.56668535e+01] [-1.35252475e-01 -2.20235465e-03 9.90808719e-01 -1.08516411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:-35.70, Z:-10.86 [[ 8.52866480e-01 5.08839039e-01 1.17053835e-01 8.25187046e+01] [-5.04303626e-01 8.60860832e-01 -6.77973509e-02 -3.56985899e+01] [-1.35265000e-01 -1.20858516e-03 9.90808720e-01 -1.08604048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.57, Y:-35.73, Z:-10.87 [[ 8.56388162e-01 5.02893351e-01 1.17036720e-01 8.25692643e+01] [-4.98298395e-01 8.64348439e-01 -6.78268835e-02 -3.57345146e+01] [-1.35270194e-01 -2.33069439e-04 9.90808720e-01 -1.08709190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.62, Y:-35.77, Z:-10.88 [[ 8.58189970e-01 4.99813757e-01 1.17030697e-01 8.26203674e+01] [-4.95188819e-01 8.66132864e-01 -6.78372736e-02 -3.57697003e+01] [-1.35270135e-01 2.64975329e-04 9.90808720e-01 -1.08775636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325779523 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:82.67, Y:-35.80, Z:-10.89 [[ 8.61194615e-01 4.94622912e-01 1.17012860e-01 8.26742724e+01] [-4.89945921e-01 8.69106970e-01 -6.78680264e-02 -3.57985365e+01] [-1.35265773e-01 1.11760536e-03 9.90808721e-01 -1.08944720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:-35.83, Z:-10.90 [[ 8.63309641e-01 4.90926429e-01 1.16994467e-01 8.27261539e+01] [-4.86211266e-01 8.71199307e-01 -6.78997193e-02 -3.58346423e+01] [-1.35259265e-01 1.73445445e-03 9.90808722e-01 -1.08984968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.78, Y:-35.87, Z:-10.90 [[ 8.67050151e-01 4.84293987e-01 1.16975935e-01 8.27785268e+01] [-4.79514178e-01 8.74900821e-01 -6.79316300e-02 -3.58679918e+01] [-1.35241222e-01 2.80851061e-03 9.90808722e-01 -1.09004317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.83, Y:-35.90, Z:-10.91 [[ 8.70075446e-01 4.78841554e-01 1.16959330e-01 8.28333359e+01] [-4.74008719e-01 8.77893584e-01 -6.79602073e-02 -3.58978753e+01] [-1.35220017e-01 3.69076526e-03 9.90808723e-01 -1.09108311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:-35.93, Z:-10.92 [[ 8.73067406e-01 4.73368979e-01 1.16940642e-01 8.28875505e+01] [-4.68482851e-01 8.80852348e-01 -6.79923497e-02 -3.59282777e+01] [-1.35192908e-01 4.57721896e-03 9.90808724e-01 -1.09209722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-35.96, Z:-10.93 [[ 8.73416849e-01 4.72728564e-01 1.16921818e-01 8.29405192e+01] [-4.67832404e-01 8.81195484e-01 -6.80247050e-02 -3.59578645e+01] [-1.35188199e-01 4.71410840e-03 9.90808724e-01 -1.09320570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685779523 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:-35.99, Z:-10.94 [[ 8.73826425e-01 4.71975143e-01 1.16905274e-01 8.29949365e+01] [-4.67068480e-01 8.81598439e-01 -6.80531251e-02 -3.59865453e+01] [-1.35182891e-01 4.86385036e-03 9.90808725e-01 -1.09446977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-36.02, Z:-10.95 [[ 8.73176400e-01 4.73178131e-01 1.16899231e-01 8.30483212e+01] [-4.68280789e-01 8.80954291e-01 -6.80635047e-02 -3.60166167e+01] [-1.35189041e-01 4.68978208e-03 9.90808725e-01 -1.09499363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:-36.04, Z:-10.96 [[ 8.72107899e-01 4.75148973e-01 1.16881418e-01 8.31062330e+01] [-4.70265117e-01 8.79894264e-01 -6.80940800e-02 -3.60399894e+01] [-1.35198121e-01 4.42013135e-03 9.90808725e-01 -1.09562569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.16, Y:-36.07, Z:-10.97 [[ 8.67243556e-01 4.83974348e-01 1.16865069e-01 8.31621278e+01] [-4.79165980e-01 8.75076762e-01 -6.81221277e-02 -3.60658656e+01] [-1.35235268e-01 3.08071121e-03 9.90808726e-01 -1.09692959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92577952299999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:83.22, Y:-36.10, Z:-10.97 [[ 8.63059358e-01 4.91401550e-01 1.16846311e-01 8.32166937e+01] [-4.86656252e-01 8.70930930e-01 -6.81542860e-02 -3.60986969e+01] [-1.35256188e-01 1.95720642e-03 9.90808727e-01 -1.09709488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:-36.12, Z:-10.99 [[ 8.57840269e-01 5.00461378e-01 1.16826719e-01 8.32766454e+01] [-4.95794650e-01 8.65758674e-01 -6.81878536e-02 -3.61154259e+01] [-1.35269133e-01 5.72224316e-04 9.90808727e-01 -1.09888139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045779523 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:-36.15, Z:-11.00 [[ 8.52646186e-01 5.09264396e-01 1.16808631e-01 8.33287614e+01] [-5.04675174e-01 8.60609761e-01 -6.82188259e-02 -3.61467494e+01] [-1.35268067e-01 -7.83894353e-04 9.90808728e-01 -1.09986979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.38, Y:-36.18, Z:-11.00 [[ 8.50725391e-01 5.12470348e-01 1.16792347e-01 8.33816193e+01] [-5.07907310e-01 8.58703996e-01 -6.82466935e-02 -3.61793706e+01] [-1.35264462e-01 -1.26049155e-03 9.90808729e-01 -1.10037469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165779523 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:83.44, Y:-36.20, Z:-11.01 [[ 8.50639602e-01 5.12616518e-01 1.16775734e-01 8.34379972e+01] [-5.08050950e-01 8.58616761e-01 -6.82751071e-02 -3.62035632e+01] [-1.35264550e-01 -1.25051278e-03 9.90808729e-01 -1.10128587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225779523 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:83.49, Y:-36.24, Z:-11.02 [[ 8.48425379e-01 5.16276569e-01 1.16759931e-01 8.34890190e+01] [-5.11741694e-01 8.56420025e-01 -6.83021225e-02 -3.62387327e+01] [-1.35258328e-01 -1.80167069e-03 9.90808730e-01 -1.10214681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.54, Y:-36.27, Z:-11.03 [[ 8.46852147e-01 5.18857166e-01 1.16741952e-01 8.35423432e+01] [-5.14342419e-01 8.54858175e-01 -6.83328377e-02 -3.62691915e+01] [-1.35252795e-01 -2.17752782e-03 9.90808730e-01 -1.10313795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:83.60, Y:-36.30, Z:-11.04 [[ 8.47058074e-01 5.18524754e-01 1.16724888e-01 8.35951180e+01] [-5.14002851e-01 8.55060062e-01 -6.83619735e-02 -3.63008720e+01] [-1.35254166e-01 -2.09036382e-03 9.90808731e-01 -1.10444168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.65, Y:-36.34, Z:-11.04 [[ 8.47516207e-01 5.17779982e-01 1.16705479e-01 8.36454291e+01] [-5.13246487e-01 8.55511633e-01 -6.83950928e-02 -3.63408498e+01] [-1.35256505e-01 -1.93272754e-03 9.90808732e-01 -1.10374652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465779523 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:83.70, Y:-36.37, Z:-11.06 [[ 8.47385329e-01 5.17998021e-01 1.16688280e-01 8.36986269e+01] [-5.13462545e-01 8.55379631e-01 -6.84244240e-02 -3.63698112e+01] [-1.35256494e-01 -1.93320801e-03 9.90808732e-01 -1.10555922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.75, Y:-36.40, Z:-11.07 [[ 8.46748204e-01 5.19043219e-01 1.16668826e-01 8.37499177e+01] [-5.14513044e-01 8.54745510e-01 -6.84575774e-02 -3.64001471e+01] [-1.35254597e-01 -2.06130235e-03 9.90808733e-01 -1.10679598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:-36.44, Z:-11.07 [[ 8.49224119e-01 5.14984453e-01 1.16659373e-01 8.37987170e+01] [-5.10413840e-01 8.57198383e-01 -6.84736833e-02 -3.64418487e+01] [-1.35263108e-01 -1.39505521e-03 9.90808733e-01 -1.10698611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64577952299999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:83.85, Y:-36.48, Z:-11.08 [[ 8.52869733e-01 5.08928518e-01 1.16640396e-01 8.38507622e+01] [-5.04296858e-01 8.60808694e-01 -6.85059953e-02 -3.64772818e+01] [-1.35269721e-01 -3.94695073e-04 9.90808734e-01 -1.10780128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:-36.51, Z:-11.09 [[ 8.54147519e-01 5.06785416e-01 1.16621425e-01 8.39034496e+01] [-5.02129429e-01 8.62072237e-01 -6.85382752e-02 -3.65079690e+01] [-1.35270291e-01 -1.72516593e-05 9.90808734e-01 -1.10886270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:-36.54, Z:-11.10 [[ 8.57688597e-01 5.00770615e-01 1.16615018e-01 8.39554917e+01] [-4.96057572e-01 8.65579515e-01 -6.85491747e-02 -3.65432889e+01] [-1.35266983e-01 9.46082932e-04 9.90808734e-01 -1.10969879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825779523 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:-36.58, Z:-11.11 [[ 8.63548803e-01 4.90600581e-01 1.16595603e-01 8.40043739e+01] [-4.85790168e-01 8.71380742e-01 -6.85821823e-02 -3.65803466e+01] [-1.35245621e-01 2.58306411e-03 9.90808735e-01 -1.11076660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.06, Y:-36.61, Z:-11.11 [[ 8.68114374e-01 4.82479783e-01 1.16579122e-01 8.40571290e+01] [-4.77592369e-01 8.75898494e-01 -6.86101857e-02 -3.66098393e+01] [-1.35214505e-01 3.88418947e-03 9.90808736e-01 -1.11140869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.11, Y:-36.64, Z:-11.12 [[ 8.71820791e-01 4.75753428e-01 1.16564076e-01 8.41095523e+01] [-4.70802565e-01 8.79564711e-01 -6.86357390e-02 -3.66436082e+01] [-1.35179336e-01 4.95939852e-03 9.90808736e-01 -1.11190102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:-36.67, Z:-11.13 [[ 8.80013750e-01 4.60426419e-01 1.16547469e-01 8.41636710e+01] [-4.55337101e-01 8.87667387e-01 -6.86639264e-02 -3.66717829e+01] [-1.35070073e-01 7.35681264e-03 9.90808737e-01 -1.11338699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06577952299999 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:84.22, Y:-36.71, Z:-11.14 [[ 8.80790362e-01 4.58943400e-01 1.16530222e-01 8.42154395e+01] [-4.53837342e-01 8.88432841e-01 -6.86931846e-02 -3.67062053e+01] [-1.35055560e-01 7.61852887e-03 9.90808737e-01 -1.11374153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:-36.74, Z:-11.14 [[ 8.80552103e-01 4.59404958e-01 1.16512136e-01 8.42696416e+01] [-4.54298866e-01 8.88194558e-01 -6.87238465e-02 -3.67359833e+01] [-1.35057521e-01 7.58359627e-03 9.90808738e-01 -1.11441130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:-36.76, Z:-11.16 [[ 8.79564251e-01 4.61297603e-01 1.16495707e-01 8.43247229e+01] [-4.56204285e-01 8.87215225e-01 -6.87516852e-02 -3.67625343e+01] [-1.35071752e-01 7.32568391e-03 9.90808738e-01 -1.11557466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:-36.79, Z:-11.16 [[ 8.76653150e-01 4.66810229e-01 1.16479460e-01 8.43808981e+01] [-4.61761398e-01 8.84333553e-01 -6.87792001e-02 -3.67901688e+01] [-1.35113529e-01 6.50978429e-03 9.90808739e-01 -1.11643995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.44, Y:-36.81, Z:-11.17 [[ 8.72829408e-01 4.73925774e-01 1.16461087e-01 8.44397782e+01] [-4.68935444e-01 8.80547950e-01 -6.88102955e-02 -3.68117325e+01] [-1.35160544e-01 5.44691775e-03 9.90808740e-01 -1.11688447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.50, Y:-36.84, Z:-11.18 [[ 8.69013370e-01 4.80891296e-01 1.16444512e-01 8.44979873e+01] [-4.75959105e-01 8.76769191e-01 -6.88383334e-02 -3.68365483e+01] [-1.35198716e-01 4.39860616e-03 9.90808740e-01 -1.11773079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42577952299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:-36.87, Z:-11.19 [[ 8.67122074e-01 4.84297818e-01 1.16425652e-01 8.45518263e+01] [-4.79391825e-01 8.74894491e-01 -6.88702174e-02 -3.68662531e+01] [-1.35213858e-01 3.90538004e-03 9.90808741e-01 -1.11880743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:-36.90, Z:-11.19 [[ 8.65695475e-01 4.86847418e-01 1.16408493e-01 8.46059405e+01] [-4.81960423e-01 8.73479851e-01 -6.88992090e-02 -3.68952001e+01] [-1.35223875e-01 3.54144717e-03 9.90808741e-01 -1.11931392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545779523 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:-36.91, Z:-11.21 [[ 8.63350846e-01 4.90997558e-01 1.16390353e-01 8.46674861e+01] [-4.86143861e-01 8.71156027e-01 -6.89298388e-02 -3.69118966e+01] [-1.35238540e-01 2.92817923e-03 9.90808742e-01 -1.12083436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605779523 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:-36.94, Z:-11.21 [[ 8.62595424e-01 4.92328165e-01 1.16370582e-01 8.47206026e+01] [-4.87482009e-01 8.70405289e-01 -6.89632012e-02 -3.69440746e+01] [-1.35242096e-01 2.75877679e-03 9.90808743e-01 -1.12132911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.78, Y:-36.97, Z:-11.22 [[ 8.63081567e-01 4.91479753e-01 1.16352317e-01 8.47788576e+01] [-4.86621770e-01 8.70884080e-01 -6.89940041e-02 -3.69686304e+01] [-1.35238536e-01 2.92788297e-03 9.90808743e-01 -1.12186420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725779523 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-36.99, Z:-11.24 [[ 8.63759807e-01 4.90291334e-01 1.16333156e-01 8.48364268e+01] [-4.85418270e-01 8.71552909e-01 -6.90262966e-02 -3.69898580e+01] [-1.35233495e-01 3.15190136e-03 9.90808744e-01 -1.12371959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:-37.02, Z:-11.23 [[ 8.63739254e-01 4.90331472e-01 1.16316590e-01 8.48889180e+01] [-4.85455015e-01 8.71530232e-01 -6.90542007e-02 -3.70247081e+01] [-1.35232873e-01 3.17835174e-03 9.90808745e-01 -1.12349161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84577952299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:84.94, Y:-37.05, Z:-11.25 [[ 8.64247839e-01 4.89438452e-01 1.16299935e-01 8.49440721e+01] [-4.84550175e-01 8.72031405e-01 -6.90822402e-02 -3.70488366e+01] [-1.35228700e-01 3.35102315e-03 9.90808745e-01 -1.12463980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90577952299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:85.00, Y:-37.07, Z:-11.26 [[ 8.63711144e-01 4.90387132e-01 1.16290673e-01 8.50008593e+01] [-4.85505307e-01 8.71498759e-01 -6.90978270e-02 -3.70719441e+01] [-1.35231863e-01 3.22082421e-03 9.90808745e-01 -1.12620134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:-37.11, Z:-11.26 [[ 8.63277465e-01 4.91154237e-01 1.16273530e-01 8.50532198e+01] [-4.86275451e-01 8.71066984e-01 -6.91266620e-02 -3.71074852e+01] [-1.35233886e-01 3.13452610e-03 9.90808746e-01 -1.12612842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:-37.13, Z:-11.27 [[ 8.63032896e-01 4.91587931e-01 1.16256296e-01 8.51096159e+01] [-4.86709159e-01 8.70822423e-01 -6.91556353e-02 -3.71349787e+01] [-1.35234665e-01 3.10058428e-03 9.90808746e-01 -1.12693635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085779523 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:-37.16, Z:-11.28 [[ 8.62685896e-01 4.92201260e-01 1.16236678e-01 8.51664567e+01] [-4.87323588e-01 8.70476111e-01 -6.91885935e-02 -3.71599416e+01] [-1.35235964e-01 3.04314889e-03 9.90808747e-01 -1.12828631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:-37.20, Z:-11.28 [[ 8.61685744e-01 4.93954718e-01 1.16217108e-01 8.52186649e+01] [-4.89088470e-01 8.69483099e-01 -6.92214499e-02 -3.71966969e+01] [-1.35241073e-01 2.80668914e-03 9.90808748e-01 -1.12830662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20577952299999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:-37.22, Z:-11.30 [[ 8.60084974e-01 4.96741386e-01 1.16197387e-01 8.52733309e+01] [-4.91895935e-01 8.67895269e-01 -6.92545383e-02 -3.72244808e+01] [-1.35248758e-01 2.40776543e-03 9.90808749e-01 -1.12950431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:-37.25, Z:-11.31 [[ 8.55046202e-01 5.05369340e-01 1.16180128e-01 8.53289492e+01] [-5.00598779e-01 8.62902464e-01 -6.92834795e-02 -3.72469381e+01] [-1.35265865e-01 1.08094572e-03 9.90808749e-01 -1.13115253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.38, Y:-37.28, Z:-11.31 [[ 8.52442163e-01 5.09751707e-01 1.16170374e-01 8.53809109e+01] [-5.05019307e-01 8.60321471e-01 -6.92998313e-02 -3.72818613e+01] [-1.35269574e-01 4.05816465e-04 9.90808749e-01 -1.13131100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385779523 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:85.43, Y:-37.32, Z:-11.32 [[ 8.51384133e-01 5.11520726e-01 1.16153367e-01 8.54317803e+01] [-5.06800810e-01 8.59270925e-01 -6.93283245e-02 -3.73165859e+01] [-1.35270086e-01 1.58414958e-04 9.90808750e-01 -1.13174160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.49, Y:-37.34, Z:-11.33 [[ 8.48265428e-01 5.16680116e-01 1.16135358e-01 8.54875130e+01] [-5.12004041e-01 8.56178290e-01 -6.93584798e-02 -3.73397791e+01] [-1.35268719e-01 -6.27371982e-04 9.90808750e-01 -1.13288312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.54, Y:-37.37, Z:-11.34 [[ 8.45967892e-01 5.20436788e-01 1.16120092e-01 8.55395807e+01] [-5.15792343e-01 8.53899359e-01 -6.93840284e-02 -3.73732648e+01] [-1.35264873e-01 -1.19719406e-03 9.90808751e-01 -1.13378771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-37.41, Z:-11.34 [[ 8.45342776e-01 5.21455399e-01 1.16102793e-01 8.55895044e+01] [-5.16816536e-01 8.53277510e-01 -6.94129635e-02 -3.74108203e+01] [-1.35263667e-01 -1.32609618e-03 9.90808751e-01 -1.13417808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62577952299999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:-37.44, Z:-11.35 [[ 8.45815734e-01 5.20691755e-01 1.16085487e-01 8.56433164e+01] [-5.16041758e-01 8.53743947e-01 -6.94418942e-02 -3.74390037e+01] [-1.35265104e-01 -1.16991210e-03 9.90808752e-01 -1.13540148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685779523 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:85.69, Y:-37.48, Z:-11.37 [[ 8.46384226e-01 5.19770974e-01 1.16068412e-01 8.56917829e+01] [-5.15108439e-01 8.54305072e-01 -6.94704233e-02 -3.74772811e+01] [-1.35266542e-01 -9.89147863e-04 9.90808753e-01 -1.13666452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745779523 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:85.74, Y:-37.51, Z:-11.37 [[ 8.48289535e-01 5.16657003e-01 1.16062078e-01 8.57424314e+01] [-5.11963943e-01 8.56192333e-01 -6.94810031e-02 -3.75128295e+01] [-1.35269308e-01 -4.79591167e-04 9.90808753e-01 -1.13706842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:85.79, Y:-37.55, Z:-11.38 [[ 8.49393563e-01 5.14843939e-01 1.16044357e-01 8.57945613e+01] [-5.10129968e-01 8.57283905e-01 -6.95105879e-02 -3.75459969e+01] [-1.35270064e-01 -1.55858095e-04 9.90808753e-01 -1.13778046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865779523 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:-37.59, Z:-11.38 [[ 8.50116743e-01 5.13652875e-01 1.16026928e-01 8.58429491e+01] [-5.08923879e-01 8.57998088e-01 -6.95396672e-02 -3.75887119e+01] [-1.35270133e-01 6.79608943e-05 9.90808754e-01 -1.13783767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:-37.62, Z:-11.39 [[ 8.49757875e-01 5.14250801e-01 1.16007185e-01 8.58938803e+01] [-5.09522857e-01 8.57639850e-01 -6.95725883e-02 -3.76234345e+01] [-1.35270144e-01 1.15425783e-05 9.90808755e-01 -1.13879967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98577952299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:-37.65, Z:-11.41 [[ 8.49896289e-01 5.14025972e-01 1.15989646e-01 8.59457010e+01] [-5.09291953e-01 8.57774617e-01 -6.96018168e-02 -3.76531191e+01] [-1.35270116e-01 8.17324971e-05 9.90808755e-01 -1.14077664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:-37.70, Z:-11.41 [[ 8.49272292e-01 5.15060219e-01 1.15972171e-01 8.59919054e+01] [-5.10331819e-01 8.57153994e-01 -6.96309219e-02 -3.76960307e+01] [-1.35270127e-01 -4.86763587e-05 9.90808756e-01 -1.14083836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:-37.73, Z:-11.41 [[ 8.48913381e-01 5.15655149e-01 1.15956193e-01 8.60434917e+01] [-5.10928640e-01 8.56796215e-01 -6.96575196e-02 -3.77329556e+01] [-1.35270086e-01 -1.12139573e-04 9.90808756e-01 -1.14119168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165779523 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:86.10, Y:-37.77, Z:-11.42 [[ 8.47690451e-01 5.17667570e-01 1.15936132e-01 8.60955598e+01] [-5.12955210e-01 8.55581750e-01 -6.96908933e-02 -3.77658655e+01] [-1.35269554e-01 -3.93738122e-04 9.90808757e-01 -1.14245921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.14, Y:-37.81, Z:-11.43 [[ 8.44927323e-01 5.22169832e-01 1.15915855e-01 8.61432343e+01] [-5.17494895e-01 8.52840849e-01 -6.97246032e-02 -3.78098332e+01] [-1.35265861e-01 -1.07364092e-03 9.90808758e-01 -1.14264665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28577952299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:-37.85, Z:-11.44 [[ 8.45262754e-01 5.21631115e-01 1.15895888e-01 8.61931640e+01] [-5.16946585e-01 8.53170605e-01 -6.97577763e-02 -3.78455812e+01] [-1.35266792e-01 -9.48333649e-04 9.90808758e-01 -1.14399010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.24, Y:-37.88, Z:-11.45 [[ 8.45950081e-01 5.20519610e-01 1.15878366e-01 8.62429806e+01] [-5.15820704e-01 8.53849398e-01 -6.97868709e-02 -3.78806004e+01] [-1.35268108e-01 -7.36251447e-04 9.90808759e-01 -1.14522645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.29, Y:-37.92, Z:-11.46 [[ 8.45724844e-01 5.20889403e-01 1.15860769e-01 8.62923191e+01] [-5.16189950e-01 8.53623835e-01 -6.98160734e-02 -3.79184776e+01] [-1.35267967e-01 -7.60976998e-04 9.90808760e-01 -1.14579684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465779523 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:-37.96, Z:-11.46 [[ 8.45571901e-01 5.21141508e-01 1.15843382e-01 8.63407424e+01] [-5.16440460e-01 8.53469941e-01 -6.98449114e-02 -3.79579181e+01] [-1.35267927e-01 -7.67315224e-04 9.90808760e-01 -1.14622066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525779523 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:-37.99, Z:-11.47 [[ 8.45948720e-01 5.20533459e-01 1.15826081e-01 8.63900790e+01] [-5.15822807e-01 8.53841035e-01 -6.98735906e-02 -3.79935435e+01] [-1.35268603e-01 -6.36259826e-04 9.90808761e-01 -1.14716564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:-38.03, Z:-11.48 [[ 8.45188937e-01 5.21768360e-01 1.15816404e-01 8.64400585e+01] [-5.17067042e-01 8.53086815e-01 -6.98896279e-02 -3.80312764e+01] [-1.35267644e-01 -8.14905029e-04 9.90808761e-01 -1.14828719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:-38.07, Z:-11.49 [[ 8.42711183e-01 5.25765247e-01 1.15796231e-01 8.64887892e+01] [-5.21096795e-01 8.50628532e-01 -6.99230356e-02 -3.80693907e+01] [-1.35262680e-01 -1.41612068e-03 9.90808762e-01 -1.14928615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.54, Y:-38.10, Z:-11.50 [[ 8.41205602e-01 5.28174606e-01 1.15778758e-01 8.65413032e+01] [-5.23524850e-01 8.49133944e-01 -6.99519547e-02 -3.81017589e+01] [-1.35258520e-01 -1.76908099e-03 9.90808762e-01 -1.14974149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76577952299999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:86.59, Y:-38.14, Z:-11.50 [[ 8.40579639e-01 5.29174025e-01 1.15761489e-01 8.65923834e+01] [-5.24529761e-01 8.48511200e-01 -6.99805222e-02 -3.81362044e+01] [-1.35256794e-01 -1.89614391e-03 9.90808763e-01 -1.15005678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825779523 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:86.65, Y:-38.17, Z:-11.51 [[ 8.38967074e-01 5.31728947e-01 1.15752218e-01 8.66465649e+01] [-5.27106722e-01 8.46911498e-01 -6.99958531e-02 -3.81668803e+01] [-1.35250706e-01 -2.28955614e-03 9.90808763e-01 -1.15116305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885779523 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:-38.20, Z:-11.52 [[ 8.37553044e-01 5.33957770e-01 1.15732442e-01 8.66978925e+01] [-5.29352169e-01 8.45507117e-01 -7.00285368e-02 -3.81984610e+01] [-1.35244884e-01 -2.61060481e-03 9.90808764e-01 -1.15245805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:-38.23, Z:-11.53 [[ 8.39166878e-01 5.31422355e-01 1.15711848e-01 8.67507013e+01] [-5.26788032e-01 8.47104249e-01 -7.00625485e-02 -3.82327963e+01] [-1.35252803e-01 -2.16144661e-03 9.90808764e-01 -1.15316077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:-38.27, Z:-11.54 [[ 8.42207548e-01 5.26595065e-01 1.15689601e-01 8.68022865e+01] [-5.21910198e-01 8.50115191e-01 -7.00992648e-02 -3.82658070e+01] [-1.35263414e-01 -1.34145251e-03 9.90808765e-01 -1.15410182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:-38.30, Z:-11.54 [[ 8.44219131e-01 5.23368077e-01 1.15671580e-01 8.68562877e+01] [-5.18648909e-01 8.52106351e-01 -7.01289880e-02 -3.82991168e+01] [-1.35267762e-01 -7.88705651e-04 9.90808766e-01 -1.15436982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12577952299999 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:-38.33, Z:-11.55 [[ 8.46083192e-01 5.20353573e-01 1.15652028e-01 8.69081881e+01] [-5.15601897e-01 8.53950869e-01 -7.01612184e-02 -3.83314441e+01] [-1.35269790e-01 -2.68177187e-04 9.90808767e-01 -1.15540761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.96, Y:-38.36, Z:-11.57 [[ 8.50855153e-01 5.12517608e-01 1.15633944e-01 8.69640921e+01] [-5.07689427e-01 8.58676114e-01 -7.01910092e-02 -3.83557968e+01] [-1.35266234e-01 1.01625099e-03 