+ python -m lidar_slam --result /working/result.json --no-model /working/90974db6-3605-4c98-972d-ab7450a59c8c Lidar SLAM 0.0.16 ===================================================== The recording path: /working/90974db6-3605-4c98-972d-ab7450a59c8c 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 0.028623853 Adjusted end_distance from 9.223372036854776e+18 to 309.218623853 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028623853 meters Centerline goodness : 0.414874 with order 2 Centerline is valid? [0, False] SLAMing on 0.088623853 meters Centerline goodness : 0.370979 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999996e-01 8.02168204e-05 2.93044142e-05 3.60273316e-03] [-8.02163675e-05 9.99999997e-01 -1.54576194e-05 4.77773965e-04] [-2.93056541e-05 1.54552686e-05 9.99999999e-01 -1.80443636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148623853 meters Centerline goodness : 0.384599 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999721e-01 7.00649841e-04 -2.57404257e-04 1.37709451e-02] [-7.00624695e-04 9.99999750e-01 9.77675778e-05 1.45203856e-03] [ 2.57472694e-04 -9.75872068e-05 9.99999962e-01 -8.63759164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208623853 meters Centerline goodness : 0.388027 with order 2 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.02 [[ 9.99999208e-01 1.18601313e-03 -4.22084909e-04 2.39315693e-02] [-1.18592038e-03 9.99999273e-01 2.19912866e-04 1.58316397e-04] [ 4.22345421e-04 -2.19412132e-04 9.99999887e-01 -1.58398313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26862385299999997 meters Centerline goodness : 0.364974 with order 2 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99999166e-01 1.25794932e-03 -2.91903586e-04 2.70897695e-02] [-1.25789851e-03 9.99999194e-01 1.74181496e-04 1.26769680e-03] [ 2.92122462e-04 -1.73814166e-04 9.99999942e-01 -1.71608323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32862385299999997 meters Centerline goodness : 0.475413 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99998400e-01 1.75484517e-03 -3.47703543e-04 3.40636063e-02] [-1.75456246e-03 9.99998131e-01 8.11736868e-04 -3.57894073e-03] [ 3.49127366e-04 -8.11125502e-04 9.99999610e-01 -2.17561714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38862385299999996 meters Centerline goodness : 0.558167 with order 2 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.02 [[ 9.99997939e-01 2.00034371e-03 -3.48516453e-04 3.81916539e-02] [-1.99996691e-03 9.99997419e-01 1.07815985e-03 -4.93445438e-03] [ 3.50672244e-04 -1.07746060e-03 9.99999358e-01 -2.38802050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44862385299999996 meters Centerline goodness : 0.535190 with order 2 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 9.99995983e-01 2.80343449e-03 -4.19034081e-04 4.53175089e-02] [-2.80265408e-03 9.99994358e-01 1.85153653e-03 -8.82938735e-03] [ 4.24222378e-04 -1.85035469e-03 9.99998198e-01 -2.86100039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508623853 meters Centerline goodness : 0.395154 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99993053e-01 3.68338371e-03 -5.71117466e-04 5.59127749e-02] [-3.68200791e-03 9.99990362e-01 2.39159408e-03 -1.03593788e-02] [ 5.79921120e-04 -2.38947460e-03 9.99996977e-01 -3.55727117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5686238530000001 meters Centerline goodness : 0.342898 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99991876e-01 4.00075649e-03 -4.91839970e-04 5.91573505e-02] [-3.99943812e-03 9.99988483e-01 2.65286564e-03 -1.23596960e-02] [ 5.02447776e-04 -2.65087701e-03 9.99996360e-01 -3.71252306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.628623853 meters Centerline goodness : 0.324996 with order 2 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 9.99988832e-01 4.66633015e-03 -7.48747251e-04 7.04097075e-02] [-4.66399932e-03 9.99984365e-01 3.08509289e-03 -1.44338739e-02] [ 7.63131606e-04 -3.08156628e-03 9.99994961e-01 -4.44310212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.688623853 meters Centerline goodness : 0.310033 with order 2 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.05 [[ 9.99986761e-01 5.08842377e-03 -7.65628926e-04 7.59332653e-02] [-5.08585088e-03 9.99981537e-01 3.32572993e-03 -1.54369303e-02] [ 7.82537513e-04 -3.32179202e-03 9.99994177e-01 -4.70467375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.748623853 meters Centerline goodness : 0.070941 with order 3 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.06 [[ 0.99998416 0.00543246 -0.00147469 0.08938837] [-0.00542733 0.99997928 0.00346218 -0.01700087] [ 0.00149346 -0.00345412 0.99999292 -0.0550424 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8086238530000001 meters Centerline goodness : 0.306496 with order 2 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.06 [[ 0.99998352 0.00546704 -0.00175505 0.09224018] [-0.00546095 0.99997912 0.00345589 -0.01696518] [ 0.0017739 -0.00344625 0.99999249 -0.05685631] [ 0. 0. 0. 1. ]] SLAMing on 0.868623853 meters Centerline goodness : 0.333642 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99998302 0.00552911 -0.00184313 0.09661306] [-0.00552248 0.99997832 0.00358699 -0.01784223] [ 0.00186292 -0.00357675 0.99999187 -0.05846019] [ 0. 0. 0. 1. ]] SLAMing on 0.9286238529999999 meters Centerline goodness : 0.325274 with order 2 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.06 [[ 0.99998503 0.00499214 -0.00224121 0.1077101 ] [-0.0049842 0.99998133 0.00353403 -0.02007584] [ 0.00225881 -0.0035228 0.99999124 -0.06451891] [ 0. 0. 0. 1. ]] SLAMing on 0.988623853 meters Centerline goodness : 0.320376 with order 2 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 9.99993242e-01 1.84598197e-03 -3.17934007e-03 1.22520098e-01] [-1.84646977e-03 9.99998284e-01 -1.50500844e-04 -1.73660221e-02] [ 3.17905679e-03 1.56370382e-04 9.99994935e-01 -7.26520259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.048623853 meters Centerline goodness : 0.332355 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.07 [[ 9.99992378e-01 1.90874999e-03 -3.40582811e-03 1.27292091e-01] [-1.90708422e-03 9.99998060e-01 4.92273067e-04 -2.20450322e-02] [ 3.40676113e-03 -4.85774114e-04 9.99994079e-01 -7.43541169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.108623853 meters Centerline goodness : 0.294521 with order 2 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.08 [[ 0.99998999 0.00140034 -0.00424842 0.13968703] [-0.00139588 0.99999847 0.00105062 -0.02808958] [ 0.00424988 -0.00104468 0.99999042 -0.08023663] [ 0. 0. 0. 1. ]] SLAMing on 1.168623853 meters Centerline goodness : 0.428988 with order 2 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.09 [[ 0.99998747 0.00133486 -0.00482422 0.15141866] [-0.0013278 0.99999804 0.00146533 -0.03237869] [ 0.00482616 -0.00145891 0.99998729 -0.08597599] [ 0. 0. 0. 1. ]] SLAMing on 1.228623853 meters Centerline goodness : 0.152981 with order 2 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.09 [[ 0.99998577 0.00207363 -0.00491532 0.15821653] [-0.00206313 0.99999558 0.00214072 -0.03776681] [ 0.00491974 -0.00213055 0.99998563 -0.08843465] [ 0. 0. 0. 1. ]] SLAMing on 1.288623853 meters Centerline goodness : 0.371910 with order 2 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.09 [[ 0.99998446 0.00248542 -0.00499009 0.16177951] [-0.00247366 0.99999415 0.00236076 -0.03899273] [ 0.00499593 -0.00234838 0.99998476 -0.08916737] [ 0. 0. 0. 1. ]] SLAMing on 1.3486238529999999 meters Centerline goodness : 0.233727 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.09 [[ 0.99998045 0.00356281 -0.00513774 0.16979306] [-0.00354567 0.99998813 0.0033412 -0.04434669] [ 0.00514958 -0.00332292 0.99998122 -0.09253918] [ 0. 0. 0. 1. ]] SLAMing on 1.408623853 meters Centerline goodness : 0.261572 with order 3 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.10 [[ 9.99981132e-01 1.77782419e-03 -5.88005825e-03 1.79637164e-01] [-1.77507502e-03 9.99998313e-01 4.72726956e-04 -4.41682050e-02] [ 5.88088875e-03 -4.62280492e-04 9.99982601e-01 -9.81801226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.468623853 meters Centerline goodness : 0.227689 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.11 [[ 9.99972835e-01 2.69149386e-03 -6.86190925e-03 1.94256008e-01] [-2.68474948e-03 9.99995904e-01 9.91894173e-04 -4.56129562e-02] [ 6.86455082e-03 -9.73444721e-04 9.99975965e-01 -1.06050850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528623853 meters Centerline goodness : 0.060733 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.11 [[ 0.99996228 0.00376491 -0.00782753 0.20558953] [-0.00375381 0.99999193 0.00143224 -0.04475275] [ 0.00783286 -0.0014028 0.99996834 -0.11208847] [ 0. 0. 0. 1. ]] SLAMing on 1.588623853 meters Centerline goodness : 0.231719 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.12 [[ 0.99995295 0.0049311 -0.00835385 0.21626953] [-0.00491492 0.99998601 0.00195619 -0.0449851 ] [ 0.00836338 -0.00191504 0.99996319 -0.11674754] [ 0. 0. 0. 