9.90808767e-01 -1.15707657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.01, Y:-38.40, Z:-11.57 [[ 8.50545908e-01 5.13033753e-01 1.15620179e-01 8.70123547e+01] [-5.08207236e-01 8.58367896e-01 -7.02136759e-02 -3.83952133e+01] [-1.35266636e-01 9.60942843e-04 9.90808768e-01 -1.15658821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.07, Y:-38.42, Z:-11.59 [[ 8.57109965e-01 5.01992563e-01 1.15611309e-01 8.70660275e+01] [-4.97063336e-01 8.64867637e-01 -7.02282791e-02 -3.84217714e+01] [-1.35242553e-01 2.72721501e-03 9.90808768e-01 -1.15900014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:-38.46, Z:-11.60 [[ 8.55633034e-01 5.04509857e-01 1.15593756e-01 8.71165963e+01] [-4.99599554e-01 8.63402697e-01 -7.02571594e-02 -3.84575141e+01] [-1.35249390e-01 2.36375768e-03 9.90808768e-01 -1.15987108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:-38.49, Z:-11.59 [[ 8.50210261e-01 5.13599771e-01 1.15575894e-01 8.71673649e+01] [-5.08768556e-01 8.58029347e-01 -7.02865303e-02 -3.84936462e+01] [-1.35266655e-01 9.56948574e-04 9.90808769e-01 -1.15930778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:-38.53, Z:-11.60 [[ 8.47249969e-01 5.18472249e-01 1.15559581e-01 8.72184253e+01] [-5.13682346e-01 8.55094429e-01 -7.03133402e-02 -3.85294159e+01] [-1.35269870e-01 2.12058521e-04 9.90808769e-01 -1.15972551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545779523 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:-38.56, Z:-11.61 [[ 8.46671545e-01 5.19420104e-01 1.15542417e-01 8.72690145e+01] [-5.14635134e-01 8.54519015e-01 -7.03415340e-02 -3.85633966e+01] [-1.35269999e-01 9.39879660e-05 9.90808770e-01 -1.16095218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605779523 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.32, Y:-38.60, Z:-11.62 [[ 8.47485984e-01 5.18091601e-01 1.15536143e-01 8.73210295e+01] [-5.13292925e-01 8.55325080e-01 -7.03518384e-02 -3.85954496e+01] [-1.35269657e-01 3.18312377e-04 9.90808770e-01 -1.16193985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665779523 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:87.38, Y:-38.62, Z:-11.64 [[ 8.51669773e-01 5.11189153e-01 1.15517304e-01 8.73762605e+01] [-5.06322754e-01 8.59467007e-01 -7.03827579e-02 -3.86198881e+01] [-1.35262214e-01 1.45382799e-03 9.90808771e-01 -1.16398003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725779523 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:87.43, Y:-38.66, Z:-11.64 [[ 8.49377326e-01 5.14991277e-01 1.15508197e-01 8.74250989e+01] [-5.10157750e-01 8.57194980e-01 -7.03977013e-02 -3.86580401e+01] [-1.35267248e-01 8.66809527e-04 9.90808771e-01 -1.16364249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:-38.69, Z:-11.65 [[ 8.49190796e-01 5.15302414e-01 1.15492055e-01 8.74784164e+01] [-5.10468151e-01 8.57007994e-01 -7.04241733e-02 -3.86880475e+01] [-1.35267361e-01 8.48544147e-04 9.90808771e-01 -1.16501899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84577952299999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:-38.72, Z:-11.66 [[ 8.50251105e-01 5.13554875e-01 1.15474882e-01 8.75298681e+01] [-5.08700723e-01 8.58055968e-01 -7.04523197e-02 -3.87207274e+01] [-1.35265044e-01 1.16000645e-03 9.90808772e-01 -1.16622492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90577952299999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:-38.75, Z:-11.67 [[ 8.51818680e-01 5.10954505e-01 1.15457482e-01 8.75819326e+01] [-5.06072665e-01 8.59606254e-01 -7.04808250e-02 -3.87544564e+01] [-1.35260468e-01 1.60700793e-03 9.90808772e-01 -1.16674127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965779523 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:-38.78, Z:-11.68 [[ 8.54547982e-01 5.06379449e-01 1.15445222e-01 8.76351308e+01] [-5.01453209e-01 8.62307545e-01 -7.05008998e-02 -3.87822640e+01] [-1.35249493e-01 2.35602459e-03 9.90808773e-01 -1.16835906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025779523 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-38.81, Z:-11.70 [[ 8.57631482e-01 5.01143032e-01 1.15429209e-01 8.76892616e+01] [-4.96165897e-01 8.65358498e-01 -7.05271075e-02 -3.88116802e+01] [-1.35231816e-01 3.21423057e-03 9.90808773e-01 -1.16952900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085779523 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:87.74, Y:-38.84, Z:-11.71 [[ 8.60656344e-01 4.95934774e-01 1.15409520e-01 8.77415886e+01] [-4.90906574e-01 8.68350228e-01 -7.05593128e-02 -3.88430607e+01] [-1.35208700e-01 4.07202825e-03 9.90808774e-01 -1.17050469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14577952299999 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:87.80, Y:-38.87, Z:-11.72 [[ 8.61974420e-01 4.93644289e-01 1.15392442e-01 8.77964204e+01] [-4.88591915e-01 8.69652450e-01 -7.05872305e-02 -3.88725735e+01] [-1.35196303e-01 4.46457267e-03 9.90808774e-01 -1.17158781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20577952299999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:-38.90, Z:-11.73 [[ 8.62498458e-01 4.92732865e-01 1.15372156e-01 8.78521793e+01] [-4.87667951e-01 8.70168221e-01 -7.06203718e-02 -3.89001275e+01] [-1.35190162e-01 4.64665875e-03 9.90808775e-01 -1.17252358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:-38.93, Z:-11.74 [[ 8.62167755e-01 4.93316012e-01 1.15351960e-01 8.79067353e+01] [-4.88251882e-01 8.69838034e-01 -7.06533446e-02 -3.89275473e+01] [-1.35191949e-01 4.59422377e-03 9.90808776e-01 -1.17380932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325779523 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:-38.95, Z:-11.75 [[ 8.63942145e-01 4.90206274e-01 1.15333339e-01 8.79616248e+01] [-4.85110490e-01 8.71591431e-01 -7.06837295e-02 -3.89536113e+01] [-1.35173157e-01 5.11724053e-03 9.90808776e-01 -1.17516885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:88.01, Y:-38.99, Z:-11.75 [[ 8.61027945e-01 4.95309305e-01 1.15323765e-01 8.80121338e+01] [-4.90256780e-01 8.68705872e-01 -7.06993463e-02 -3.89909961e+01] [-1.35200476e-01 4.33585531e-03 9.90808777e-01 -1.17534293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.07, Y:-39.02, Z:-11.77 [[ 8.59613564e-01 4.97764072e-01 1.15305893e-01 8.80659460e+01] [-4.92729570e-01 8.67303322e-01 -7.07284818e-02 -3.90186992e+01] [-1.35211281e-01 3.98453922e-03 9.90808777e-01 -1.17661455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:-39.05, Z:-11.78 [[ 8.58161867e-01 5.00266921e-01 1.15287544e-01 8.81202017e+01] [-4.95250837e-01 8.65863650e-01 -7.07583777e-02 -3.90492413e+01] [-1.35221370e-01 3.62588871e-03 9.90808778e-01 -1.17783082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56577952299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:-39.08, Z:-11.78 [[ 8.57907394e-01 5.00707606e-01 1.15268368e-01 8.81735220e+01] [-4.95691286e-01 8.65609023e-01 -7.07896030e-02 -3.90814170e+01] [-1.35222232e-01 3.59339813e-03 9.90808778e-01 -1.17845325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.23, Y:-39.11, Z:-11.79 [[ 8.58459410e-01 4.99765084e-01 1.15248868e-01 8.82266035e+01] [-4.94736053e-01 8.66152744e-01 -7.08213368e-02 -3.91144045e+01] [-1.35217154e-01 3.77947318e-03 9.90808779e-01 -1.17912075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685779523 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:-39.15, Z:-11.80 [[ 8.60574830e-01 4.96118116e-01 1.15229235e-01 8.82796383e+01] [-4.91052217e-01 8.68243937e-01 -7.08532655e-02 -3.91455925e+01] [-1.35198673e-01 4.39096558e-03 9.90808780e-01 -1.17992512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.33, Y:-39.18, Z:-11.80 [[ 8.61391628e-01 4.94702800e-01 1.15211121e-01 8.83331826e+01] [-4.89620370e-01 8.69049789e-01 -7.08827079e-02 -3.91786377e+01] [-1.35190074e-01 4.64805949e-03 9.90808780e-01 -1.18046296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805779523 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:-39.21, Z:-11.82 [[ 8.66870343e-01 4.85043017e-01 1.15191497e-01 8.83867228e+01] [-4.79871075e-01 8.74468337e-01 -7.09145844e-02 -3.92075182e+01] [-1.35127941e-01 6.19668250e-03 9.90808781e-01 -1.18198781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:-39.25, Z:-11.82 [[ 8.63202743e-01 4.91544558e-01 1.15173661e-01 8.84327330e+01] [-4.86426012e-01 8.70836810e-01 -7.09435414e-02 -3.92496932e+01] [-1.35169375e-01 5.21519515e-03 9.90808782e-01 -1.18207481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92577952299999 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:88.49, Y:-39.28, Z:-11.84 [[ 8.63402329e-01 4.91196100e-01 1.15164276e-01 8.84868455e+01] [-4.86072445e-01 8.71032968e-01 -7.09587729e-02 -3.92798554e+01] [-1.35166553e-01 5.28778860e-03 9.90808782e-01 -1.18359571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98577952299999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:-39.32, Z:-11.84 [[ 8.64807178e-01 4.88723133e-01 1.15144444e-01 8.85375514e+01] [-4.83573389e-01 8.72420234e-01 -7.09909389e-02 -3.93184007e+01] [-1.35149257e-01 5.71268434e-03 9.90808783e-01 -1.18395868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045779523 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:88.59, Y:-39.35, Z:-11.84 [[ 8.66255032e-01 4.86156852e-01 1.15124868e-01 8.85905001e+01] [-4.80980352e-01 8.73849919e-01 -7.10226723e-02 -3.93534294e+01] [-1.35130015e-01 6.15094784e-03 9.90808783e-01 -1.18424663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:88.65, Y:-39.38, Z:-11.86 [[ 8.70892573e-01 4.77804220e-01 1.15105400e-01 8.86472252e+01] [-4.72550774e-01 8.78434440e-01 -7.10542098e-02 -3.93779336e+01] [-1.35062549e-01 7.48743787e-03 9.90808784e-01 -1.18567045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165779523 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:88.69, Y:-39.42, Z:-11.86 [[ 8.70395366e-01 4.78710793e-01 1.15099448e-01 8.86945874e+01] [-4.73463933e-01 8.77941817e-01 -7.10638488e-02 -3.94161998e+01] [-1.35069650e-01 7.35820718e-03 9.90808784e-01 -1.18622897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225779523 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:88.75, Y:-39.45, Z:-11.87 [[ 8.72916384e-01 4.74102041e-01 1.15083625e-01 8.87479217e+01] [-4.68811993e-01 8.80432623e-01 -7.10894655e-02 -3.94487587e+01] [-1.35027038e-01 8.10257581e-03 9.90808784e-01 -1.18684641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28577952299999 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:88.80, Y:-39.48, Z:-11.88 [[ 8.78302640e-01 4.64052583e-01 1.15063773e-01 8.88020654e+01] [-4.58672444e-01 8.85754656e-01 -7.11215821e-02 -3.94757437e+01] [-1.34922427e-01 9.68969129e-03 9.90808785e-01 -1.18831414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34577952299999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:88.85, Y:-39.51, Z:-11.89 [[ 8.78540125e-01 4.63607250e-01 1.15045937e-01 8.88505813e+01] [-4.58219583e-01 8.85986699e-01 -7.11504220e-02 -3.95141886e+01] [-1.34915022e-01 9.79219924e-03 9.90808786e-01 -1.18861218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40577952299999 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:-39.54, Z:-11.91 [[ 8.83736765e-01 4.53625235e-01 1.15036845e-01 8.89067988e+01] [-4.48151664e-01 8.91120425e-01 -7.11651190e-02 -3.95358464e+01] [-1.34793976e-01 1.13372785e-02 9.90808786e-01 -1.19087546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465779523 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:-39.58, Z:-11.91 [[ 8.81115394e-01 4.58700835e-01 1.15018290e-01 8.89552770e+01] [-4.53265943e-01 8.88527570e-01 -7.11950965e-02 -3.95762144e+01] [-1.34854172e-01 1.05972220e-02 9.90808786e-01 -1.19098838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525779523 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:89.01, Y:-39.61, Z:-11.92 [[ 8.81847906e-01 4.57295899e-01 1.14998831e-01 8.90078429e+01] [-4.51845140e-01 8.89248421e-01 -7.12265138e-02 -3.96083783e+01] [-1.34834121e-01 1.08492892e-02 9.90808787e-01 -1.19186863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585779523 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:89.06, Y:-39.64, Z:-11.93 [[ 8.81496947e-01 4.57975123e-01 1.14986603e-01 8.90628866e+01] [-4.52527514e-01 8.88899781e-01 -7.12462491e-02 -3.96377738e+01] [-1.34840576e-01 1.07687496e-02 9.90808787e-01 -1.19265645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64577952299999 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:89.12, Y:-39.67, Z:-11.94 [[ 8.80924740e-01 4.59079731e-01 1.14966967e-01 8.91176445e+01] [-4.53637308e-01 8.88331386e-01 -7.12779204e-02 -3.96659277e+01] [-1.34851014e-01 1.06371780e-02 9.90808788e-01 -1.19377273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70577952299999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:89.17, Y:-39.69, Z:-11.95 [[ 8.80660409e-01 4.59591139e-01 1.14948809e-01 8.91728501e+01] [-4.54149229e-01 8.88067431e-01 -7.13071922e-02 -3.96942608e+01] [-1.34854447e-01 1.05935082e-02 9.90808789e-01 -1.19500952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76577952299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:89.23, Y:-39.72, Z:-11.96 [[ 8.79013694e-01 4.62737677e-01 1.14929403e-01 8.92250221e+01] [-4.57318235e-01 8.86437170e-01 -7.13384565e-02 -3.97249453e+01] [-1.34888686e-01 1.01481687e-02 9.90808789e-01 -1.19589354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825779523 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:-39.76, Z:-11.97 [[ 8.77246034e-01 4.66083888e-01 1.14913900e-01 8.92787639e+01] [-4.60689526e-01 8.84687755e-01 -7.13634200e-02 -3.97556875e+01] [-1.34924260e-01 9.66364708e-03 9.90808790e-01 -1.19680444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:-39.78, Z:-11.98 [[ 8.77079156e-01 4.66402490e-01 1.14895048e-01 8.93375047e+01] [-4.61006884e-01 8.84519974e-01 -7.13937594e-02 -3.97775902e+01] [-1.34925192e-01 9.65057028e-03 9.90808790e-01 -1.19801458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:89.39, Y:-39.81, Z:-11.99 [[ 8.75290408e-01 4.69755354e-01 1.14876498e-01 8.93919475e+01] [-4.64384370e-01 8.82749017e-01 -7.14235949e-02 -3.98058273e+01] [-1.34958732e-01 9.16953741e-03 9.90808791e-01 -1.19878546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00577952299999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:-39.84, Z:-11.99 [[ 8.73228386e-01 4.73581914e-01 1.14857988e-01 8.94400024e+01] [-4.68239735e-01 8.80707653e-01 -7.14533490e-02 -3.98443150e+01] [-1.34995323e-01 8.61401881e-03 9.90808792e-01 -1.19925600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06577952299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-39.86, Z:-12.01 [[ 8.75166430e-01 4.69994951e-01 1.14841049e-01 8.94983281e+01] [-4.64618580e-01 8.82621156e-01 -7.14805633e-02 -3.98648733e+01] [-1.34956643e-01 9.20010433e-03 9.90808792e-01 -1.20062362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.55, Y:-39.89, Z:-12.01 [[ 8.73613818e-01 4.72879203e-01 1.14822280e-01 8.95529222e+01] [-4.67523514e-01 8.81083415e-01 -7.15107004e-02 -3.98948039e+01] [-1.34983929e-01 8.79062036e-03 9.90808793e-01 -1.20077229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.61, Y:-39.93, Z:-12.01 [[ 8.73408987e-01 4.73261532e-01 1.14805331e-01 8.96086198e+01] [-4.67905557e-01 8.80878379e-01 -7.15379009e-02 -3.99251802e+01] [-1.34985670e-01 8.76379328e-03 9.90808793e-01 -1.20120764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:-39.95, Z:-12.03 [[ 8.75927698e-01 4.68588135e-01 1.14786011e-01 8.96676063e+01] [-4.63188295e-01 8.83365439e-01 -7.15688869e-02 -3.99450621e+01] [-1.34934326e-01 9.52163368e-03 9.90808794e-01 -1.20265407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305779523 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:89.72, Y:-39.98, Z:-12.03 [[ 8.74978692e-01 4.70362289e-01 1.14767614e-01 8.97191473e+01] [-4.64973689e-01 8.82424581e-01 -7.15983766e-02 -3.99768921e+01] [-1.34950940e-01 9.28313318e-03 9.90808795e-01 -1.20316033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365779523 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:-40.01, Z:-12.04 [[ 8.76861505e-01 4.66846688e-01 1.14752215e-01 8.97729503e+01] [-4.61425042e-01 8.84283365e-01 -7.16230481e-02 -4.00058864e+01] [-1.34910458e-01 9.85394807e-03 9.90808795e-01 -1.20406516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:-40.03, Z:-12.04 [[ 8.80789724e-01 4.59396739e-01 1.14734907e-01 8.98331122e+01] [-4.53908796e-01 8.88162695e-01 -7.16507644e-02 -4.00296459e+01] [-1.34819391e-01 1.10300737e-02 9.90808795e-01 -1.20381795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:-40.06, Z:-12.04 [[ 8.84467377e-01 4.52277486e-01 1.14728092e-01 8.98893080e+01] [-4.46728852e-01 8.91794784e-01 -7.16616744e-02 -4.00577843e+01] [-1.34724876e-01 1.21300643e-02 9.90808796e-01 -1.20393738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.94, Y:-40.08, Z:-12.05 [[ 8.85804457e-01 4.49657902e-01 1.14709350e-01 8.99435853e+01] [-4.44083769e-01 8.93112485e-01 -7.16916628e-02 -4.00828902e+01] [-1.34685075e-01 1.25642341e-02 9.90808796e-01 -1.20542164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.00, Y:-40.10, Z:-12.06 [[ 8.84162400e-01 4.52881262e-01 1.14697047e-01 9.00040306e+01] [-4.47331260e-01 8.91488770e-01 -7.17113404e-02 -4.01044348e+01] [-1.34727852e-01 1.20968963e-02 9.90808796e-01 -1.20591901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665779523 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:90.06, Y:-40.12, Z:-12.07 [[ 8.79380278e-01 4.62103442e-01 1.14676655e-01 9.00627388e+01] [-4.56626152e-01 8.86761166e-01 -7.17439357e-02 -4.01246344e+01] [-1.34843924e-01 1.07258426e-02 9.90808797e-01 -1.20749107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:-40.15, Z:-12.08 [[ 8.74676930e-01 4.70949661e-01 1.14658994e-01 9.01214074e+01] [-4.65543422e-01 8.82110016e-01 -7.17721497e-02 -4.01459766e+01] [-1.34942917e-01 9.39870309e-03 9.90808798e-01 -1.20788224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.18, Y:-40.17, Z:-12.08 [[ 8.72934386e-01 4.74172801e-01 1.14654753e-01 9.01786838e+01] [-4.68793132e-01 8.80386725e-01 -7.17789237e-02 -4.01716815e+01] [-1.34976136e-01 8.90892986e-03 9.90808798e-01 -1.20821214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.23, Y:-40.20, Z:-12.09 [[ 8.73750239e-01 4.72668968e-01 1.14649758e-01 9.02317696e+01] [-4.67275434e-01 8.81192550e-01 -7.17869007e-02 -4.02017090e+01] [-1.34959953e-01 9.15080600e-03 9.90808798e-01 -1.20891523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90577952299999 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:90.29, Y:-40.23, Z:-12.10 [[ 8.74971093e-01 4.70407425e-01 1.14640486e-01 9.02861211e+01] [-4.64992733e-01 8.82398024e-01 -7.18017054e-02 -4.02276591e+01] [-1.34934594e-01 9.51742379e-03 9.90808798e-01 -1.21046155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.34, Y:-40.25, Z:-12.11 [[ 8.76807300e-01 4.66979933e-01 1.14624175e-01 9.03436249e+01] [-4.61532843e-01 8.84210502e-01 -7.18277356e-02 -4.02531076e+01] [-1.34894010e-01 1.00762618e-02 9.90808798e-01 -1.21119593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:-40.28, Z:-12.12 [[ 8.80673419e-01 4.59652294e-01 1.14604096e-01 9.03984570e+01] [-4.54139533e-01 8.88027849e-01 -7.18597584e-02 -4.02810296e+01] [-1.34802131e-01 1.12387287e-02 9.90808799e-01 -1.21204505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.45, Y:-40.31, Z:-12.13 [[ 8.85364025e-01 4.50556112e-01 1.14585045e-01 9.04530172e+01] [-4.44964004e-01 8.92658303e-01 -7.18901223e-02 -4.03085535e+01] [-1.34675826e-01 1.26627074e-02 9.90808800e-01 -1.21255931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14577952299999 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:90.51, Y:-40.33, Z:-12.14 [[ 8.87512418e-01 4.46313807e-01 1.14567419e-01 9.05110427e+01] [-4.40683278e-01 8.94777079e-01 -7.19182017e-02 -4.03319555e+01] [-1.34610387e-01 1.33403513e-02 9.90808800e-01 -1.21385185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.57, Y:-40.35, Z:-12.14 [[ 8.87457396e-01 4.46428299e-01 1.14547561e-01 9.05727122e+01] [-4.40794681e-01 8.94719662e-01 -7.19498172e-02 -4.03511091e+01] [-1.34608389e-01 1.33604419e-02 9.90808801e-01 -1.21414376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26577952299999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:90.63, Y:-40.37, Z:-12.15 [[ 8.87074215e-01 4.47193657e-01 1.14530215e-01 9.06325832e+01] [-4.41562790e-01 8.94338613e-01 -7.19774180e-02 -4.03737025e+01] [-1.34616638e-01 1.32770303e-02 9.90808802e-01 -1.21502045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:-40.39, Z:-12.16 [[ 8.86436025e-01 4.48462512e-01 1.14510036e-01 9.06956787e+01] [-4.42837954e-01 8.93705308e-01 -7.20095071e-02 -4.03888326e+01] [-1.34631791e-01 1.31224312e-02 9.90808802e-01 -1.21621441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385779523 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:90.76, Y:-40.41, Z:-12.17 [[ 8.87803361e-01 4.45754000e-01 1.14492634e-01 9.07562958e+01] [-4.40103757e-01 8.95052697e-01 -7.20371649e-02 -4.04071243e+01] [-1.34587795e-01 1.35661988e-02 9.90808803e-01 -1.21707508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:-40.42, Z:-12.17 [[ 8.88395078e-01 4.44575962e-01 1.14483189e-01 9.08175445e+01] [-4.38914202e-01 8.95635421e-01 -7.20521729e-02 -4.04247708e+01] [-1.34567863e-01 1.37624984e-02 9.90808803e-01 -1.21747648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.88, Y:-40.45, Z:-12.18 [[ 8.87515374e-01 4.46333701e-01 1.14466980e-01 9.08760835e+01] [-4.40683010e-01 8.94764359e-01 -7.20779133e-02 -4.04483368e+01] [-1.34591776e-01 1.35266027e-02 9.90808803e-01 -1.21830870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:90.94, Y:-40.46, Z:-12.20 [[ 8.86303694e-01 4.48737388e-01 1.14457499e-01 9.09378645e+01] [-4.43104446e-01 8.93566480e-01 -7.20929667e-02 -4.04648354e+01] [-1.34626194e-01 1.31796361e-02 9.90808804e-01 -1.21976252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62577952299999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:91.00, Y:-40.48, Z:-12.21 [[ 8.86821607e-01 4.47717363e-01 1.14440375e-01 9.09992704e+01] [-4.42072610e-01 8.94075217e-01 -7.21201387e-02 -4.04814426e+01] [-1.34607741e-01 1.33667420e-02 9.90808804e-01 -1.22101943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.06, Y:-40.50, Z:-12.21 [[ 8.87660648e-01 4.46056019e-01 1.14422912e-01 9.10613902e+01] [-4.40394174e-01 8.94900923e-01 -7.21478340e-02 -4.05016442e+01] [-1.34579145e-01 1.36516092e-02 9.90808805e-01 -1.22084599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.12, Y:-40.52, Z:-12.22 [[ 8.88376068e-01 4.44630776e-01 1.14417805e-01 9.11220489e+01] [-4.38956291e-01 8.95606441e-01 -7.21559323e-02 -4.05183148e+01] [-1.34556071e-01 1.38771882e-02 9.90808805e-01 -1.22221941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:91.18, Y:-40.54, Z:-12.23 [[ 8.88636753e-01 4.44114658e-01 1.14397955e-01 9.11796768e+01] [-4.38431984e-01 8.95860690e-01 -7.21873890e-02 -4.05389063e+01] [-1.34544109e-01 1.39926444e-02 9.90808805e-01 -1.22264810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.25, Y:-40.55, Z:-12.23 [[ 8.86701188e-01 4.47965856e-01 1.14401028e-01 9.12450654e+01] [-4.42315196e-01 8.93950195e-01 -7.21825200e-02 -4.05534393e+01] [-1.34604125e-01 1.34030134e-02 9.90808805e-01 -1.22256634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.31, Y:-40.57, Z:-12.24 [[ 8.84440488e-01 4.52417467e-01 1.14382946e-01 9.13054744e+01] [-4.46799660e-01 8.91714984e-01 -7.22111614e-02 -4.05718205e+01] [-1.34666578e-01 1.27602134e-02 9.90808806e-01 -1.22384242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.36, Y:-40.59, Z:-12.25 [[ 8.83883514e-01 4.53509164e-01 1.14365083e-01 9.13646959e+01] [-4.47896728e-01 8.91162154e-01 -7.22394410e-02 -4.05907526e+01] [-1.34679082e-01 1.26275044e-02 9.90808806e-01 -1.22462909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:-40.60, Z:-12.25 [[ 8.82987101e-01 4.55252026e-01 1.14365083e-01 9.14270835e+01] [-4.49653961e-01 8.90276799e-01 -7.22394410e-02 -4.05996975e+01] [-1.34703732e-01 1.23617820e-02 9.90808806e-01 -1.22529461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105779523 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:-40.63, Z:-12.26 [[ 8.82504525e-01 4.56185187e-01 1.14371496e-01 9.14783006e+01] [-4.50596131e-01 8.89801133e-01 -7.22292871e-02 -4.06253857e+01] [-1.34717817e-01 1.22073192e-02 9.90808807e-01 -1.22623287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:91.53, Y:-40.65, Z:-12.27 [[ 8.82492624e-01 4.56206303e-01 1.14379100e-01 9.15321755e+01] [-4.50618965e-01 