1. ]] SLAMing on 1.648623853 meters Centerline goodness : 0.182617 with order 3 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.12 [[ 0.9999477 0.00460073 -0.00913451 0.22621362] [-0.00458377 0.99998773 0.00187683 -0.04670721] [ 0.00914304 -0.00183486 0.99995652 -0.12231518] [ 0. 0. 0. 1. ]] SLAMing on 1.708623853 meters Centerline goodness : 0.139272 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.12 [[ 0.99994827 0.00430083 -0.0092175 0.23249766] [-0.00428115 0.99998852 0.00215367 -0.04888618] [ 0.00922666 -0.0021141 0.9999552 -0.12399916] [ 0. 0. 0. 1. ]] SLAMing on 1.768623853 meters Centerline goodness : 0.121117 with order 3 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.13 [[ 9.99957218e-01 4.37090800e-04 -9.23963293e-03 2.39724164e-01] [-4.49474325e-04 9.99999004e-01 -1.33822752e-03 -5.20893321e-02] [ 9.23903880e-03 1.34232325e-03 9.99956418e-01 -1.26481832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8286238529999999 meters Centerline goodness : 0.110470 with order 3 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:-0.14 [[ 9.99991881e-01 -3.93534187e-03 -8.66801110e-04 2.67685773e-01] [ 3.93718814e-03 9.99989962e-01 2.13867373e-03 -5.78167507e-02] [ 8.58375997e-04 -2.14206912e-03 9.99997337e-01 -1.39624529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.888623853 meters Centerline goodness : 0.126597 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.14 [[ 0.99998646 -0.00498513 -0.00148945 0.27875037] [ 0.004989 0.99998417 0.00260103 -0.06488413] [ 0.00147646 -0.00260842 0.99999551 -0.14412182] [ 0. 0. 0. 1. ]] SLAMing on 1.948623853 meters Centerline goodness : 0.128820 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.15 [[ 0.9999872 -0.00482851 -0.0015105 0.28454398] [ 0.00483353 0.99998275 0.0033367 -0.07075238] [ 0.00149436 -0.00334396 0.99999329 -0.14529838] [ 0. 0. 0. 1. ]] SLAMing on 2.008623853 meters Centerline goodness : 0.129108 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:-0.14 [[ 9.99970181e-01 -4.61699033e-03 -6.19043656e-03 3.19768457e-01] [ 4.61138325e-03 9.99988945e-01 -9.19732645e-04 -7.69215294e-02] [ 6.19461452e-03 8.91158743e-04 9.99980416e-01 -1.44703441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068623853 meters SLAMing on 2.128623853 meters Centerline goodness : 0.472671 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:-0.15 [[ 9.99964824e-01 -4.73424049e-03 -6.92367126e-03 3.34999190e-01] [ 4.73594851e-03 9.99988759e-01 2.30317827e-04 -8.80333636e-02] [ 6.92250305e-03 -2.63099876e-04 9.99976005e-01 -1.51343428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188623853 meters Centerline goodness : 0.123922 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:-0.16 [[ 0.99996008 -0.00427655 -0.00784565 0.34843397] [ 0.00428542 0.9999902 0.00111481 -0.09452715] [ 0.00784081 -0.00114839 0.9999686 -0.15795542] [ 0. 0. 0. 1. ]] SLAMing on 2.248623853 meters SLAMing on 2.308623853 meters Centerline goodness : 0.119847 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.16 [[ 0.99995831 -0.00267961 -0.00872882 0.36711853] [ 0.00270015 0.99999361 0.00234161 -0.10345783] [ 0.00872249 -0.00236508 0.99995916 -0.16477655] [ 0. 0. 0. 1. ]] SLAMing on 2.368623853 meters Centerline goodness : 0.174420 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.11, Z:-0.17 [[ 0.99996152 -0.00197386 -0.00854808 0.37187302] [ 0.00199898 0.99999371 0.00293111 -0.10588432] [ 0.00854224 -0.00294808 0.99995917 -0.16504785] [ 0. 0. 0. 1. ]] SLAMing on 2.428623853 meters Centerline goodness : 0.181273 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.17 [[ 0.99999677 -0.00102691 -0.00232483 0.41816857] [ 0.00103332 0.99999566 0.00275852 -0.10870357] [ 0.00232199 -0.00276091 0.99999349 -0.17237401] [ 0. 0. 0. 1. ]] SLAMing on 2.488623853 meters Centerline goodness : 0.186020 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.18 [[ 9.99994503e-01 2.90495680e-04 -3.30302141e-03 4.31313205e-01] [-2.79655981e-04 9.99994576e-01 3.28174087e-03 -1.09646536e-01] [ 3.30395682e-03 -3.28079912e-03 9.99989160e-01 -1.78246759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548623853 meters Centerline goodness : 0.192460 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.18 [[ 9.99992266e-01 7.07206428e-04 -3.86874551e-03 4.36743946e-01] [-6.94424426e-04 9.99994300e-01 3.30426003e-03 -1.08796035e-01] [ 3.87106025e-03 -3.30154792e-03 9.99987057e-01 -1.79888720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608623853 meters Centerline goodness : 0.118579 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.19 [[ 0.99998678 0.00177846 -0.0048239 0.4502043 ] [-0.00176125 0.99999208 0.00357025 -0.10895105] [ 0.00483021 -0.00356171 0.99998199 -0.18630527] [ 0. 0. 0. 1. ]] SLAMing on 2.6686238529999997 meters Centerline goodness : 0.059725 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:-0.19 [[ 0.99998296 0.00225 -0.0053868 0.45502273] [-0.00223234 0.99999213 0.00328051 -0.10504414] [ 0.00539414 -0.00326843 0.99998011 -0.187104 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7286238529999998 meters Centerline goodness : 0.116320 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.10, Z:-0.19 [[ 0.99997849 0.00256667 -0.00603557 0.46045173] [-0.00254868 0.99999229 0.0029868 -0.1019881 ] [ 0.00604319 -0.00297136 0.99997733 -0.18844111] [ 0. 0. 0. 1. ]] SLAMing on 2.788623853 meters SLAMing on 2.848623853 meters Centerline goodness : 0.114712 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.20 [[ 0.99997115 0.00335423 -0.00681482 0.47577017] [-0.00333571 0.99999072 0.00272782 -0.09694834] [ 0.00682391 -0.00270501 0.99997306 -0.19535961] [ 0. 0. 0. 1. ]] SLAMing on 2.908623853 meters Centerline goodness : 0.116871 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.20 [[ 0.99996834 0.00321553 -0.00727827 0.479696 ] [-0.0031994 0.9999924 0.00222636 -0.09275604] [ 0.00728538 -0.002203 0.99997103 -0.19599214] [ 0. 0. 0. 1. ]] SLAMing on 2.968623853 meters Centerline goodness : 0.115680 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.20 [[ 0.99997041 0.00286519 -0.0071388 0.48339848] [-0.00285152 0.99999408 0.00192463 -0.09113645] [ 0.00714427 -0.00190422 0.99997267 -0.19595288] [ 0. 0. 0. 1. ]] SLAMing on 3.028623853 meters Centerline goodness : 0.116110 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.20 [[ 0.99997211 0.00249029 -0.00704178 0.48646001] [-0.00248108 0.99999605 0.00131703 -0.08691112] [ 0.00704503 -0.00129952 0.99997434 -0.19513541] [ 0. 0. 0. 1. ]] SLAMing on 3.088623853 meters Centerline goodness : 0.088105 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.20 [[ 9.99969804e-01 2.18164041e-03 -7.45863918e-03 4.89802248e-01] [-2.17425346e-03 9.99997138e-01 9.98353654e-04 -8.51442520e-02] [ 7.46079589e-03 -9.82106536e-04 9.99971686e-01 -1.95605165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148623853 meters Centerline goodness : 0.115722 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.20 [[ 9.99963871e-01 3.43419704e-04 -8.49342412e-03 4.99768821e-01] [-3.44903862e-04 9.99999926e-01 -1.73277836e-04 -8.33098826e-02] [ 8.49336398e-03 1.76200990e-04 9.99963915e-01 -1.99670815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2086238529999997 meters Centerline goodness : 0.082379 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.20 [[ 0.99995011 -0.00429771 -0.00901695 0.50474653] [ 0.00425501 0.99997967 -0.00474936 -0.08122974] [ 0.00903718 0.00471075 0.99994807 -0.20078987] [ 0. 0. 0. 1. ]] SLAMing on 3.268623853 meters Centerline goodness : 0.118804 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.20 [[ 0.99992986 -0.00670852 -0.00976026 0.51369409] [ 0.00665121 0.99996052 -0.00589231 -0.08225386] [ 0.0097994 0.00582698 0.99993501 -0.20496598] [ 0. 0. 0. 1. ]] SLAMing on 3.328623853 meters Centerline goodness : 0.118096 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.21 [[ 0.99992244 -0.00717867 -0.01017739 0.51657284] [ 0.00711918 0.99995743 -0.00586974 -0.08365323] [ 0.01021909 0.00579683 0.99993098 -0.20504194] [ 0. 0. 0. 1. ]] SLAMing on 3.388623853 meters Centerline goodness : 0.117874 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.21 [[ 0.99989763 -0.0092322 -0.01093178 0.52477112] [ 0.0091572 0.99993433 -0.00689079 -0.08598486] [ 0.01099468 0.00678998 0.9999165 -0.20818404] [ 0. 0. 0. 1. ]] SLAMing on 3.448623853 meters Centerline goodness : 0.121284 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.21 [[ 0.99988659 -0.00973719 -0.01148856 0.52823117] [ 0.0096613 0.99993126 -0.00664353 -0.08929852] [ 0.01155246 0.00653178 0.99991193 -0.20847639] [ 0. 0. 0. 1. ]] SLAMing on 3.508623853 meters Centerline goodness : 0.121757 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.09, Z:-0.21 [[ 0.99985808 -0.01139943 -0.01240438 0.53685464] [ 0.01131046 0.99990998 -0.00721841 -0.09346068] [ 0.01248555 0.00707709 0.99989701 -0.21193961] [ 0. 0. 0. 1. ]] SLAMing on 3.568623853 meters Centerline goodness : 0.121341 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.10, Z:-0.21 [[ 0.99984809 -0.0117139 -0.01290651 0.54088656] [ 0.01163183 0.99991176 -0.00641596 -0.10107675] [ 0.01298053 0.00626486 0.99989612 -0.21242915] [ 0. 0. 0. 1. ]] SLAMing on 3.6286238529999997 meters Centerline goodness : 0.121969 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.11, Z:-0.21 [[ 0.99984719 -0.01142169 -0.01323441 0.54291333] [ 0.01134607 0.99991895 -0.00577531 -0.10509354] [ 0.0132993 0.00562426 0.99989574 -0.21226798] [ 0. 0. 0. 1. ]] SLAMing on 3.6886238529999997 meters Centerline goodness : 0.115464 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.11, Z:-0.21 [[ 0.99984988 -0.01077427 -0.01356987 0.54569268] [ 0.01070936 0.9999309 -0.00484745 -0.10997645] [ 0.01362116 0.0047014 0.99989618 -0.21230125] [ 0. 0. 0. 1. ]] SLAMing on 3.748623853 meters Centerline goodness : 0.110691 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.21 [[ 0.99985445 -0.00988599 -0.01390514 0.5487637 ] [ 0.00983476 0.99994461 -0.00374809 -0.11568677] [ 0.01394142 0.00361079 0.99989629 -0.21273165] [ 0. 0. 0. 1. ]] SLAMing on 3.808623853 meters Centerline goodness : 0.094349 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.21 [[ 0.99995812 -0.00732232 -0.00549059 0.57547414] [ 0.00731186 0.99997142 -0.00192287 -0.12000074] [ 0.00550451 0.00188264 0.99998308 -0.21076318] [ 0. 0. 0. 1. ]] SLAMing on 3.868623853 meters Centerline goodness : 0.097824 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.21 [[ 0.9999793 -0.0024914 -0.00593185 0.5781586 ] [ 0.00251056 0.99999165 0.003224 -0.12491534] [ 0.00592377 -0.00323882 0.99997721 -0.21091875] [ 0. 0. 0. 1. ]] SLAMing on 3.928623853 meters Centerline goodness : 0.096538 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.21 [[ 9.99977214e-01 9.23255614e-04 -6.68719804e-03 5.85347160e-01] [-8.77843685e-04 9.99976558e-01 6.79063019e-03 -1.29324567e-01] [ 6.69331077e-03 -6.78460514e-03 9.99954583e-01 -2.14833224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988623853 meters Centerline goodness : 0.100641 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.21 [[ 9.99954342e-01 4.66275427e-03 -8.34107723e-03 6.06647032e-01] [-4.65913808e-03 9.99989044e-01 4.52919127e-04 -1.30211370e-01] [ 8.34309770e-03 -4.14036217e-04 9.99965110e-01 -2.10661625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048623853 meters Centerline goodness : 0.101590 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.21 [[ 9.99981213e-01 6.07825564e-03 -7.92876270e-04 6.35552530e-01] [-6.07716362e-03 9.99980592e-01 1.37250219e-03 -1.33314198e-01] [ 8.01203301e-04 -1.36765796e-03 9.99998744e-01 -2.08038485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108623853 meters Centerline goodness : 0.104535 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.19 [[ 0.99814525 0.0058482 -0.06059582 0.90185739] [-0.00337003 0.99915681 0.04091837 -0.19430991] [ 0.06078403 -0.04063827 0.99732333 -0.18757585] [ 0. 0. 0. 1. ]] SLAMing on 4.168623853 meters Centerline goodness : 0.105763 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:-0.19 [[ 0.99792969 0.01185694 -0.06321196 0.92716317] [-0.01044969 0.99969118 0.02254673 -0.18715128] [ 0.06345977 -0.0218395 0.9977454 -0.18778922] [ 0. 0. 0. 1. ]] SLAMing on 4.228623853 meters Centerline goodness : 0.107365 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.19 [[ 0.99766771 0.01815039 -0.06580046 0.95559857] [-0.01792982 0.99983148 0.00394127 -0.18091642] [ 0.06586091 -0.00275229 0.99782502 -0.18785974] [ 0. 0. 0. 1. ]] SLAMing on 4.288623853 meters Centerline goodness : 0.109554 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.19 [[ 0.99762855 0.01853384 -0.06628556 0.95753585] [-0.01830581 0.99982425 0.00404595 -0.18128138] [ 0.06634889 -0.00282295 0.99779249 -0.18706747] [ 0. 0. 0. 1. ]] SLAMing on 4.348623853 meters Centerline goodness : 0.108339 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.19 [[ 0.99760319 0.01888258 -0.06656811 0.95943671] [-0.01866967 0.99981841 0.00381909 -0.17976013] [ 0.06662814 -0.00256713 0.99777457 -0.18663964] [ 0. 0. 0. 1. ]] SLAMing on 4.408623853 meters Centerline goodness : 0.105568 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.18, Z:-0.19 [[ 0.99803625 0.01988523 -0.05939888 0.98500378] [-0.01946498 0.99978131 0.0076453 -0.18269576] [ 0.05953792 -0.00647409 0.99820505 -0.18544523] [ 0. 0. 0. 1. ]] SLAMing on 4.4686238529999995 meters Centerline goodness : 0.103373 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.19 [[ 0.99847343 0.01639945 -0.05274342 0.99876826] [-0.01562879 0.99976548 0.01499083 -0.1875247 ] [ 0.05297689 -0.01414363 0.99849557 -0.18744195] [ 0. 0. 0. 1. ]] SLAMing on 4.528623853 meters Centerline goodness : 0.102449 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.19 [[ 0.99853012 0.01199806 -0.05285502 0.99973286] [-0.01147099 0.99988152 0.01026418 -0.18500034] [ 0.05297191 -0.0096428 0.99854944 -0.18753358] [ 0. 0. 0. 1. ]] SLAMing on 4.588623853 meters Centerline goodness : 0.079482 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.19 [[ 0.99853073 0.01192705 -0.05285954 0.99963929] [-0.01139183 0.99988087 0.01041511 -0.18596828] [ 0.05297746 -0.00979764 0.99854764 -0.18765056] [ 0. 0. 0. 1. ]] SLAMing on 4.648623853 meters Centerline goodness : 0.098709 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.19 [[ 0.99887079 0.00723318 -0.04695563 1.02722969] [-0.00682214 0.99993705 0.00890824 -0.19005549] [ 0.0470171 -0.00857784 0.99885725 -0.18638037] [ 0. 0. 0. 1. ]] SLAMing on 4.708623853 meters Centerline goodness : 0.270000 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.19 [[ 9.98890559e-01 -1.22767911e-03 -4.70759360e-02 1.02803989e+00] [ 1.24741326e-03 9.99999146e-01 3.89822782e-04 -1.90195038e-01] [ 4.70754172e-02 -4.48113443e-04 9.98891237e-01 -1.85791336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768623853 meters Centerline goodness : 0.935347 with order 3 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.19, Z:-0.19 [[ 0.99909014 -0.00372477 -0.0424855 1.04516109] [ 0.00317104 0.99990925 -0.01309345 -0.186668 ] [ 0.04253041 0.01294682 0.99901128 -0.18751486] [ 0. 0. 0. 1. ]] SLAMing on 4.828623853 meters Centerline goodness : 0.975561 with order 1 Centerline is valid? [False, True] Translation: X:1.07, Y:-0.19, Z:-0.19 [[ 0.99923491 -0.01065556 -0.0376304 1.06640698] [ 0.01029617 0.99989964 -0.00973165 -0.19444281] [ 0.03773031 0.00933675 0.99924434 -0.19055294] [ 0. 0. 0. 1. ]] SLAMing on 4.8886238529999995 meters Centerline goodness : 0.982204 with order 1 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.21, Z:-0.18 [[ 9.99198813e-01 -1.36499582e-02 -3.76219359e-02 1.12573859e+00] [ 1.36611151e-02 9.99906682e-01 3.94863084e-05 -2.10429512e-01] [ 3.76178861e-02 -5.53412268e-04 9.99292044e-01 -1.80866193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948623853 meters Centerline goodness : 0.980926 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.22, Z:-0.18 [[ 9.99179694e-01 -1.49842969e-02 -3.76219367e-02 1.18334123e+00] [ 1.49963676e-02 9.99887547e-01 3.86518502e-05 -2.17722869e-01] [ 3.76171269e-02 -6.02812539e-04 9.99292044e-01 -1.82029453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008623853 meters Centerline goodness : 0.986033 with order 1 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.23, Z:-0.18 [[ 9.99166888e-01 -1.58151887e-02 -3.76219424e-02 1.24218530e+00] [ 1.58275980e-02 9.99874735e-01 3.20085861e-05 -2.25846065e-01] [ 3.76167235e-02 -6.27446900e-04 9.99292044e-01 -1.77701354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068623853 meters Centerline goodness : 0.987810 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.23, Z:-0.17 [[ 9.99188452e-01 -1.43883939e-02 -3.76219464e-02 1.30089311e+00] [ 1.43995754e-02 9.99896320e-01 2.62420078e-05 -2.32600036e-01] [ 3.76176682e-02 -5.67960764e-04 9.99292044e-01 -1.73787894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128623853 meters Centerline goodness : 0.989579 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.24, Z:-0.17 [[ 9.99240670e-01 -1.01327149e-02 -3.76219496e-02 1.35825874e+00] [ 1.01406644e-02 9.99948582e-01 2.04770270e-05 -2.41704137e-01] [ 3.76198076e-02 -4.01973042e-04 9.99292044e-01 -1.70138635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188623853 meters Centerline goodness : 0.993033 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.25, Z:-0.16 [[ 9.99288854e-01 -2.52493501e-03 -3.76219510e-02 1.41699680e+00] [ 2.52737994e-03 9.99996806e-01 1.74275462e-05 -2.47013741e-01] [ 3.76217868e-02 -1.12500117e-04 9.99292044e-01 -1.62808642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248623853 meters Centerline goodness : 0.993764 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.25, Z:-0.16 [[ 9.99288700e-01 2.58513206e-03 -3.76219528e-02 1.47528853e+00] [-2.58653085e-03 9.99996655e-01 1.14922915e-05 -2.49735980e-01] [ 3.76218566e-02 8.58262245e-05 9.99292044e-01 -1.58689751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308623852999999 meters Centerline goodness : 0.994644 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.25, Z:-0.16 [[ 9.99254289e-01 8.68645665e-03 -3.76219533e-02 1.53368186e+00] [-8.69225700e-03 9.99962222e-01 9.39355101e-06 -2.54376083e-01] [ 