8.89790547e-01 -7.22172427e-02 -4.06494882e+01] [-1.34719404e-01 1.21897922e-02 9.90808807e-01 -1.22708057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225779523 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:-40.66, Z:-12.28 [[ 8.83406967e-01 4.54431953e-01 1.14384140e-01 9.15909930e+01] [-4.48830982e-01 8.90694433e-01 -7.22092596e-02 -4.06632138e+01] [-1.34695512e-01 1.24510171e-02 9.90808807e-01 -1.22825115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28577952299999 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:-40.68, Z:-12.29 [[ 8.82388513e-01 4.56401318e-01 1.14404321e-01 9.16457142e+01] [-4.50820716e-01 8.89691589e-01 -7.21772712e-02 -4.06804082e+01] [-1.34726364e-01 1.21125568e-02 9.90808807e-01 -1.22947600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34577952299999 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:-40.70, Z:-12.30 [[ 8.79734235e-01 4.61494690e-01 1.14412966e-01 9.17018869e+01] [-4.55958165e-01 8.87070782e-01 -7.21635658e-02 -4.07010229e+01] [-1.34795501e-01 1.13172334e-02 9.90808807e-01 -1.23006266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40577952299999 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:91.76, Y:-40.72, Z:-12.30 [[ 8.76769366e-01 4.67098556e-01 1.14430841e-01 9.17579274e+01] [-4.61612625e-01 8.84143821e-01 -7.21352106e-02 -4.07215208e+01] [-1.34867573e-01 1.04232222e-02 9.90808808e-01 -1.23024945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465779523 meters Centerline goodness : 0.997834 with order 1 Centerline is valid? [True, True] Translation: X:91.82, Y:-40.74, Z:-12.31 [[ 8.71666980e-01 4.76547328e-01 1.14452260e-01 9.18159021e+01] [-4.71145858e-01 8.79103519e-01 -7.21012095e-02 -4.07364546e+01] [-1.34975024e-01 8.92453523e-03 9.90808809e-01 -1.23127385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525779523 meters Centerline goodness : 0.995920 with order 1 Centerline is valid? [True, True] Translation: X:91.87, Y:-40.76, Z:-12.32 [[ 8.66748795e-01 4.85433523e-01 1.14458819e-01 9.18681590e+01] [-4.80109728e-01 8.74241137e-01 -7.20907959e-02 -4.07612137e+01] [-1.35059897e-01 7.53181789e-03 9.90808809e-01 -1.23237975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585779523 meters Centerline goodness : 0.995809 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-40.79, Z:-12.33 [[ 8.63131104e-01 4.91832272e-01 1.14480188e-01 9.19177892e+01] [-4.86568537e-01 8.70665762e-01 -7.20568470e-02 -4.07880506e+01] [-1.35113863e-01 6.49204846e-03 9.90808810e-01 -1.23323188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64577952299999 meters Centerline goodness : 0.994599 with order 1 Centerline is valid? [True, True] Translation: X:91.97, Y:-40.81, Z:-12.34 [[ 8.56793987e-01 5.02788481e-01 1.14489331e-01 9.19708688e+01] [-4.97623101e-01 8.64396410e-01 -7.20423173e-02 -4.08095404e+01] [-1.35186214e-01 4.75288861e-03 9.90808810e-01 -1.23401543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70577952299999 meters Centerline goodness : 0.995068 with order 1 Centerline is valid? [True, True] Translation: X:92.02, Y:-40.84, Z:-12.35 [[ 8.50321177e-01 5.13657538e-01 1.14498164e-01 9.20184998e+01] [-5.08591271e-01 8.57990004e-01 -7.20282757e-02 -4.08410645e+01] [-1.35236147e-01 3.01440154e-03 9.90808810e-01 -1.23509302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76577952299999 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:-40.88, Z:-12.36 [[ 8.45226872e-01 5.21993309e-01 1.14518647e-01 9.20650283e+01] [-5.17007101e-01 8.52947992e-01 -7.19956950e-02 -4.08753948e+01] [-1.35259721e-01 1.64574255e-03 9.90808811e-01 -1.23584205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825779523 meters Centerline goodness : 0.995067 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:-40.91, Z:-12.37 [[ 8.39322048e-01 5.31431428e-01 1.14538800e-01 9.21130283e+01] [-5.26536427e-01 8.47101310e-01 -7.19636188e-02 -4.09073455e+01] [-1.35269696e-01 9.18014799e-05 9.90808811e-01 -1.23661032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885779523 meters Centerline goodness : 0.996089 with order 1 Centerline is valid? [True, True] Translation: X:92.15, Y:-40.95, Z:-12.37 [[ 8.36607759e-01 5.35689843e-01 1.14559375e-01 9.21544676e+01] [-5.30838924e-01 8.44414584e-01 -7.19308502e-02 -4.09472070e+01] [-1.35268233e-01 -6.34668182e-04 9.90808812e-01 -1.23738341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945779523 meters Centerline goodness : 0.997053 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:-40.99, Z:-12.38 [[ 8.36497356e-01 5.35860337e-01 1.14568203e-01 9.21960505e+01] [-5.31012935e-01 8.44306365e-01 -7.19167870e-02 -4.09892829e+01] [-1.35268017e-01 -6.78995636e-04 9.90808812e-01 -1.23829197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00577952299999 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:-41.03, Z:-12.39 [[ 8.39348984e-01 5.31378135e-01 1.14588659e-01 9.22391738e+01] [-5.26493483e-01 8.47134746e-01 -7.18841784e-02 -4.10286583e+01] [-1.35269715e-01 5.72972169e-06 9.90808813e-01 -1.23909907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06577952299999 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:92.28, Y:-41.07, Z:-12.40 [[ 8.43994110e-01 5.23964445e-01 1.14608911e-01 9.22786106e+01] [-5.19015789e-01 8.51739349e-01 -7.18518764e-02 -4.10746977e+01] [-1.35264747e-01 1.15872633e-03 9.90808814e-01 -1.23975233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12577952299999 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:-41.12, Z:-12.40 [[ 8.52507046e-01 5.09991991e-01 1.14629426e-01 9.23181386e+01] [-5.04920835e-01 8.60172635e-01 -7.18191320e-02 -4.11191780e+01] [-1.35228278e-01 3.34753054e-03 9.90808815e-01 -1.24044024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185779523 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:-41.16, Z:-12.41 [[ 8.59047983e-01 4.98890756e-01 1.14649800e-01 9.23634676e+01] [-4.93724925e-01 8.66650093e-01 -7.17865936e-02 -4.11564480e+01] [-1.35174928e-01 5.06266461e-03 9.90808815e-01 -1.24097931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:92.40, Y:-41.20, Z:-12.41 [[ 8.67662122e-01 4.83752694e-01 1.14655016e-01 9.24035023e+01] [-4.78455468e-01 8.75173266e-01 -7.17782614e-02 -4.11994649e+01] [-1.35065932e-01 7.42195923e-03 9.90808815e-01 -1.24122169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305779523 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:92.45, Y:-41.24, Z:-12.42 [[ 8.72772191e-01 4.74469029e-01 1.14664045e-01 9.24484665e+01] [-4.69093862e-01 8.80227755e-01 -7.17638345e-02 -4.12359725e+01] [-1.34980192e-01 8.84527925e-03 9.90808815e-01 -1.24242333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36577952299999 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:-41.27, Z:-12.43 [[ 8.76597979e-01 4.67358000e-01 1.14684270e-01 9.24960727e+01] [-4.61926597e-01 8.84012676e-01 -7.17314996e-02 -4.12699512e+01] [-1.34906639e-01 9.90397299e-03 9.90808816e-01 -1.24278381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-41.30, Z:-12.43 [[ 8.78835611e-01 4.63134623e-01 1.14692152e-01 9.25437608e+01] [-4.57669236e-01 8.86225293e-01 -7.17188944e-02 -4.13006813e+01] [-1.34858589e-01 1.05380487e-02 9.90808816e-01 -1.24327294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48577952299999 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-41.32, Z:-12.45 [[ 8.77890576e-01 4.64920735e-01 1.14703298e-01 9.25969536e+01] [-4.59472697e-01 8.85293058e-01 -7.17010641e-02 -4.13248107e+01] [-1.34881345e-01 1.02426548e-02 9.90808816e-01 -1.24461422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545779523 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:-41.36, Z:-12.45 [[ 8.76141022e-01 4.68208164e-01 1.14708433e-01 9.26476041e+01] [-4.62788979e-01 8.83564653e-01 -7.16928480e-02 -4.13550468e+01] [-1.34919494e-01 9.72724643e-03 9.90808817e-01 -1.24517819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605779523 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:-41.38, Z:-12.46 [[ 8.75221585e-01 4.69923373e-01 1.14713558e-01 9.26990156e+01] [-4.64519807e-01 8.82656592e-01 -7.16846469e-02 -4.13819917e+01] [-1.34938969e-01 9.45323046e-03 9.90808817e-01 -1.24558389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665779523 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:-41.40, Z:-12.47 [[ 8.74182695e-01 4.71851290e-01 1.14721297e-01 9.27516671e+01] [-4.66465740e-01 8.81630762e-01 -7.16722588e-02 -4.14023018e+01] [-1.34960473e-01 9.14109347e-03 9.90808817e-01 -1.24710853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725779523 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:92.80, Y:-41.43, Z:-12.48 [[ 8.73416126e-01 4.73266582e-01 1.14730172e-01 9.28020624e+01] [-4.67894958e-01 8.80874243e-01 -7.16580496e-02 -4.14295824e+01] [-1.34976214e-01 8.90562694e-03 9.90808817e-01 -1.24808609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:-41.46, Z:-12.48 [[ 8.70586252e-01 4.78447550e-01 1.14749810e-01 9.28529046e+01] [-4.73124459e-01 8.78079084e-01 -7.16265889e-02 -4.14583079e+01] [-1.35028974e-01 8.06618177e-03 9.90808818e-01 -1.24820841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84577952299999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:-41.48, Z:-12.49 [[ 8.67657716e-01 4.83733396e-01 1.14769728e-01 9.29079661e+01] [-4.78460179e-01 8.75185730e-01 -7.15946595e-02 -4.14781198e+01] [-1.35077556e-01 7.20691412e-03 9.90808818e-01 -1.24949553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90577952299999 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:-41.51, Z:-12.50 [[ 8.64304971e-01 4.89694112e-01 1.14789344e-01 9.29563144e+01] [-4.84477001e-01 8.71871977e-01 -7.15631954e-02 -4.15093550e+01] [-1.35125688e-01 6.23962844e-03 9.90808819e-01 -1.25045888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965779523 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-41.53, Z:-12.51 [[ 8.60088060e-01 4.97058439e-01 1.14810438e-01 9.30090289e+01] [-4.91910661e-01 8.67702400e-01 -7.15293385e-02 -4.15336613e+01] [-1.35175554e-01 5.04505187e-03 9.90808820e-01 -1.25121237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025779523 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:-41.56, Z:-12.52 [[ 8.58457876e-01 4.99863811e-01 1.14831383e-01 9.30595777e+01] [-4.94745411e-01 8.66091995e-01 -7.14956976e-02 -4.15613923e+01] [-1.35192653e-01 4.56374489e-03 9.90808820e-01 -1.25156516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085779523 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:93.11, Y:-41.59, Z:-12.52 [[ 8.54905686e-01 5.05910245e-01 1.14852481e-01 9.31081253e+01] [-5.00850405e-01 8.62578741e-01 -7.14617897e-02 -4.15901972e+01] [-1.35222560e-01 3.56917886e-03 9.90808821e-01 -1.25230218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14577952299999 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:93.16, Y:-41.62, Z:-12.53 [[ 8.55763087e-01 5.04456507e-01 1.14861532e-01 9.31579215e+01] [-4.99385584e-01 8.63428822e-01 -7.14472390e-02 -4.16199746e+01] [-1.35216782e-01 3.78171667e-03 9.90808821e-01 -1.25285716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20577952299999 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:93.21, Y:-41.65, Z:-12.54 [[ 8.56381036e-01 5.03402105e-01 1.14881862e-01 9.32061717e+01] [-4.98326125e-01 8.64043423e-01 -7.14145352e-02 -4.16496558e+01] [-1.35213144e-01 3.90942056e-03 9.90808822e-01 -1.25436296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26577952299999 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:93.25, Y:-41.68, Z:-12.56 [[ 8.58074912e-01 5.00504702e-01 1.14902083e-01 9.32509764e+01] [-4.95407205e-01 8.65723000e-01 -7.13819849e-02 -4.16845577e+01] [-1.35200396e-01 4.32777038e-03 9.90808823e-01 -1.25578512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325779523 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:-41.71, Z:-12.56 [[ 8.62572387e-01 4.92708617e-01 1.14922130e-01 9.33018252e+01] [-4.87546317e-01 8.70176884e-01 -7.13496965e-02 -4.17145693e+01] [-1.35157191e-01 5.51441687e-03 9.90808824e-01 -1.25596101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385779523 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:-41.75, Z:-12.57 [[ 8.68005673e-01 