3.76206136e-02 3.17633141e-04 9.99292044e-01 -1.60161675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368623853 meters Centerline goodness : 0.996224 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.26, Z:-0.16 [[ 9.99235394e-01 1.06402928e-02 -3.76219539e-02 1.59259825e+00] [-1.06476953e-02 9.99943312e-01 3.60518688e-06 -2.56309997e-01] [ 3.76198595e-02 3.96984670e-04 9.99292044e-01 -1.60662732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4286238529999995 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.26, Z:-0.16 [[ 9.99212021e-01 1.26461364e-02 -3.76219535e-02 1.65141982e+00] [-1.26551763e-02 9.99919920e-01 -2.14378951e-06 -2.61419608e-01] [ 3.76189137e-02 4.78254557e-04 9.99292044e-01 -1.58579780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488623853 meters Centerline goodness : 0.997449 with order 1 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.27, Z:-0.16 [[ 9.99181878e-01 1.48378940e-02 -3.76219523e-02 1.70889657e+00] [-1.48487011e-02 9.99889752e-01 -7.83896312e-06 -2.65922421e-01] [ 3.76176883e-02 5.66469674e-04 9.99292044e-01 -1.57080344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548623853 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.27, Z:-0.16 [[ 9.99139093e-01 1.74831915e-02 -3.76219516e-02 1.76811069e+00] [-1.74959784e-02 9.99846934e-01 -1.06471836e-05 -2.65632131e-01] [ 3.76160067e-02 6.68870867e-04 9.99292044e-01 -1.56591114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608623853 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.27, Z:-0.16 [[ 9.99100848e-01 1.95469680e-02 -3.76219489e-02 1.82564204e+00] [-1.95614431e-02 9.99808657e-01 -1.66547953e-05 -2.66683046e-01] [ 3.76144246e-02 7.52579434e-04 9.99292044e-01 -1.55094855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668623853 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.27, Z:-0.15 [[ 9.99070655e-01 2.10336681e-02 -3.76219478e-02 1.88402809e+00] [-2.10492764e-02 9.99778439e-01 -1.87794307e-05 -2.66952758e-01] [ 3.76132173e-02 8.10676758e-04 9.99292044e-01 -1.50469363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728623853 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.27, Z:-0.15 [[ 9.99069907e-01 2.10691695e-02 -3.76219439e-02 1.94281803e+00] [-2.10850263e-02 9.99777686e-01 -2.47146840e-05 -2.66447864e-01] [ 3.76130593e-02 8.17951375e-04 9.99292044e-01 -1.46438391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788623853 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.27, Z:-0.14 [[ 9.99079458e-01 2.06113152e-02 -3.76219427e-02 2.00163593e+00] [-2.06269132e-02 9.99787242e-01 -2.64554094e-05 -2.65433669e-01] [ 3.76133931e-02 8.02455603e-04 9.99292044e-01 -1.42557733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848623852999999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.26, Z:-0.14 [[ 9.99137033e-01 1.76005175e-02 -3.76219414e-02 2.05902399e+00] [-1.76140496e-02 9.99844860e-01 -2.82380377e-05 -2.62891749e-01] [ 3.76156077e-02 6.90888412e-04 9.99292044e-01 -1.42279598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908623853 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.26, Z:-0.14 [[ 9.99225003e-01 1.15750952e-02 -3.76219388e-02 2.11702635e+00] [-1.15844743e-02 9.99932897e-01 -3.13097883e-05 -2.61944157e-01] [ 3.76190519e-02 4.67115908e-04 9.99292044e-01 -1.40255077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9686238529999995 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.26, Z:-0.14 [[ 9.99272814e-01 6.19947999e-03 -3.76219364e-02 2.17547273e+00] [-6.20515169e-03 9.99980747e-01 -3.39894009e-05 -2.62342246e-01] [ 3.76210014e-02 2.67414506e-04 9.99292044e-01 -1.36784435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028623853 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.26, Z:-0.13 [[ 9.99290987e-01 -1.45381270e-03 -3.76219297e-02 2.23332477e+00] [ 1.45332839e-03 9.99998943e-01 -4.02213345e-05 -2.61829345e-01] [ 3.76219484e-02 -1.44842016e-05 9.99292044e-01 -1.34334507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088623853 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.26, Z:-0.13 [[ 9.99280921e-01 -4.71503255e-03 -3.76219207e-02 2.29136172e+00] [ 4.71658812e-03 9.99988876e-01 -4.74079017e-05 -2.62591757e-01] [ 3.76217257e-02 -1.30073292e-04 9.99292044e-01 -1.31676936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148623853 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.26, Z:-0.13 [[ 9.99263844e-01 -7.50743796e-03 -3.76219101e-02 2.34796280e+00] [ 7.51069796e-03 9.99971793e-01 -5.46831054e-05 -2.64571543e-01] [ 3.76212594e-02 -2.27923953e-04 9.99292044e-01 -1.30366218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208623853 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.27, Z:-0.13 [[ 9.99254628e-01 -8.64756697e-03 -3.76219053e-02 2.40619876e+00] [ 8.65151648e-03 9.99962573e-01 -5.78237010e-05 -2.66242381e-01] [ 3.76209972e-02 -2.67705933e-04 9.99292044e-01 -1.25968187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.27, Z:-0.13 [[ 9.99240997e-01 -1.01005770e-02 -3.76219016e-02 2.46340447e+00] [ 1.01054703e-02 9.99948937e-01 -6.00973362e-05 -2.68542726e-01] [ 3.76205876e-02 -3.20135289e-04 9.99292044e-01 -1.25369166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.27, Z:-0.12 [[ 9.99226172e-01 -1.14738650e-02 -3.76218963e-02 2.52094914e+00] [ 1.14796123e-02 9.99934105e-01 -6.32589693e-05 -2.72322131e-01] [ 3.76201431e-02 -3.68674765e-04 9.99292044e-01 -1.23012660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3886238529999995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.28, Z:-0.12 [[ 9.99217413e-01 -1.22129098e-02 -3.76218829e-02 2.57980341e+00] [ 1.22189103e-02 9.99925344e-01 -7.04413851e-05 -2.78224849e-01] [ 3.76199345e-02 -3.89312152e-04 9.99292044e-01 -1.22750679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448623853 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.28, Z:-0.12 [[ 9.99250386e-01 -9.12478755e-03 -3.76218701e-02 2.63782673e+00] [ 9.12836483e-03 9.99958333e-01 -7.66911814e-05 -2.82104148e-01] [ 3.76210023e-02 -2.66792464e-04 9.99292044e-01 -1.18163880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.28, Z:-0.11 [[ 9.99267278e-01 -7.03578518e-03 -3.76218655e-02 2.69595548e+00] [ 7.03779924e-03 9.99975231e-01 -7.89015836e-05 -2.82893558e-01] [ 3.76214888e-02 -1.85931366e-04 9.99292044e-01 -1.14033991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.29, Z:-0.11 [[ 9.99290215e-01 1.91379335e-03 -3.76218487e-02 2.75440239e+00] [-1.91839627e-03 9.99998156e-01 -8.62476056e-05 -2.85126990e-01] [ 3.76216142e-02 1.58360002e-04 9.99292044e-01 -1.10863530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.28, Z:-0.11 [[ 9.99253704e-01 8.75403372e-03 -3.76218303e-02 2.81110365e+00] [-8.76375981e-03 9.99961593e-01 -9.36142145e-05 -2.84595491e-01] [ 3.76195659e-02 4.23253035e-04 9.99292044e-01 -1.10029663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.28, Z:-0.11 [[ 9.99142588e-01 1.72825491e-02 -3.76218222e-02 2.86913956e+00] [-1.72984358e-02 9.99850366e-01 -9.67760552e-05 -2.83208244e-01] [ 3.76145202e-02 7.47491753e-04 9.99292044e-01 -1.09781967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.28, Z:-0.11 [[ 9.99029185e-01 2.29191357e-02 -3.76218015e-02 2.92576603e+00] [-2.29392964e-02 9.99736854e-01 -1.04248666e-04 -2.79802379e-01] [ 3.76095122e-02 9.67165116e-04 9.99292044e-01 -1.07986635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808623852999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.28, Z:-0.11 [[ 9.98976182e-01 2.51234799e-02 -3.76217923e-02 2.98333835e+00] [-2.51453231e-02 9.99683801e-01 -1.07462401e-04 -2.76461545e-01] [ 3.76071965e-02 1.05336450e-03 9.99292044e-01 -1.05765656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.27, Z:-0.10 [[ 9.98940567e-01 2.65017877e-02 -3.76217844e-02 3.04192853e+00] [-2.65247091e-02 9.99648152e-01 -1.10171465e-04 -2.72462730e-01] [ 3.76056275e-02 1.10796163e-03 9.99292044e-01 -1.00638412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9286238529999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.27, Z:-0.10 [[ 9.98950006e-01 2.61436036e-02 -3.76217791e-02 3.09960737e+00] [-2.61663388e-02 9.99657596e-01 -1.11965442e-04 -2.66246366e-01] [ 3.76059700e-02 1.09627210e-03 9.99292044e-01 -9.84264478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.26, Z:-0.10 [[ 9.99002571e-01 2.40513288e-02 -3.76217707e-02 3.15710063e+00] [-2.40726844e-02 9.99710204e-01 -1.14689665e-04 -2.59520918e-01] [ 3.76081097e-02 1.02023229e-03 9.99292044e-01 -9.89230546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.26, Z:-0.10 [[ 9.99062587e-01 2.14137979e-02 -3.76217551e-02 3.21564451e+00] [-2.14334707e-02 9.99770270e-01 -1.19616804e-04 -2.55419633e-01] [ 3.76105508e-02 9.25869461e-04 9.99292044e-01 -9.99116996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.25, Z:-0.10 [[ 9.99163919e-01 1.60021181e-02 -3.76217495e-02 3.27311201e+00] [-1.60180228e-02 9.99871696e-01 -1.21350339e-04 -2.50576965e-01] [ 3.76149806e-02 7.23874920e-04 9.99292044e-01 -9.68439936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.25, Z:-0.09 [[ 9.99217888e-01 1.21744470e-02 -3.76217403e-02 3.33035152e+00] [-1.21877452e-02 9.99925719e-01 -1.24138790e-04 -2.45662679e-01] [ 3.76174344e-02 5.82565883e-04 9.99292044e-01 -9.45182432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.24, Z:-0.09 [[ 9.99235354e-01 1.06448470e-02 -3.76217294e-02 3.38910949e+00] [-1.06571831e-02 9.99943202e-01 -1.27365696e-04 -2.41179736e-01] [ 3.76182368e-02 5.28209965e-04 9.99292044e-01 -9.05195376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.24, Z:-0.09 [[ 9.99246567e-01 9.53443830e-03 -3.76217066e-02 3.44731444e+00] [-9.54622913e-03 9.99954425e-01 -1.33777130e-04 -2.35395488e-01] [ 3.76187165e-02 4.92821769e-04 9.99292044e-01 -8.64236692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.23, Z:-0.09 [[ 9.99257133e-01 8.35406229e-03 -3.76216983e-02 3.50458292e+00] [-8.36510328e-03 9.99965003e-01 -1.36070452e-04 -2.31162502e-01] [ 3.76192449e-02 4.50678761e-04 9.99292044e-01 -8.51856854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.22, Z:-0.08 [[ 9.99270130e-01 6.61939744e-03 -3.76216796e-02 3.56258612e+00] [-6.62939740e-03 9.99978015e-01 -1.41059431e-04 -2.23847732e-01] [ 3.76199187e-02 3.90365541e-04 9.99292044e-01 -8.42119931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4686238529999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.22, Z:-0.08 [[ 9.99284849e-01 3.79513069e-03 -3.76216497e-02 3.61960766e+00] [-3.80341474e-03 9.99992756e-01 -1.48625228e-04 -2.17941948e-01] [ 3.76208131e-02 2.91609675e-04 9.99292044e-01 -8.37992775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.21, Z:-0.08 [[ 9.99291778e-01 7.45606488e-04 -3.76216288e-02 3.67765117e+00] [-7.51922680e-04 9.99999705e-01 -1.53738252e-04 -2.12371292e-01] [ 3.76215031e-02 1.81917927e-04 9.99292044e-01 -8.17931301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.21, Z:-0.08 [[ 9.99289258e-01 -2.36507547e-03 -3.76215976e-02 3.73565994e+00] [ 2.36068839e-03 9.99997201e-01 -1.61032352e-04 -2.07543942e-01] [ 3.76218731e-02 7.21050309e-05 9.99292044e-01 -7.81847438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.20, Z:-0.08 [[ 9.99285423e-01 -3.64172161e-03 -3.76215645e-02 3.79367206e+00] [ 3.63796102e-03 9.99993368e-01 -1.68415236e-04 -2.04653173e-01] [ 3.76219283e-02 3.14291048e-05 9.99292044e-01 -7.66161521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.20, Z:-0.08 [[ 9.99281320e-01 -4.63281878e-03 -3.76215302e-02 3.85152255e+00] [ 4.62948347e-03 9.99989268e-01 -1.75769304e-04 -2.01556895e-01] [ 3.76219407e-02 1.47473057e-06 9.99292044e-01 -7.57460982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.20, Z:-0.08 [[ 9.99278759e-01 -5.15600549e-03 -3.76214943e-02 3.91086462e+00] [ 5.15276314e-03 9.99986708e-01 -1.83145268e-04 -1.98480342e-01] [ 3.76219385e-02 -1.08414729e-05 9.99292044e-01 -7.55348926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.19, Z:-0.08 [[ 9.99270000e-01 -6.64016421e-03 -3.76214766e-02 3.96968673e+00] [ 6.63783915e-03 9.99977952e-01 -1.86709446e-04 -1.93885166e-01] [ 3.76218869e-02 -6.31521619e-05 9.99292044e-01 -7.56045430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8886238529999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.19, Z:-0.07 [[ 9.99261084e-01 -7.86848512e-03 -3.76214430e-02 4.02694145e+00] [ 7.86678399e-03 9.99969038e-01 -1.93251535e-04 -1.90918991e-01] [ 3.76217987e-02 -1.02851027e-04 9.99292044e-01 -7.38053651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.19, Z:-0.07 [[ 9.99238767e-01 -1.03206314e-02 -3.76214261e-02 4.08519917e+00] [ 1.03205462e-02 9.99946722e-01 -1.96475398e-04 -1.87120215e-01] [ 3.76214495e-02 -1.91947832e-04 9.99292044e-01 -6.90666598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.18, Z:-0.07 [[ 9.99223481e-01 -1.17074978e-02 -3.76213923e-02 4.14285732e+00] [ 1.17081587e-02 9.99931437e-01 -2.02755447e-04 -1.84473658e-01] [ 3.76211866e-02 -2.37879229e-04 9.99292044e-01 -6.57370921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.18, Z:-0.06 [[ 9.99197717e-01 -1.37314685e-02 -3.76213801e-02 4.20066637e+00] [ 1.37334794e-02 9.99905670e-01 -2.04987077e-04 -1.81786023e-01] [ 3.76206461e-02 -3.11849830e-04 9.99292044e-01 -6.05374359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128623852999999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.18, Z:-0.06 [[ 9.99183923e-01 -1.47011041e-02 -3.76213379e-02 4.25893934e+00] [ 1.47035204e-02 9.99891875e-01 -2.12467986e-04 -1.80096780e-01] [ 3.76203936e-02 -3.40871514e-04 9.99292044e-01 -5.57351612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.18, Z:-0.06 [[ 9.99188710e-01 -1.43721997e-02 -3.76212945e-02 4.31711939e+00] [ 1.43741037e-02 9.99896663e-01 -2.19885545e-04 -1.77861972e-01] [ 3.76205671e-02 -3.21065233e-04 9.99292044e-01 -5.64878111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248623852999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.18, Z:-0.06 [[ 9.99191954e-01 -1.41448948e-02 -3.76212810e-02 4.37572084e+00] [ 1.41465516e-02 9.99899908e-01 -2.22174581e-04 -1.75923895e-01] [ 3.76206580e-02 -3.10216340e-04 9.99292044e-01 -5.94192650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308623852999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.18, Z:-0.06 [[ 9.99178762e-01 -1.50480760e-02 -3.76212360e-02 4.43306351e+00] [ 1.50500949e-02 9.99886715e-01 -2.29552919e-04 -1.77121223e-01] [ 3.76204284e-02 -3.36838770e-04 9.99292044e-01 -5.50328186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.18, Z:-0.05 [[ 9.99163516e-01 -1.60285167e-02 -3.76212162e-02 4.49222932e+00] [ 1.60311097e-02 9.99871466e-01 -2.32753756e-04 -1.77834934e-01] [ 3.76201113e-02 -3.70550784e-04 9.99292044e-01 -5.29032971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.18, Z:-0.05 [[ 9.99169029e-01 -1.56811305e-02 -3.76211748e-02 4.54949733e+00] [ 1.56832324e-02 9.99876982e-01 -2.39263908e-04 -1.78608022e-01] [ 3.76202986e-02 -3.50956540e-04 9.99292044e-01 -5.18213267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.18, Z:-0.05 [[ 9.99211393e-01 -1.26980706e-02 -3.76211540e-02 4.60775619e+00] [ 1.26979377e-02 9.99919349e-01 -2.42482661e-04 -1.80924247e-01] [ 3.76211989e-02 -2.35419633e-04 9.99292044e-01 -4.86632118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.18, Z:-0.05 [[ 9.99271182e-01 -6.46191592e-03 -3.76211049e-02 4.66601920e+00] [ 6.45708631e-03 9.99979122e-01 -2.49879306e-04 -1.79038460e-01] [ 3.76219341e-02 6.77446849e-06 9.99292044e-01 -4.50103298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.18, Z:-0.04 [[ 9.99289150e-01 -2.41898902e-03 -3.76210549e-02 4.72399633e+00] [ 2.41101963e-03 9.99997060e-01 -2.57200392e-04 -1.76531777e-01] [ 3.76215664e-02 1.66312459e-04 9.99292044e-01 -4.23358637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.17, Z:-0.04 [[ 9.99288048e-01 2.83812799e-03 -3.76210393e-02 4.78151735e+00] [-2.84990629e-03 9.99995905e-01 -2.59453823e-04 -1.73248344e-01] [ 3.76201489e-02 3.66485541e-04 9.99292044e-01 -4.01229970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.17, Z:-0.04 [[ 9.99271997e-01 6.33536745e-03 -3.76209866e-02 4.83865297e+00] [-6.34990274e-03 9.99979804e-01 -2.66885304e-04 -1.70198378e-01] [ 3.76185360e-02 5.05580617e-04 9.99292044e-01 -3.81254837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.17, Z:-0.04 [[ 9.99261224e-01 7.85305444e-03 -3.76209502e-02 4.89640167e+00] [-7.86885425e-03 9.99969003e-01 -2.71920530e-04 -1.65103089e-01] [ 3.76176487e-02 5.67753415e-04 9.99292044e-01 -3.52208951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.16, Z:-0.03 [[ 9.99252062e-01 8.94339932e-03 -3.76208977e-02 4.95406836e+00] [-8.96023798e-03 9.99959817e-01 -2.79002437e-04 -1.59597702e-01] [ 3.76168907e-02 6.15885957e-04 9.99292045e-01 -3.33786266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908623852999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.15, Z:-0.03 [[ 9.99255415e-01 8.56081327e-03 -3.76208408e-02 5.01069600e+00] [-8.57766193e-03 9.99963170e-01 -2.86467782e-04 -1.54432076e-01] [ 3.76170029e-02 6.08953336e-04 9.99292045e-01 -2.96542055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.15, Z:-0.03 [[ 9.99264141e-01 7.47330466e-03 -3.76208159e-02 5.06885489e+00] [-7.48950474e-03 9.99971911e-01 -2.89700657e-04 -1.45844871e-01] [ 3.76175942e-02 5.71248758e-04 9.99292045e-01 -3.00494143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.14, Z:-0.03 [[ 9.99275402e-01 5.77498211e-03 -3.76207584e-02 5.12644236e+00] [-5.79025386e-03 9.99983192e-01 -2.96995832e-04 -1.40961213e-01] [ 3.76184109e-02 5.14614371e-04 9.99292045e-01 -2.68768188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.13, Z:-0.02 [[ 9.99287718e-01 2.95626461e-03 -3.76206991e-02 5.18338687e+00] [-2.96981560e-03 9.99995544e-01 -3.04322404e-04 -1.32545391e-01] [ 3.76196318e-02 4.15832180e-04 9.99292045e-01 -2.49896012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.13, Z:-0.02 [[ 9.99291908e-01 6.06313188e-04 -3.76206732e-02 5.24155726e+00] [-6.18318849e-04 9.99999762e-01 -3.07489955e-04 -1.25726696e-01] [ 3.76204778e-02 3.30533795e-04 9.99292045e-01 -2.25840249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.12, Z:-0.02 [[ 9.99287659e-01 -2.97726555e-03 -3.76206119e-02 5.29875219e+00] [ 2.96752263e-03 9.99995547e-01 -3.14815260e-04 -1.15808718e-01] [ 3.76213817e-02 2.02950987e-04 9.99292045e-01 -2.27782212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.11, Z:-0.02 [[ 9.99268965e-01 -6.79909847e-03 -3.76205851e-02 5.35630185e+00] [ 6.79194344e-03 9.99976884e-01 -3.17991338e-04 -1.05697126e-01] [ 3.76218775e-02 6.22419898e-05 9.99292045e-01 -2.19224567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.10, Z:-0.02 [[ 9.99243840e-01 -9.82044415e-03 -3.76205564e-02 5.41395231e+00] [ 9.81530326e-03 9.99951777e-01 -3.21346896e-04 -9.91279105e-02] [ 3.76218980e-02 -4.81532635e-05 9.99292045e-01 -1.96674828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.09, Z:-0.02 [[ 9.99185630e-01 -1.45868504e-02 -3.76204933e-02 5.47209072e+00] [ 1.45848147e-02 9.99893582e-01 -3.28567304e-04 -8.89724159e-02] [ 3.76212826e-02 -2.20388195e-04 9.99292045e-01 -1.70449443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.08, Z:-0.02 [[ 9.99091184e-01 -2.00377100e-02 -3.76204272e-02 5.52988936e+00] [ 2.00392580e-02 9.99799137e-01 -3.35966938e-04 -8.08519445e-02] [ 3.76196027e-02 -4.18223842e-04 9.99292045e-01 -1.79244514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.08, Z:-0.02 [[ 9.98999882e-01 -2.41648563e-02 -3.76204068e-02 5.58781991e+00] [ 2.41692434e-02 9.99707824e-01 -3.38236294e-04 -7.63965355e-02] [ 3.76175885e-02 -5.71358752e-04 9.99292045e-01 -1.53663255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.07, Z:-0.02 [[ 9.98863150e-01 -2.92765622e-02 -3.76203368e-02 5.64528751e+00] [ 2.92842850e-02 9.99571064e-01 -3.45855690e-04 -7.02525554e-02] [ 3.76143255e-02 -7.56222160e-04 9.99292045e-01 -1.56537434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.07, Z:-0.01 [[ 9.98805370e-01 -3.11856560e-02 -3.76203064e-02 5.70342697e+00] [ 3.11946086e-02 9.99513269e-01 -3.49131275e-04 -6.61250090e-02] [ 3.76128833e-02 -8.24836541e-04 9.99292045e-01 -1.23780108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.06, Z:-0.01 [[ 9.98765262e-01 -3.24448043e-02 -3.76202858e-02 5.76177688e+00] [ 3.24545662e-02 9.99473150e-01 -3.51338236e-04 -6.21575530e-02] [ 3.76118646e-02 -8.70045630e-04 9.99292045e-01 -9.28424246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.06, Z:-0.01 [[ 9.98781385e-01 -3.19446947e-02 -3.76202157e-02 5.81947648e+00] [ 3.19538255e-02 9.99489282e-01 -3.58686451e-04 -5.89788877e-02] [ 3.76124605e-02 -8.43860457e-04 9.99292045e-01 -8.11628383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.06, Z:-0.00 [[ 9.98798641e-01 -3.14006415e-02 -3.76201447e-02 5.87729006e+00] [ 3.14091120e-02 9.99506545e-01 -3.65983304e-04 -5.58528494e-02] [ 3.76130730e-02 -8.16071713e-04 9.99292045e-01 -4.77398814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.05, Z:-0.00 [[ 9.98787638e-01 -3.17487827e-02 -3.76200696e-02 5.93552157e+00] [ 3.17572152e-02 9.99495543e-01 -3.73547452e-04 -5.46203390e-02] [ 3.76129516e-02 -8.21614069e-04 9.99292045e-01 -4.33950297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.06, Z:-0.00 [[ 9.98750654e-01 -3.28916859e-02 -3.76200463e-02 5.99304180e+00] [ 3.29008403e-02 9.99458550e-01 -3.75886391e-04 -5.58233701e-02] [ 3.76120404e-02 -8.62314358e-04 9.99292045e-01 -2.36710948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.06, Z:0.00 [[ 9.98736060e-01 -3.33319188e-02 -3.76200123e-02 6.05186486e+00] [ 3.33412585e-02 9.99443954e-01 -3.79254365e-04 -5.64078615e-02] [ 3.76117351e-02 -8.75523544e-04 9.99292045e-01 1.59284598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.06, Z:0.00 [[ 9.98721467e-01 -3.37664132e-02 -3.76199526e-02 6.10949209e+00] [ 3.37758412e-02 9.99429359e-01 -3.85087278e-04 -5.86112806e-02] [ 3.76114881e-02 -8.86050616e-04 9.99292045e-01 1.58327845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.06, Z:0.00 [[ 9.98717623e-01 -3.38799321e-02 -3.76199314e-02 6.16805814e+00] [ 3.38893630e-02 9.99425516e-01 -3.87148898e-04 -6.17819975e-02] [ 3.76114359e-02 -8.88263083e-04 9.99292045e-01 4.64034262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168623852999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.06, Z:0.01 [[ 9.98702572e-01 -3.43208258e-02 -3.76198650e-02 6.22575433e+00] [ 3.43303302e-02 9.99410463e-01 -3.93498048e-04 -6.38419580e-02] [ 3.76111919e-02 -8.98514874e-04 9.99292045e-01 6.26310897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.07, Z:0.01 [[ 9.98649262e-01 -3.58385666e-02 -3.76197876e-02 6.28313335e+00] [ 3.58488732e-02 9.99357142e-01 -4.00766134e-04 -6.99762392e-02] [ 3.76099663e-02 -9.48402190e-04 9.99292045e-01 7.68362445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.08, Z:0.01 [[ 9.98611306e-01 -3.68810780e-02 -3.76197537e-02 6.34079038e+00] [ 3.68920050e-02 9.99319177e-01 -4.03915152e-04 -7.60917054e-02] [ 3.76090382e-02 -9.84513906e-04 9.99292045e-01 9.98576359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.08, Z:0.01 [[ 9.98633266e-01 -3.62816681e-02 -3.76196741e-02 6.39757842e+00] [ 3.62918958e-02 9.99341148e-01 -4.11205166e-04 -7.73975688e-02] [ 3.76098075e-02 -9.54646133e-04 9.99292045e-01 1.12630280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.08, Z:0.01 [[ 9.98776865e-01 -3.20863823e-02 -3.76196394e-02 6.45582060e+00] [ 3.20935177e-02 9.99484784e-01 -4.14353286e-04 -8.24308132e-02] [ 3.76135523e-02 -7.93500087e-04 9.99292045e-01 1.32857803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468623852999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.09, Z:0.01 [[ 9.98936147e-01 -2.66709991e-02 -3.76195601e-02 6.51476485e+00] [ 2.66740302e-02 9.99644096e-01 -4.21427422e-04 -8.72204295e-02] [ 3.76174111e-02 -5.82486196e-04 9.99292045e-01 1.47837769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.09, Z:0.02 [[ 9.99057966e-01 -2.16322571e-02 -3.76194902e-02 6.57396283e+00] [ 2.16314855e-02 9.99765921e-01 -4.27584772e-04 -9.18614906e-02] [ 3.76199338e-02 -3.86583484e-04 9.99292045e-01 1.96568571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.09, Z:0.02 [[ 9.99113953e-01 -1.88703268e-02 -3.76194167e-02 6.63301192e+00] [ 1.88673584e-02 9.99821901e-01 -4.33950450e-04 -9.43127008e-02] [ 3.76209056e-02 -2.76213071e-04 9.99292045e-01 2.35735906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648623852999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.10, Z:0.03 [[ 9.99174031e-01 -1.53636098e-02 -3.76193424e-02 6.69043263e+00] [ 1.53579178e-02 9.99881963e-01 -4.40297575e-04 -9.89165123e-02] [ 3.76216665e-02 -1.37820866e-04 9.99292045e-01 3.03295643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.10, Z:0.03 [[ 9.99225163e-01 -1.15697928e-02 -3.76193160e-02 6.74874753e+00] [ 1.15613284e-02 9.99933068e-01 -4.42542057e-04 -9.99507182e-02] [ 3.76219182e-02 7.26989104e-06 9.99292045e-01 3.03047421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.10, Z:0.03 [[ 9.99283074e-01 -4.25813056e-03 -3.76192315e-02 6.80694304e+00] [ 4.24422027e-03 9.99990892e-01 -4.49618462e-04 -9.98531433e-02] [ 3.76208034e-02 2.89631814e-04 9.99292045e-01 3.26059930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.10, Z:0.03 [[ 9.99289770e-01 2.18067649e-03 -3.76191445e-02 6.86573333e+00] [-2.19941673e-03 9.99997477e-01 -4.56779587e-04 -9.79664439e-02] [ 3.76180535e-02 5.39195345e-04 9.99292045e-01 3.31115041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888623852999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.10, Z:0.03 [[ 9.99277838e-01 5.34870795e-03 -3.76190683e-02 6.92339409e+00] [-5.36992478e-03 9.99985475e-01 -4.62971892e-04 -9.50615470e-02] [ 3.76160456e-02 6.64649118e-04 9.99292045e-01 3.42210180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.09, Z:0.04 [[ 9.99280211e-01 4.88600119e-03 -3.76189803e-02 6.98189400e+00] [-4.90715557e-03 9.99987849e-01 -4.70018944e-04 -9.41815183e-02] [ 3.76162267e-02 6.54282818e-04 9.99292045e-01 3.75985564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.09, Z:0.04 [[ 9.99290640e-01 1.74202390e-03 -3.76189028e-02 7.04011039e+00] [-1.76118200e-03 9.99998336e-01 -4.76135268e-04 -9.11426466e-02] [ 3.76180108e-02 5.42051251e-04 9.99292045e-01 4.13259501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.09, Z:0.04 [[ 9.99291269e-01 -1.33446215e-03 -3.76188741e-02 7.09858576e+00] [ 1.31739777e-03 9.99999018e-01 -4.78396843e-04 -8.84969188e-02] [ 3.76194755e-02 4.28498767e-04 9.99292045e-01 4.24826885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.09, Z:0.04 [[ 9.99272625e-01 -6.24886990e-03 -3.76187903e-02 7.15614750e+00] [ 6.23504170e-03 9.99980444e-01 -4.84896349e-04 -8.51416135e-02] [ 3.76210847e-02 2.49988921e-04 9.99292045e-01 4.00173919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.08, Z:0.04 [[ 9.99222821e-01 -1.17721340e-02 -3.76187605e-02 7.21306334e+00] [ 1.17621318e-02 9.99930705e-01 -4.87195251e-04 -8.46020537e-02] [ 3.76218891e-02 4.43397919e-05 9.99292045e-01 4.27039895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.08, Z:0.05 [[ 9.99163134e-01 -1.60581573e-02 -3.76186998e-02 7.27206857e+00] [ 1.60510169e-02 9.99871053e-01 -4.91838098e-04 -8.30230928e-02] [ 3.76217470e-02 -1.12391892e-04 9.99292045e-01 4.62641015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308623852999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.08, Z:0.05 [[ 9.99043495e-01 -2.22920173e-02 -3.76186219e-02 7.33051831e+00] [ 2.22890723e-02 9.99751444e-01 -4.97727229e-04 -8.23978020e-02] [ 3.76203669e-02 -3.41233032e-04 9.99292045e-01 5.24691677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368623852999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.08, Z:0.05 [[ 9.98958252e-01 -2.58313141e-02 -3.76185437e-02 7.38729080e+00] [ 2.58306573e-02 9.99666206e-01 -5.03569803e-04 -8.19462249e-02] [ 3.76189947e-02 -4.68666500e-04 9.99292045e-01 5.23296965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.08, Z:0.05 [[ 9.98909436e-01 -2.76547755e-02 -3.76185048e-02 7.44640779e+00] [ 2.76553020e-02 9.99617391e-01 -5.06461797e-04 -8.19489487e-02] [ 3.76181177e-02 -5.34441644e-04 9.99292045e-01 5.25572454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.08, Z:0.05 [[ 9.98862266e-01 -2.93091844e-02 -3.76184270e-02 7.50460925e+00] [ 2.93106684e-02 9.99570219e-01 -5.12175303e-04 -8.32079746e-02] [ 3.76172707e-02 -5.91028656e-04 9.99292045e-01 5.45292770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.08, Z:0.06 [[ 9.98862291e-01 -2.93083623e-02 -3.76183993e-02 7.56361811e+00] [ 2.93097696e-02 9.99570244e-01 -5.14197401e-04 -8.32907882e-02] [ 3.76173029e-02 -5.88974225e-04 9.99292045e-01 5.89335689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.08, Z:0.06 [[ 9.98925530e-01 -2.70674438e-02 -3.76183220e-02 7.62152105e+00] [ 2.70670521e-02 9.99633485e-01 -5.19794987e-04 -8.28382540e-02] [ 3.76186038e-02 -4.98980597e-04 9.99292045e-01 6.17313368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.08, Z:0.07 [[ 9.99037687e-01 -2.25514554e-02 -3.76182333e-02 7.67894048e+00] [ 2.25476246e-02 9.99745632e-01 -5.26136897e-04 -8.39617393e-02] [ 3.76205296e-02 -3.22571213e-04 9.99292045e-01 6.95321427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.08, Z:0.07 [[ 9.99106805e-01 -1.92475669e-02 -3.76181276e-02 7.73732618e+00] [ 1.92411144e-02 9.99814730e-01 -5.33587594e-04 -8.33730763e-02] [ 3.76214284e-02 -1.90703700e-04 9.99292045e-01 6.83582786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.08, Z:0.08 [[ 9.99169533e-01 -1.56564079e-02 -3.76180947e-02 7.79515210e+00] [ 1.56473240e-02 9.99877430e-01 -5.35900068e-04 -8.01116530e-02] [ 3.76218741e-02 -5.31674946e-05 9.99292045e-01 7.66609733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.08, Z:0.08 [[ 9.99182640e-01 -1.47966052e-02 -3.76179876e-02 7.85199378e+00] [ 1.47866329e-02 9.99890524e-01 -5.43315695e-04 -7.77223551e-02] [ 3.76219085e-02 -1.33717633e-05 9.99292045e-01 7.72103888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.08, Z:0.08 [[ 9.99165213e-01 -1.59301161e-02 -3.76179412e-02 7.91128779e+00] [ 1.59208266e-02 9.99873106e-01 -5.46509411e-04 -7.76589506e-02] [ 3.76218737e-02 -5.28555285e-05 9.99292045e-01 7.71988521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.08, Z:0.08 [[ 9.99155852e-01 -1.65069907e-02 -3.76178494e-02 7.96994902e+00] [ 1.64978748e-02 9.99863748e-01 -5.52753820e-04 -7.59835552e-02] [ 3.76218482e-02 -6.83273575e-05 9.99292045e-01 7.84064877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.07, Z:0.08 [[ 9.99181057e-01 -1.49036869e-02 -3.76177568e-02 8.02644940e+00] [ 1.48932004e-02 9.99888934e-01 -5.58986929e-04 -7.38242350e-02] [ 3.76219097e-02 -1.71963996e-06 9.99292045e-01 8.05492768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.07, Z:0.08 [[ 9.99208709e-01 -1.29175938e-02 -3.76177106e-02 8.08420491e+00] [ 1.29055839e-02 9.99916562e-01 -5.62078456e-04 -7.16440276e-02] [ 3.76218325e-02 7.61551664e-05 9.99292045e-01 8.28829214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.07, Z:0.09 [[ 9.99231625e-01 -1.10034643e-02 -3.76176037e-02 8.14196861e+00] [ 1.09898325e-02 9.99939448e-01 -5.69143036e-04 -6.73962686e-02] [ 3.76215885e-02 1.55294555e-04 9.99292045e-01 8.57263598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.07, Z:0.09 [[ 9.99231587e-01 -1.10069692e-02 -3.76175708e-02 8.19993640e+00] [ 1.09932581e-02 9.99939409e-01 -5.71314229e-04 -6.54075975e-02] [ 3.76215799e-02 1.57335558e-04 9.99292045e-01 8.84921171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.06, Z:0.09 [[ 9.99228354e-01 -1.12970068e-02 -3.76174640e-02 8.25715612e+00] [ 1.12832398e-02 9.99936175e-01 -5.78259392e-04 -6.25196156e-02] [ 3.76215957e-02 1.53366314e-04 9.99292045e-01 8.97729723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.06, Z:0.09 [[ 9.99218069e-01 -1.21729127e-02 -3.76174174e-02 8.31602817e+00] [ 1.21596527e-02 9.99925900e-01 -5.81271759e-04 -5.96744557e-02] [ 3.76217058e-02 1.23402513e-04 9.99292045e-01 8.94910007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.05, Z:0.09 [[ 9.99191410e-01 -1.41937409e-02 -3.76173245e-02 8.37436993e+00] [ 1.41816884e-02 9.99899262e-01 -5.87224220e-04 -5.45380847e-02] [ 3.76218700e-02 5.32722218e-05 9.99292045e-01 9.27660794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.05, Z:0.09 [[ 9.99155521e-01 -1.65284704e-02 -3.76172181e-02 8.43176339e+00] [ 1.65178182e-02 9.99863395e-01 -5.93964479e-04 -5.17352230e-02] [ 3.76218967e-02 -2.78914823e-05 9.99292045e-01 9.40190320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.05, Z:0.10 [[ 9.99088928e-01 -2.01559337e-02 -3.76171829e-02 8.49005146e+00] [ 2.01477680e-02 9.99796835e-01 -5.96184565e-04 -4.87712934e-02] [ 3.76215571e-02 -1.62260876e-04 9.99292045e-01 1.00009035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.04, Z:0.10 [[ 9.99006294e-01 -2.39035626e-02 -3.76170834e-02 8.54772598e+00] [ 2.38978185e-02 9.99714225e-01 -6.02396970e-04 -4.38086343e-02] [ 3.76207328e-02 -2.97167868e-04 9.99292045e-01 1.02878436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.04, Z:0.10 [[ 9.98942629e-01 -2.64308109e-02 -3.76169686e-02 8.60555688e+00] [ 2.64265909e-02 9.99650571e-01 -6.09486843e-04 -4.12260198e-02] [ 3.76199333e-02 -3.85245848e-04 9.99292046e-01 1.03772132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.04, Z:0.11 [[ 9.98846602e-01 -2.98401142e-02 -3.76169328e-02 8.66350533e+00] [ 2.98382277e-02 9.99554554e-01 -6.11684373e-04 -4.00033932e-02] [ 3.76184292e-02 -5.11443749e-04 9.99292046e-01 1.08402573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.04, Z:0.11 [[ 9.98756821e-01 -3.27075901e-02 -3.76168190e-02 8.72115417e+00] [ 3.27074755e-02 9.99464776e-01 -6.18605030e-04 -3.74888384e-02] [ 3.76169187e-02 -6.12515193e-04 9.99292046e-01 1.06749429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.04, Z:0.11 [[ 9.98678241e-01 -3.50249944e-02 -3.76167664e-02 8.77935762e+00] [ 3.50264025e-02 9.99386194e-01 -6.21790651e-04 -3.62332416e-02] [ 3.76154552e-02 -6.96611207e-04 9.99292046e-01 1.09807746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.04, Z:0.12 [[ 9.98595089e-01 -3.73207262e-02 -3.76166529e-02 8.83782644e+00] [ 3.73235062e-02 9.99303038e-01 -6.28581224e-04 -3.78696923e-02] [ 3.76138946e-02 -7.76287252e-04 9.99292046e-01 1.18407124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.04, Z:0.12 [[ 9.98568993e-01 -3.80126486e-02 -3.76165432e-02 8.89513346e+00] [ 3.80156745e-02 9.99276941e-01 -6.35076284e-04 -3.72691338e-02] [ 3.76134852e-02 -7.95850778e-04 9.99292046e-01 1.17662660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.04, Z:0.12 [[ 9.98609334e-01 -3.69377494e-02 -3.76164887e-02 8.95382039e+00] [ 3.69398923e-02 9.99317285e-01 -6.38287719e-04 -3.75888108e-02] [ 3.76143843e-02 -7.52148969e-04 9.99292046e-01 1.17391287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.04, Z:0.12 [[ 9.98718206e-01 -3.38666681e-02 -3.76163902e-02 9.01150035e+00] [ 3.38664172e-02 9.99426161e-01 -6.44043027e-04 -3.79318486e-02] [ 3.76166160e-02 -6.30714869e-04 9.99292046e-01 1.23586836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.04, Z:0.12 [[ 9.98800254e-01 -3.13539244e-02 -3.76162612e-02 9.06993767e+00] [ 3.13516121e-02 9.99508205e-01 -6.51488899e-04 -3.64469565e-02] [ 3.76181885e-02 -5.28623154e-04 9.99292046e-01 1.24513588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168623852999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.04, Z:0.13 [[ 9.98903233e-01 -2.78811193e-02 -3.76161311e-02 9.12679550e+00] [ 2.78760658e-02 9.99611170e-01 -6.58918136e-04 -3.54135275e-02] [ 3.76198762e-02 -3.90394291e-04 9.99292046e-01 1.26579529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.04, Z:0.13 [[ 9.98969156e-01 -2.54098031e-02 -3.76160422e-02 9.18526328e+00] [ 2.54028086e-02 9.99677076e-01 -6.63956958e-04 -3.53609315e-02] [ 3.76207661e-02 -2.92280598e-04 9.99292046e-01 1.29762077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.03, Z:0.13 [[ 9.98997714e-01 -2.42612781e-02 -3.76159270e-02 9.24327363e+00] [ 2.42532265e-02 9.99705622e-01 -6.70416427e-04 -3.42350386e-02] [ 3.76211189e-02 -2.42563121e-04 9.99292046e-01 1.32884019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.03, Z:0.14 [[ 9.99038025e-01 -2.25405382e-02 -3.76157930e-02 9.30196878e+00] [ 2.25309872e-02 9.99745915e-01 -6.77852605e-04 -3.13056851e-02] [ 