4.83068190e-01 1.14940314e-01 9.33460652e+01] [-4.77825355e-01 8.75554871e-01 -7.13203905e-02 -4.17500456e+01] [-1.35089164e-01 6.98510701e-03 9.90808824e-01 -1.25674266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445779523 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:93.39, Y:-41.79, Z:-12.57 [[ 8.72256671e-01 4.75347202e-01 1.14949281e-01 9.33921951e+01] [-4.70039483e-01 8.79760392e-01 -7.13059352e-02 -4.17856062e+01] [-1.35022902e-01 8.16637697e-03 9.90808824e-01 -1.25746461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50577952299999 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:93.44, Y:-41.81, Z:-12.58 [[ 8.75277942e-01 4.69755779e-01 1.14969701e-01 9.34430124e+01] [-4.64404451e-01 8.82750625e-01 -7.12729965e-02 -4.18121712e+01] [-1.34970477e-01 8.99124075e-03 9.90808825e-01 -1.25809344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56577952299999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:-41.84, Z:-12.59 [[ 8.76496802e-01 4.67476076e-01 1.14975971e-01 9.34902399e+01] [-4.62106635e-01 8.83956481e-01 -7.12628799e-02 -4.18442894e+01] [-1.34947447e-01 9.33052705e-03 9.90808825e-01 -1.25885857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62577952299999 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:93.54, Y:-41.88, Z:-12.60 [[ 8.76418417e-01 4.67618145e-01 1.14995779e-01 9.35378980e+01] [-4.62254082e-01 8.83881962e-01 -7.12309030e-02 -4.18788542e+01] [-1.34951557e-01 9.27080720e-03 9.90808826e-01 -1.25970794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685779523 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:93.59, Y:-41.90, Z:-12.60 [[ 8.74340607e-01 4.71490797e-01 1.14999698e-01 9.35895898e+01] [-4.66160632e-01 8.81828399e-01 -7.12245744e-02 -4.19045141e+01] [-1.34991731e-01 8.66620549e-03 9.90808826e-01 -1.26003575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745779523 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:-41.93, Z:-12.61 [[ 8.72976639e-01 4.74009889e-01 1.15006141e-01 9.36399401e+01] [-4.68702700e-01 8.80480733e-01 -7.12141694e-02 -4.19328044e+01] [-1.35016912e-01 8.26461726e-03 9.90808826e-01 -1.26080551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805779523 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:93.69, Y:-41.96, Z:-12.62 [[ 8.70885559e-01 4.77836073e-01 1.15026216e-01 9.36868882e+01] [-4.72566129e-01 8.78415855e-01 -7.11817303e-02 -4.19645997e+01] [-1.35054050e-01 7.63364741e-03 9.90808827e-01 -1.26185640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86577952299999 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:93.74, Y:-41.99, Z:-12.63 [[ 8.70897976e-01 4.77808683e-01 1.15045984e-01 9.37356819e+01] [-4.72542706e-01 8.78431045e-01 -7.11497661e-02 -4.19939407e+01] [-1.35055940e-01 7.60004668e-03 9.90808827e-01 -1.26260143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92577952299999 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:93.78, Y:-42.02, Z:-12.64 [[ 8.72703149e-01 4.74501507e-01 1.15054479e-01 9.37846397e+01] [-4.69208793e-01 8.80217458e-01 -7.11360263e-02 -4.20238142e+01] [-1.35027113e-01 8.09606094e-03 9.90808827e-01 -1.26358270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98577952299999 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:93.83, Y:-42.05, Z:-12.65 [[ 8.72890981e-01 4.74150871e-01 1.15075130e-01 9.38337000e+01] [-4.68859524e-01 8.80406251e-01 -7.11026043e-02 -4.20533843e+01] [-1.35026226e-01 8.11075144e-03 9.90808828e-01 -1.26477742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045779523 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:-42.09, Z:-12.65 [[ 8.70416945e-01 4.78676141e-01 1.15080381e-01 9.38813501e+01] [-4.73424999e-01 8.77960363e-01 -7.10941045e-02 -4.20867399e+01] [-1.35067065e-01 7.39958398e-03 9.90808828e-01 -1.26524479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105779523 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:93.93, Y:-42.11, Z:-12.66 [[ 8.66192202e-01 4.86277800e-01 1.15086798e-01 9.39333363e+01] [-4.81094274e-01 8.73782241e-01 -7.10837153e-02 -4.21117099e+01] [-1.35127233e-01 6.20456030e-03 9.90808828e-01 -1.26616830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165779523 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:-42.14, Z:-12.67 [[ 8.62335618e-01 4.93079592e-01 1.15107763e-01 9.39827388e+01] [-4.87960484e-01 8.69969252e-01 -7.10497494e-02 -4.21398133e+01] [-1.35173396e-01 5.10068960e-03 9.90808829e-01 -1.26719212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225779523 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:-42.18, Z:-12.68 [[ 8.57906187e-01 5.00745147e-01 1.15114174e-01 9.40288958e+01] [-4.95695665e-01 8.65586054e-01 -7.10393620e-02 -4.21764392e+01] [-1.35213839e-01 3.88351121e-03 9.90808829e-01 -1.26750778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28577952299999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:94.08, Y:-42.21, Z:-12.68 [[ 8.56133684e-01 5.03765639e-01 1.15131649e-01 9.40778339e+01] [-4.98747063e-01 8.63833781e-01 -7.10110292e-02 -4.22069334e+01] [-1.35227524e-01 3.37336234e-03 9.90808830e-01 -1.26808328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34577952299999 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:94.13, Y:-42.24, Z:-12.69 [[ 8.55436555e-01 5.04944017e-01 1.15151381e-01 9.41251766e+01] [-4.99940353e-01 8.63146350e-01 -7.09790169e-02 -4.22390814e+01] [-1.35232924e-01 3.14922337e-03 9.90808830e-01 -1.26942140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40577952299999 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:-42.28, Z:-12.70 [[ 8.55394676e-01 5.05010494e-01 1.15170960e-01 9.41699336e+01] [-5.00011705e-01 8.63107632e-01 -7.09472345e-02 -4.22752195e+01] [-1.35234032e-01 3.10105864e-03 9.90808831e-01 -1.27033998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465779523 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:94.22, Y:-42.31, Z:-12.71 [[ 8.56464191e-01 5.03190066e-01 1.15190479e-01 9.42151358e+01] [-4.98179145e-01 8.64169270e-01 -7.09155296e-02 -4.23124758e+01] [-1.35228062e-01 3.35111749e-03 9.90808832e-01 -1.27067282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525779523 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:-42.35, Z:-12.71 [[ 8.58245649e-01 5.00141089e-01 1.15209797e-01 9.42623575e+01] [-4.95107008e-01 8.65935616e-01 -7.08841305e-02 -4.23459386e+01] [-1.35216333e-01 3.79481849e-03 9.90808833e-01 -1.27130890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585779523 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:-42.38, Z:-12.72 [[ 8.61072212e-01 4.95257085e-01 1.15217467e-01 9.43072666e+01] [-4.90181062e-01 8.68734559e-01 -7.08716614e-02 -4.23841263e+01] [-1.35193088e-01 4.54819773e-03 9.90808833e-01 -1.27231592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.35, Y:-42.43, Z:-12.73 [[ 8.64017514e-01 4.90099455e-01 1.15222653e-01 9.43521616e+01] [-4.84978828e-01 8.71650124e-01 -7.08632300e-02 -4.24259371e+01] [-1.35163870e-01 5.34652472e-03 9.90808833e-01 -1.27254050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.40, Y:-42.46, Z:-12.74 [[ 8.65819527e-01 4.86908307e-01 1.15225206e-01 9.43980800e+01] [-4.81760105e-01 8.73433565e-01 -7.08590776e-02 -4.24577463e+01] [-1.35143436e-01 5.84026551e-03 9.90808833e-01 -1.27369299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:94.45, Y:-42.49, Z:-12.74 [[ 8.66660738e-01 4.85405474e-01 1.15241877e-01 9.44462152e+01] [-4.80247667e-01 8.74268272e-01 -7.08319544e-02 -4.24906052e+01] [-1.35134535e-01 6.04263108e-03 9.90808833e-01 -1.27428882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:-42.53, Z:-12.75 [[ 8.65640854e-01 4.87215973e-01 1.15267113e-01 9.44914826e+01] [-4.82079537e-01 8.73262832e-01 -7.07908649e-02 -4.25300837e+01] [-1.35148925e-01 5.71154848e-03 9.90808834e-01 -1.27461618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-42.56, Z:-12.76 [[ 8.63245159e-01 4.91447861e-01 1.15268362e-01 9.45396959e+01] [-4.86349071e-01 8.70892372e-01 -7.07888302e-02 -4.25620241e+01] [-1.35175356e-01 5.04745418e-03 9.90808834e-01 -1.27568746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.59, Y:-42.59, Z:-12.76 [[ 8.62305241e-01 4.93094090e-01 1.15273112e-01 9.45896351e+01] [-4.88010932e-01 8.69962854e-01 -7.07810947e-02 -4.25924551e+01] [-1.35185065e-01 4.78037006e-03 9.90808834e-01 -1.27644808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:-42.63, Z:-12.78 [[ 8.60068237e-01 4.96984519e-01 1.15277987e-01 9.46363963e+01] [-4.91937070e-01 8.67749434e-01 -7.07731533e-02 -4.26276916e+01] [-1.35205570e-01 4.16022582e-03 9.90808834e-01 -1.27755439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06577952299999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:94.68, Y:-42.66, Z:-12.79 [[ 8.58643347e-01 4.99441714e-01 1.15280428e-01 9.46847640e+01] [-4.94416782e-01 8.66339292e-01 -7.07691778e-02 -4.26641422e+01] [-1.35217044e-01 3.76890555e-03 9.90808834e-01 -1.27853058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12577952299999 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:94.74, Y:-42.70, Z:-12.79 [[ 8.57602539e-01 5.01227369e-01 1.15277969e-01 9.47352586e+01] [-4.96217924e-01 8.65308574e-01 -7.07731836e-02 -4.26972991e+01] [-1.35224471e-01 3.49226767e-03 9.90808834e-01 -1.27934299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:-42.74, Z:-12.80 [[ 8.57186947e-01 5.01937773e-01 1.15277969e-01 9.47859710e+01] [-4.96934714e-01 8.64897131e-01 -7.07731836e-02 -4.27353495e+01] [-1.35227318e-01 3.38022480e-03 9.90808834e-01 -1.27961914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:94.84, Y:-42.77, Z:-12.81 [[ 8.57320529e-01 5.01714173e-01 1.15257968e-01 9.48379435e+01] [-4.96704730e-01 8.65026565e-01 -7.08057413e-02 -4.27694246e+01] [-1.35225448e-01 3.45403779e-03 9.90808835e-01 -1.28077521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.89, Y:-42.80, Z:-12.81 [[ 8.56647501e-01 5.02867099e-01 1.15237751e-01 9.48907289e+01] [-4.97863607e-01 8.64357401e-01 -7.08386287e-02 -4.28021073e+01] [-1.35229019e-01 3.31105171e-03 9.90808836e-01 -1.28142853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.94, Y:-42.84, Z:-12.82 [[ 8.53691462e-01 5.07873153e-01 1.15220429e-01 9.49386136e+01] [-5.02911079e-01 8.61428084e-01 -7.08667935e-02 -4.28390004e+01] [-1.35245455e-01 2.55274638e-03 9.90808836e-01 -1.28189476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.99, Y:-42.87, Z:-12.83 [[ 8.51399607e-01 5.11706208e-01 1.15219211e-01 9.49881049e+01] [-5.06778700e-01 8.59158289e-01 -7.08687740e-02 -4.28710595e+01] [-1.35255531e-01 1.94700461e-03 9.90808836e-01 -1.28284561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48577952299999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:-42.90, Z:-12.84 [[ 8.44289672e-01 5.23353540e-01 1.15221626e-01 9.50413728e+01] [-5.18533613e-01 8.52115641e-01 -7.08648463e-02 -4.29015247e+01] [-1.35269518e-01 8.41717097e-05 9.90808836e-01 -1.28430509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:-42.94, Z:-12.85 [[ 8.41269165e-01 5.28199619e-01 1.15201366e-01 9.50911570e+01] [-5.23420264e-01 8.49119976e-01 -7.08977679e-02 -4.29402422e+01] [-1.35267955e-01 -6.54623104e-04 9.90808837e-01 -1.28520527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:95.14, Y:-42.98, Z:-12.86 [[ 8.41404743e-01 5.27988038e-01 1.15181118e-01 9.51406617e+01] [-5.23202207e-01 8.49251608e-01 -7.09306473e-02 -4.29771483e+01] [-1.35268283e-01 -5.81631950e-04 9.90808838e-01 -1.28641018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:95.19, Y:-43.01, Z:-12.87 [[ 8.46230160e-01 5.20223563e-01 1.15160583e-01 9.51904337e+01] [-5.15361198e-01 8.54029830e-01 -7.09639710e-02 -4.30146869e+01] [-1.35267703e-01 7.02556340e-04 9.90808839e-01 -1.28698334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.24, Y:-43.05, Z:-12.87 [[ 8.50380006e-01 5.13416254e-01 1.15141637e-01 9.52411475e+01] [-5.08487296e-01 8.58137764e-01 -7.09946996e-02 -4.30528147e+01] [-1.35257219e-01 1.82441357e-03 9.90808839e-01 -1.28729081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-43.09, Z:-12.89 [[ 8.57322062e-01 5.01742841e-01 1.15121695e-01 9.52865882e+01] [-4.96703953e-01 8.65008870e-01 -7.10270223e-02 -4.30946185e+01] [-1.35218587e-01 3.71163249e-03 9.90808840e-01 -1.28870385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:-43.13, Z:-12.89 [[ 8.62430565e-01 4.92914556e-01 1.15103264e-01 9.53376865e+01] [-4.87793039e-01 8.70062568e-01 -7.10568772e-02 -4.31308401e+01] [-1.35172011e-01 5.13505179e-03 9.90808841e-01 -1.28915699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.39, Y:-43.16, Z:-12.90 [[ 8.65760798e-01 4.87046189e-01 1.15083669e-01 9.53900916e+01] [-4.81868753e-01 8.73354977e-01 -7.10885993e-02 -4.31641506e+01] [-1.35132327e-01 6.09049829e-03 9.90808841e-01 -1.28999674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.44, Y:-43.20, Z:-12.91 [[ 8.67474945e-01 4.83991137e-01 1.15064323e-01 9.54401827e+01] [-4.78782824e-01 8.75047980e-01 -7.11199004e-02 -4.32016895e+01] [-1.35108204e-01 6.60391043e-03 9.90808842e-01 -1.29083078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:95.49, Y:-43.23, Z:-12.92 [[ 8.70164699e-01 4.79142987e-01 1.15045185e-01 9.54923820e+01] [-4.73888421e-01 8.77705715e-01 -7.11508451e-02 -4.32342547e+01] [-1.35067244e-01 7.39437280e-03 9.90808843e-01 -1.29188226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:95.55, Y:-43.26, Z:-12.93 [[ 8.73067672e-01 4.73837009e-01 1.15027513e-01 9.55491611e+01] [-4.68532892e-01 8.80573916e-01 -7.11794029e-02 -4.32611656e+01] [-1.35017663e-01 8.25026231e-03 9.90808843e-01 -1.29269841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:-43.29, Z:-12.93 [[ 8.75194835e-01 4.69901116e-01 1.15008447e-01 9.56035094e+01] [-4.64559232e-01 8.82674248e-01 -7.12101954e-02 -4.32920886e+01] [-1.34976745e-01 8.89455932e-03 9.90808844e-01 -1.29345323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.66, Y:-43.32, Z:-12.94 [[ 8.77084130e-01 4.66370109e-01 1.14988476e-01 9.56568055e+01] [-4.60993927e-01 8.84538928e-01 -7.12424300e-02 -4.33235405e+01] [-1.34937123e-01 9.47661562e-03 9.90808845e-01 -1.29437557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:-43.35, Z:-12.95 [[ 8.79760470e-01 4.61306500e-01 1.14968816e-01 9.57140542e+01] [-4.55883323e-01 8.87181149e-01 -7.12741431e-02 -4.33491525e+01] [-1.34877392e-01 1.02918078e-02 9.90808845e-01 -1.29506583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:-43.37, Z:-12.96 [[ 8.81449519e-01 4.58075784e-01 1.14949212e-01 9.57738907e+01] [-4.52621334e-01 8.88847241e-01 -7.13057457e-02 -4.33708997e+01] [-1.34835725e-01 1.08239495e-02 9.90808846e-01 -1.29586705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:-43.40, Z:-12.97 [[ 8.81114578e-01 4.58724652e-01 1.14929518e-01 9.58310919e+01] [-4.53271548e-01 8.88513291e-01 -7.13374742e-02 -4.33963700e+01] [-1.34840662e-01 1.07622079e-02 9.90808847e-01 -1.29693737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:-43.43, Z:-12.98 [[ 8.79778358e-01 4.61287269e-01 1.14909077e-01 9.58853732e+01] [-4.55851459e-01 8.87189786e-01 -7.13703849e-02 -4.34252280e+01] [-1.34868409e-01 1.04086496e-02 9.90808847e-01 -1.29803746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:-43.44, Z:-12.99 [[ 8.78015374e-01 4.64639278e-01 1.14888403e-01 9.59492656e+01] [-4.59227453e-01 8.85444332e-01 -7.14036503e-02 -4.34387971e+01] [-1.34904226e-01 9.93359415e-03 9.90808848e-01 -1.29866644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:-43.46, Z:-13.00 [[ 8.75812677e-01 4.68782440e-01 1.14870267e-01 9.60047317e+01] [-4.63401975e-01 8.83264379e-01 -7.14328151e-02 -4.34600135e+01] [-1.34947264e-01 9.33065669e-03 9.90808849e-01 -1.29970697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:-43.48, Z:-13.01 [[ 8.74116635e-01 4.71936176e-01 1.14875387e-01 9.60587893e+01] [-4.66583680e-01 8.81588452e-01 -7.14245801e-02 -4.34823877e+01] [-1.34980658e-01 8.83443295e-03 9.90808849e-01 -1.30057573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685779523 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:-43.49, Z:-13.01 [[ 8.71796709e-01 4.76206250e-01 1.14883008e-01 9.61188156e+01] [-4.70891974e-01 8.79295758e-01 -7.14123198e-02 -4.34939318e+01] [-1.35023134e-01 8.15953911e-03 9.90808849e-01 -1.30136673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745779523 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:-43.52, Z:-13.02 [[ 8.69082216e-01 4.81140595e-01 1.14890510e-01 9.61705123e+01] [-4.75870504e-01 8.76612382e-01 -7.14002487e-02 -4.35168350e+01] [-1.35068001e-01 7.37968165e-03 9.90808849e-01 -1.30229556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805779523 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:96.22, Y:-43.54, Z:-13.03 [[ 8.67458334e-01 4.84060155e-01 1.14899112e-01 9.62241566e+01] [-4.78817241e-01 8.75007447e-01 -7.13864023e-02 -4.35406395e+01] [-1.35092892e-01 6.90905363e-03 9.90808849e-01 -1.30282815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86577952299999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:96.28, Y:-43.56, Z:-13.04 [[ 8.65785868e-01 4.87040430e-01 1.14919321e-01 9.62780609e+01] [-4.81827814e-01 8.73355932e-01 -7.13538551e-02 -4.35626303e+01] [-1.35117683e-01 6.40583404e-03 9.90808850e-01 -1.30398732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92577952299999 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:-43.59, Z:-13.05 [[ 8.64096806e-01 4.90026186e-01 1.14939316e-01 9.63291281e+01] [-4.84844007e-01 8.71687739e-01 -7.13216318e-02 -4.35893960e+01] [-1.35140660e-01 5.90115562e-03 9.90808851e-01 -1.30462320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98577952299999 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:96.38, Y:-43.62, Z:-13.06 [[ 8.62456650e-01 4.92902581e-01 1.14959001e-01 9.63792577e+01] [-4.87749945e-01 8.70067666e-01 -7.12898894e-02 -4.36156188e+01] [-1.35161080e-01 5.41319278e-03 9.90808851e-01 -1.30627235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045779523 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:-43.64, Z:-13.07 [[ 8.62296543e-01 4.93177104e-01 1.14982676e-01 9.64311328e+01] [-4.88031974e-01 8.69912633e-01 -7.12516837e-02 -4.36411162e+01] [-1.35164582e-01 5.32485805e-03 9.90808852e-01 -1.30691832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105779523 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:96.48, Y:-43.67, Z:-13.08 [[ 8.61814405e-01 4.94013153e-01 1.15008416e-01 9.64795232e+01] [-4.88880948e-01 8.69439209e-01 -7.12101127e-02 -4.36695517e+01] [-1.35171559e-01 5.14447750e-03 9.90808853e-01 -1.30766567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165779523 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:-43.70, Z:-13.08 [[ 8.64882752e-01 4.88619292e-01 1.15017447e-01 9.65303158e+01] [-4.83441485e-01 8.72476663e-01 -7.11955222e-02 -4.36975746e+01] [-1.35137544e-01 5.97157352e-03 9.90808854e-01 -1.30827786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225779523 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:-43.73, Z:-13.09 [[ 8.69770547e-01 4.79859835e-01 1.15037970e-01 9.65777341e+01] [-4.74609971e-01 8.77314821e-01 -7.11623473e-02 -4.37310572e+01] [-1.35072468e-01 7.29674629e-03 9.90808854e-01 -1.30885741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28577952299999 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:96.62, Y:-43.76, Z:-13.10 [[ 8.74495358e-01 4.71189421e-01 1.15058238e-01 9.66246321e+01] [-4.65869105e-01 8.81990115e-01 -7.11295609e-02 -4.37631821e+01] [-1.34995726e-01 8.60039225e-03 9.90808855e-01 -1.31027362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34577952299999 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:96.67, Y:-43.79, Z:-13.11 [[ 8.78317435e-01 4.64020890e-01 1.15078653e-01 9.66749514e+01] [-4.58643748e-01 8.85771527e-01 -7.10965177e-02 -4.37906143e+01] [-1.34923663e-01 9.66520640e-03 9.90808856e-01 -1.31063265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40577952299999 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:96.72, Y:-43.82, Z:-13.12 [[ 8.79701583e-01 4.61387962e-01 1.15092455e-01 9.67236735e+01] [-4.55991419e-01 8.87141640e-01 -7.10741683e-02 -4.38197894e+01] [-1.34896075e-01 1.00428868e-02 9.90808856e-01 -1.31175848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465779523 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:-43.85, Z:-13.12 [[ 8.80516950e-01 4.59825024e-01 1.15112330e-01 9.67723208e+01] [-4.54419453e-01 8.87950449e-01 -7.10419628e-02 -4.38511131e+01] [-1.34880918e-01 1.02443701e-02 9.90808857e-01 -1.31243509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525779523 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:96.82, Y:-43.87, Z:-13.13 [[ 8.80095849e-01 4.60625365e-01 1.15132831e-01 9.68245645e+01] [-4.55230869e-01 8.87537389e-01 -7.10087234e-02 -4.38744358e+01] [-1.34893111e-01 1.00824640e-02 9.90808858e-01 -1.31314237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585779523 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:96.88, Y:-43.90, Z:-13.14 [[ 8.78305546e-01 4.64026526e-01 1.15146649e-01 9.68752889e+01] [-4.58663776e-01 8.85769995e-01 -7.09863091e-02 -4.39000080e+01] [-1.34932977e-01 9.53407201e-03 9.90808858e-01 -1.31428819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64577952299999 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-43.92, Z:-13.15 [[ 8.75290333e-01 4.69684236e-01 1.15167493e-01 9.69286324e+01] [-4.64374189e-01 8.82792365e-01 -7.09524759e-02 -4.39230654e+01] [-1.34994243e-01 8.62320500e-03 9.90808859e-01 -1.31464608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70577952299999 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:96.98, Y:-43.95, Z:-13.16 [[ 8.73385585e-01 4.73214549e-01 1.15176435e-01 9.69812493e+01] [-4.67936741e-01 8.80910332e-01 -7.09379587e-02 -4.39467837e+01] [-1.35028985e-01 8.06090506e-03 9.90808859e-01 -1.31559922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76577952299999 meters Centerline goodness : 0.997616 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:-43.97, Z:-13.17 [[ 8.73296650e-01 4.73373624e-01 1.15197103e-01 9.70320409e+01] [-4.68101595e-01 8.80825446e-01 -7.09043797e-02 -4.39727145e+01] [-1.35032803e-01 7.99660981e-03 9.90808860e-01 -1.31701266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825779523 meters Centerline goodness : 0.997411 with order 1 Centerline is valid? [True, True] Translation: X:97.08, Y:-44.00, Z:-13.18 [[ 8.73713234e-01 4.72599255e-01 1.15217743e-01 9.70833285e+01] [-4.67324956e-01 8.81240439e-01 -7.08708241e-02 -4.39983423e+01] [-1.35028033e-01 8.07665023e-03 9.90808860e-01 -1.31788579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885779523 meters Centerline goodness : 0.997069 with order 1 Centerline is valid? [True, True] Translation: X:97.14, Y:-44.02, Z:-13.19 [[ 8.73358341e-01 4.73249736e-01 1.15238431e-01 9.71354237e+01] [-4.67985462e-01 8.80892560e-01 -7.08371697e-02 -4.40236676e+01] [-1.35036348e-01 7.93632278e-03 9.90808861e-01 -1.31882774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945779523 meters Centerline goodness : 0.996628 with order 1 Centerline is valid? [True, True] Translation: X:97.19, Y:-44.05, Z:-13.20 [[ 8.72833712e-01 4.74211671e-01 1.15258849e-01 9.71855919e+01] [-4.68960071e-01 8.80376769e-01 -7.08039310e-02 -4.40524041e+01] [-1.35047264e-01 7.74825984e-03 9.90808862e-01 -1.31966007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00577952299999 meters Centerline goodness : 0.995824 with order 1 Centerline is valid? [True, True] Translation: X:97.24, Y:-44.08, Z:-13.20 [[ 8.71710349e-01 4.76268488e-01 1.15279640e-01 9.72375462e+01] [-4.71039148e-01 8.79268855e-01 -7.07700649e-02 -4.40780106e+01] [-1.35067349e-01 7.38977465e-03 9.90808863e-01 -1.32019304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06577952299999 meters Centerline goodness : 0.995950 with order 1 Centerline is valid? [True, True] Translation: X:97.29, Y:-44.11, Z:-13.21 [[ 8.69564608e-01 4.80173432e-01 1.15286024e-01 9.72853003e+01] [-4.74979420e-01 8.77147434e-01 -7.07596631e-02 -4.41091002e+01] [-1.35099751e-01 6.77160977e-03 9.90808863e-01 -1.32107829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12577952299999 meters Centerline goodness : 0.995641 with order 1 Centerline is valid? [True, True] Translation: X:97.34, Y:-44.13, Z:-13.22 [[ 8.67725536e-01 4.83484295e-01 1.15305381e-01 9.73354559e+01] [-4.78323403e-01 8.75330941e-01 -7.07281060e-02 -4.41340720e+01] [-1.35126296e-01 6.21932121e-03 9.90808864e-01 -1.32194493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185779523 meters Centerline goodness : 0.994935 with order 1 Centerline is valid? [True, True] Translation: X:97.39, Y:-44.16, Z:-13.22 [[ 8.67268563e-01 4.84299985e-01 1.15320270e-01 9.73871639e+01] [-4.79149467e-01 8.74880996e-01 -7.07038226e-02 -4.41620445e+01] [-1.35133373e-01 6.06355683e-03 9.90808864e-01 -1.32226446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245779523 meters Centerline goodness : 0.995509 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:-44.19, Z:-13.23 [[ 8.68765057e-01 4.81606139e-01 1.15337779e-01 9.74347471e+01] [-4.76435802e-01 8.76364043e-01 -7.06752491e-02 -4.41939597e+01] [-1.35115516e-01 6.44913962e-03 9.90808864e-01 -1.32308681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305779523 meters Centerline goodness : 0.995631 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:-44.22, Z:-13.24 [[ 8.71754450e-01 4.76168843e-01 1.15357755e-01 9.74852649e+01] [-4.70955429e-01 8.79323946e-01 -7.06426294e-02 -4.42218273e+01] [-1.35074655e-01 7.25466583e-03 9.90808865e-01 -1.32422270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36577952299999 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:97.53, Y:-44.25, Z:-13.25 [[ 8.73815206e-01 4.72372301e-01 1.15375021e-01 9.75333033e+01] [-4.67129717e-01 8.81364528e-01 -7.06144183e-02 -4.42528410e+01] [-1.35043746e-01 7.80885149e-03 9.90808866e-01 -1.32523480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42577952299999 meters Centerline goodness : 0.995775 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:-44.28, Z:-13.26 [[ 8.78123828e-01 4.64308588e-01 1.15395310e-01 9.75844719e+01] [-4.59001065e-01 8.85627636e-01 -7.05812474e-02 -4.42806877e+01] [-1.34968755e-01 9.01250496e-03 9.90808867e-01 -1.32578780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48577952299999 meters Centerline goodness : 0.995789 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:-44.31, Z:-13.27 [[ 8.83600095e-01 4.53795084e-01 1.15416180e-01 9.76320801e+01] [-4.48402802e-01 8.91043227e-01 -7.05471039e-02 -4.43098392e+01] [-1.34854734e-01 1.05824891e-02 9.90808867e-01 -1.32672176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545779523 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:-44.34, Z:-13.27 [[ 8.88627683e-01 4.43866954e-01 1.15425164e-01 9.76813233e+01] [-4.38393508e-01 8.96011335e-01 -7.05324027e-02 -4.43402634e+01] [-1.34729258e-01 1.20754032e-02 9.90808867e-01 -1.32719503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605779523 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:-44.36, Z:-13.28 [[ 8.91479503e-01 4.38105636e-01 1.15445867e-01 9.77355662e+01] [-4.32588847e-01 8.98830825e-01 -7.04985003e-02 -4.43609617e+01] [-1.34652094e-01 1.29073737e-02 9.90808868e-01 -1.32767852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665779523 meters Centerline goodness : 0.993926 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:-44.39, Z:-13.29 [[ 8.89220388e-01 4.42670640e-01 1.15454779e-01 9.77827885e+01] [-4.37193489e-01 8.96601290e-01 -7.04839021e-02 -4.43939385e+01] [-1.34718058e-01 1.21996453e-02 9.90808868e-01 -1.32934855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725779523 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:97.84, Y:-44.41, Z:-13.30 [[ 8.91460393e-01 4.38137693e-01 1.15471770e-01 9.78399100e+01] [-4.32626597e-01 8.98815983e-01 -7.04560542e-02 -4.44135585e+01] [-1.34657326e-01 1.28526227e-02 9.90808869e-01 -1.32953200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78577952299999 meters Centerline goodness : 0.991848 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:-44.44, Z:-13.30 [[ 8.87893110e-01 4.45317789e-01 1.15489789e-01 9.78907656e+01] [-4.39870038e-01 8.95295737e-01 -7.04265061e-02 -4.44410110e+01] [-1.34759692e-01 1.17307116e-02 9.90808869e-01 -1.33045255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84577952299999 meters Centerline goodness : 0.991597 with order 1 Centerline is valid? [True, True] Translation: X:97.95, Y:-44.45, Z:-13.31 [[ 8.87445430e-01 4.46204502e-01 1.15508229e-01 9.79504928e+01] [-4.40768047e-01 8.94856356e-01 -7.03962487e-02 -4.44533034e+01] [-1.34774396e-01 1.15604925e-02 9.90808870e-01 -1.33114717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90577952299999 meters Centerline goodness : 0.989713 with order 1 Centerline is valid? [True, True] Translation: X:98.00, Y:-44.48, Z:-13.33 [[ 8.82084556e-01 4.56709101e-01 1.15514645e-01 9.80011140e+01] [-4.51362382e-01 8.89560482e-01 -7.03857201e-02 -4.44794794e+01] [-1.34903062e-01 9.94719140e-03 9.90808870e-01 -1.33295943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965779523 meters Centerline goodness : 0.987906 with order 1 Centerline is valid? [True, True] Translation: X:98.06, Y:-44.50, Z:-13.33 [[ 8.80201302e-01 4.60323438e-01 1.15533543e-01 9.80582818e+01] [-4.55011476e-01 8.87701963e-01 -7.03546870e-02 -4.44966089e+01] [-1.34945264e-01 9.35719940e-03 9.90808871e-01 -1.33346985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025779523 meters Centerline goodness : 0.988102 with order 1 Centerline is valid? [True, True] Translation: X:98.12, Y:-44.51, Z:-13.33 [[ 8.82374084e-01 4.56139319e-01 1.15554742e-01 9.81178092e+01] [-4.50796333e-01 8.89852676e-01 -7.03198508e-02 -4.45103140e+01] [-1.34902345e-01 9.95675998e-03 9.90808872e-01 -1.33337373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085779523 meters Centerline goodness : 0.985726 with order 1 Centerline is valid? [True, True] Translation: X:98.17, Y:-44.54, Z:-13.35 [[ 8.77638849e-01 4.65183140e-01 1.15562525e-01 9.81660481e+01] [-4.59918967e-01 8.85173125e-01 -7.03070585e-02 -4.45390706e+01] [-1.34998499e-01 8.55480888e-03 9.90808872e-01 -1.33471421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14577952299999 meters Centerline goodness : 0.985136 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-44.56, Z:-13.35 [[ 8.75045135e-01 4.70038882e-01 1.15583133e-01 9.82205806e+01] [-4.64820993e-01 8.82611538e-01 -7.02731629e-02 -4.45596482e+01] [-1.35046126e-01 7.76672265e-03 9.90808873e-01 -1.33535848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20577952299999 meters Centerline goodness : 0.987145 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-44.58, Z:-13.36 [[ 8.74795108e-01 4.70498805e-01 1.15604471e-01 9.82786915e+01] [-4.65289514e-01 8.82367432e-01 -7.02380429e-02 -4.45752935e+01] [-1.35052536e-01 7.65434808e-03 9.90808873e-01 -1.33555042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26577952299999 meters Centerline goodness : 0.986285 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:-44.61, Z:-13.36 [[ 8.71752621e-01 4.76110773e-01 1.15610985e-01 9.83256002e+01] [-4.70951669e-01 8.79359226e-01 -7.02273188e-02 -4.46079662e+01] [-1.35099570e-01 6.77366259e-03 9.90808873e-01 -1.33643839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325779523 meters Centerline goodness : 0.987113 with order 1 Centerline is valid? [True, True] Translation: X:98.38, Y:-44.63, Z:-13.37 [[ 8.70717104e-01 4.77997062e-01 1.15631027e-01 9.83769211e+01] [-4.72858809e-01 8.78337809e-01 -7.01943046e-02 -4.46343754e+01] [-1.35115774e-01 6.44223190e-03 9.90808874e-01 -1.33700082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385779523 meters Centerline goodness : 0.985626 with order 1 Centerline is valid? [True, True] Translation: X:98.43, Y:-44.66, Z:-13.38 [[ 8.67360883e-01 4.84055625e-01 1.15651417e-01 9.84252828e+01] [-4.78975095e-01 8.75020191e-01 -7.01606944e-02 -4.46649592e+01] [-1.35159004e-01 5.46049343e-03 9.90808875e-01 -1.33792858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445779523 meters Centerline goodness : 0.987103 with order 1 Centerline is valid? [True, True] Translation: X:98.47, Y:-44.70, Z:-13.39 [[ 8.68993767e-01 4.81113072e-01 1.15672139e-01 9.84732348e+01] [-4.76011150e-01 8.76638841e-01 -7.01265143e-02 -4.46970249e+01] [-1.35141472e-01 5.87827606e-03 9.90808876e-01 -1.33911802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50577952299999 meters Centerline goodness : 0.984882 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:-44.73, Z:-13.40 [[ 8.70129837e-01 4.79051046e-01 1.15689938e-01 9.85184125e+01] [-4.73934903e-01 8.77765401e-01 -7.00971387e-02 -4.47336884e+01] [-1.35128732e-01 6.16411243e-03 9.90808876e-01 -1.33983067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56577952299999 meters Centerline goodness : 0.984951 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:-44.77, Z:-13.41 [[ 8.71281210e-01 4.76948716e-01 1.15710744e-01 9.85667000e+01] [-4.71818700e-01 8.78907459e-01 -7.00627766e-02 -4.47661254e+01] [-1.35115387e-01 6.44988787e-03 9.90808877e-01 -1.34119762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62577952299999 meters Centerline goodness : 0.983467 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:-44.80, Z:-13.42 [[ 8.75048217e-01 4.70001104e-01 1.15713353e-01 9.86121585e+01] [-4.64811139e-01 8.82633795e-01 -7.00584669e-02 -4.47987763e+01] [-1.35060073e-01 7.51968104e-03 9.90808877e-01 -1.34211548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685779523 meters Centerline goodness : 0.983889 with order 1 Centerline is valid? [True, True] Translation: X:98.66, Y:-44.83, Z:-13.42 [[ 8.80606898e-01 4.59499546e-01 1.15722333e-01 9.86639502e+01] [-4.54221146e-01 8.88131207e-01 -7.00436320e-02 -4.48301476e+01] [-1.34961632e-01 9.11737501e-03 9.90808877e-01 -1.34192089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745779523 meters Centerline goodness : 0.982707 with order 1 Centerline is valid? [True, True] Translation: X:98.71, Y:-44.86, Z:-13.43 [[ 8.82341575e-01 4.56159042e-01 1.15724992e-01 9.87132138e+01] [-4.50852737e-01 8.89846231e-01 -7.00392376e-02 -4.48579266e+01] [-1.34926480e-01 9.62360166e-03 9.90808877e-01 -1.34311381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805779523 meters Centerline goodness : 0.983674 with order 1 Centerline is valid? [True, True] Translation: X:98.77, Y:-44.88, Z:-13.44 [[ 8.82978340e-01 4.54922738e-01 1.15734838e-01 9.87653202e+01] [-4.49608045e-01 8.90477058e-01 -7.00229642e-02 -4.48827942e+01] [-1.34914257e-01 9.79344643e-03 9.90808878e-01 -1.34407460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86577952299999 meters Centerline goodness : 0.983433 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:-44.91, Z:-13.45 [[ 8.81935809e-01 4.56935178e-01 1.15756083e-01 9.88146741e+01] [-4.51642180e-01 8.89449855e-01 -6.99878259e-02 -4.49102640e+01] [-1.34939131e-01 9.44444002e-03 9.90808878e-01 -1.34465702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92577952299999 meters Centerline goodness : 0.980679 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-44.93, Z:-13.45 [[ 8.83118462e-01 4.54642938e-01 1.15765197e-01 9.88681813e+01] [-4.49332403e-01 8.90620124e-01 -6.99727475e-02 -4.49334859e+01] [-1.34915430e-01 9.77717086e-03 9.90808878e-01 -1.34532477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98577952299999 meters Centerline goodness : 0.982030 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:-44.96, Z:-13.46 [[ 8.82837396e-01 4.55183231e-01 1.15785830e-01 9.89202043e+01] [-4.49881736e-01 8.90345448e-01 -6.99385903e-02 -4.49575973e+01] [-1.34924260e-01 9.65447293e-03 9.90808879e-01 -1.34621985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045779523 meters Centerline goodness : 0.982249 with order 1 Centerline is valid? [True, True] Translation: X:98.97, Y:-44.99, Z:-13.49 [[ 8.78761547e-01 4.63001424e-01 1.15792165e-01 9.89683389e+01] [-4.57768155e-01 8.86317312e-01 -6.99280998e-02 -4.49879409e+01] [-1.35005410e-01 8.44415951e-03 9.90808879e-01 -1.34925496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105779523 meters Centerline goodness : 0.983527 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:-45.01, Z:-13.48 [[ 8.82644997e-01 4.55554292e-01 1.15793336e-01 9.90302879e+01] [-4.50257573e-01 8.90156419e-01 -6.99261600e-02 -4.50061945e+01] [-1.34929344e-01 9.58314869e-03 9.90808879e-01 -1.34828575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1172.89 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%| | 0/3638 [00:00