3.76215146e-02 -1.70320425e-04 9.99292046e-01 1.36038399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.03, Z:0.14 [[ 9.99044557e-01 -2.22493631e-02 -3.76156753e-02 9.35993977e+00] [ 2.22393622e-02 9.99752441e-01 -6.84325158e-04 -3.13520302e-02] [ 3.76215890e-02 -1.52877302e-04 9.99292046e-01 1.35537652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.03, Z:0.14 [[ 9.99030037e-01 -2.28921305e-02 -3.76156336e-02 9.41829365e+00] [ 2.28824989e-02 9.99737926e-01 -6.86611726e-04 -3.07697764e-02] [ 3.76214935e-02 -1.74793955e-04 9.99292046e-01 1.37904177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.03, Z:0.14 [[ 9.98961613e-01 -2.57054374e-02 -3.76155014e-02 9.47621915e+00] [ 2.56975297e-02 9.99669523e-01 -6.93775083e-04 -2.99895730e-02] [ 3.76209042e-02 -2.73570788e-04 9.99292046e-01 1.41502604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.03, Z:0.14 [[ 9.98871402e-01 -2.90001012e-02 -3.76153687e-02 9.53455258e+00] [ 2.89942601e-02 9.99579332e-01 -7.00897859e-04 -3.03274880e-02] [ 3.76198713e-02 -3.90522958e-04 9.99292046e-01 1.42867435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648623852999998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.03, Z:0.15 [[ 9.98676393e-01 -3.50791786e-02 -3.76153270e-02 9.59265723e+00] [ 3.50775624e-02 9.99384346e-01 -7.03130528e-04 -3.38219627e-02] [ 3.76168342e-02 -6.17254119e-04 9.99292046e-01 1.52452861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.04, Z:0.15 [[ 9.98395978e-01 -4.23150276e-02 -3.76152843e-02 9.65176121e+00] [ 4.23184557e-02 9.99103924e-01 -7.05407161e-04 -4.02054065e-02] [ 3.76114275e-02 -8.87545071e-04 9.99292046e-01 1.53028615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.05, Z:0.15 [[ 9.98194887e-01 -4.68195158e-02 -3.76151634e-02 9.70894715e+00] [ 4.68258978e-02 9.98902812e-01 -7.11794719e-04 -4.67793436e-02] [ 3.76072184e-02 -1.05085395e-03 9.99292046e-01 1.53875605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.06, Z:0.16 [[ 9.97946651e-01 -5.18419277e-02 -3.76151035e-02 9.76747039e+00] [ 5.18517532e-02 9.98654537e-01 -7.14949107e-04 -5.81571031e-02] [ 3.76015581e-02 -1.23692799e-03 9.99292046e-01 1.56146020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888623852999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.07, Z:0.16 [[ 9.97916698e-01 -5.24154427e-02 -3.76149644e-02 9.82603841e+00] [ 5.24254023e-02 9.98624582e-01 -7.22191333e-04 -6.96076835e-02] [ 3.76010821e-02 -1.25129285e-03 9.99292046e-01 1.61868172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.08, Z:0.16 [[ 9.98097591e-01 -4.88500097e-02 -3.76148292e-02 9.88439540e+00] [ 4.88571776e-02 9.98805509e-01 -7.29168836e-04 -7.63344021e-02] [ 3.76055185e-02 -1.10997273e-03 9.99292046e-01 1.58101034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.09, Z:0.16 [[ 9.98527689e-01 -3.90843062e-02 -3.76147845e-02 9.94249333e+00] [ 3.90844625e-02 9.99235643e-01 -7.31464691e-04 -8.57139805e-02] [ 3.76146222e-02 -7.39765886e-04 9.99292046e-01 1.61392451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.09, Z:0.16 [[ 9.98815964e-01 -3.08514193e-02 -3.76146373e-02 1.00005255e+01] [ 3.08454572e-02 9.99523893e-01 -7.38957181e-04 -9.11052903e-02] [ 3.76195266e-02 -4.22158457e-04 9.99292046e-01 1.64516972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.10, Z:0.17 [[ 9.99040279e-01 -2.24426370e-02 -3.76144882e-02 1.00579399e+01] [ 2.24304331e-02 9.99748128e-01 -7.46471067e-04 -9.58040523e-02] [ 3.76217669e-02 -9.79545991e-05 9.99292046e-01 1.66576958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.10, Z:0.17 [[ 9.99180010e-01 -1.49820468e-02 -3.76144327e-02 1.01170874e+01] [ 1.49644529e-02 9.99887746e-01 -7.49256318e-04 -9.89744824e-02] [ 3.76214357e-02 1.85762530e-04 9.99292046e-01 1.71561121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.10, Z:0.17 [[ 9.99282637e-01 -4.40171994e-03 -3.76143051e-02 1.01750860e+01] [ 4.37639435e-03 9.99990138e-01 -7.55607467e-04 -1.02307263e-01] [ 3.76172602e-02 5.90450390e-04 9.99292046e-01 1.73129569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.10, Z:0.17 [[ 9.99282717e-01 4.38471216e-03 -3.76141584e-02 1.02330295e+01] [-4.41652976e-03 9.99989956e-01 -7.62844109e-04 -1.03263194e-01] [ 3.76104357e-02 9.28420984e-04 9.99292046e-01 1.71770582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.10, Z:0.17 [[ 9.99256697e-01 8.43986055e-03 -3.76141132e-02 1.02913367e+01] [-8.47463140e-03 9.99963797e-01 -7.65063396e-04 -1.02138354e-01] [ 3.76062945e-02 1.08326047e-03 9.99292046e-01 1.73265244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.10, Z:0.18 [[ 9.99228739e-01 1.12746270e-02 -3.76139677e-02 1.03498581e+01] [-1.13116702e-02 9.99935723e-01 -7.72152704e-04 -9.96272383e-02] [ 3.76028443e-02 1.19703397e-03 9.99292046e-01 1.77021139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.10, Z:0.18 [[ 9.99251073e-01 9.08253210e-03 -3.76138401e-02 1.04076174e+01] [-9.11825618e-03 9.99958125e-01 -7.78317397e-04 -9.72947552e-02] [ 3.76051960e-02 1.12070712e-03 9.99292046e-01 1.82277288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.10, Z:0.19 [[ 9.99276435e-01 5.63987780e-03 -3.76137951e-02 1.04654996e+01] [-5.67324732e-03 9.99983602e-01 -7.80485872e-04 -9.58437788e-02] [ 3.76087765e-02 9.93313502e-04 9.99292046e-01 1.86112305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.09, Z:0.19 [[ 9.99292346e-01 1.44258891e-04 -3.76136481e-02 1.05243199e+01] [-1.74003089e-04 9.99999675e-01 -7.87509634e-04 -9.18399347e-02] [ 3.76135223e-02 7.93497241e-04 9.99292046e-01 1.90566001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668623852999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.09, Z:0.20 [[ 9.99282502e-01 -4.43887763e-03 -3.76135193e-02 1.05819663e+01] [ 4.41214821e-03 9.99989952e-01 -7.93611544e-04 -8.87809569e-02] [ 3.76166641e-02 6.27085707e-04 9.99292046e-01 1.95442747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.09, Z:0.19 [[ 9.99237311e-01 -1.04895195e-02 -3.76133681e-02 1.06399728e+01] [ 1.04668068e-02 9.99944901e-01 -8.00716390e-04 -8.60674977e-02] [ 3.76196948e-02 4.06413834e-04 9.99292046e-01 1.93672266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.08, Z:0.19 [[ 9.99171844e-01 -1.55200640e-02 -3.76132163e-02 1.06983550e+01] [ 1.55006479e-02 9.99879531e-01 -8.07784155e-04 -8.35748203e-02] [ 3.76212220e-02 2.24085962e-04 9.99292046e-01 1.91460305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.08, Z:0.19 [[ 9.99119127e-01 -1.86069669e-02 -3.76131691e-02 1.07564830e+01] [ 1.85896548e-02 9.99826869e-01 -8.09977552e-04 -8.17906697e-02] [ 3.76217283e-02 1.10048235e-04 9.99292046e-01 1.94735600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.08, Z:0.20 [[ 9.99103487e-01 -1.94289450e-02 -3.76130159e-02 1.08140580e+01] [ 1.94119496e-02 9.99811237e-01 -8.17028633e-04 -8.03760023e-02] [ 3.76217900e-02 8.61541845e-05 9.99292046e-01 1.95791332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.08, Z:0.20 [[ 9.99102657e-01 -1.94718639e-02 -3.76128609e-02 1.08720597e+01] [ 1.94546326e-02 9.99810401e-01 -8.24103838e-04 -7.77173551e-02] [ 3.76217764e-02 9.16199435e-05 9.99292046e-01 1.96336932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.07, Z:0.20 [[ 9.99098996e-01 -1.96589206e-02 -3.76128127e-02 1.09299155e+01] [ 1.96417392e-02 9.99806741e-01 -8.26298565e-04 -7.48359407e-02] [ 3.76217878e-02 8.67730084e-05 9.99292046e-01 1.98768709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.07, Z:0.20 [[ 9.99095578e-01 -1.98321241e-02 -3.76126596e-02 1.09874627e+01] [ 1.98148052e-02 9.99803320e-01 -8.33210162e-04 -7.11818995e-02] [ 3.76217863e-02 8.71690674e-05 9.99292046e-01 1.99354030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.07, Z:0.20 [[ 9.99087751e-01 -2.02227065e-02 -3.76126120e-02 1.10466014e+01] [ 2.02055837e-02 9.99795497e-01 -8.35350884e-04 -6.77628661e-02] [ 3.76218132e-02 7.46040535e-05 9.99292046e-01 2.03402933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.06, Z:0.21 [[ 9.99090994e-01 -2.00620876e-02 -3.76124790e-02 1.11033951e+01] [ 2.00446272e-02 9.99798732e-01 -8.41296597e-04 -6.42151008e-02] [ 3.76217870e-02 8.66037331e-05 9.99292046e-01 2.05301697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.06, Z:0.21 [[ 9.99059092e-01 -2.15925297e-02 -3.76124131e-02 1.11609764e+01] [ 2.15760428e-02 9.99766854e-01 -8.44236664e-04 -6.09609298e-02] [ 3.76218731e-02 3.19152823e-05 9.99292046e-01 2.06132610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.06, Z:0.21 [[ 9.98989963e-01 -2.45839477e-02 -3.76122655e-02 1.12180956e+01] [ 2.45693345e-02 9.99697766e-01 -8.50761269e-04 -5.81957252e-02] [ 3.76218128e-02 -7.42063629e-05 9.99292046e-01 2.06784760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.06, Z:0.21 [[ 9.98902062e-01 -2.79284169e-02 -3.76121641e-02 1.12770132e+01] [ 2.79160056e-02 9.99609907e-01 -8.55219314e-04 -5.58030659e-02] [ 3.76213768e-02 -1.95701049e-04 9.99292046e-01 2.07957968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.05, Z:0.21 [[ 9.98855147e-01 -2.95589396e-02 -3.76120221e-02 1.13346415e+01] [ 2.95474504e-02 9.99563008e-01 -8.61417868e-04 -5.48881289e-02] [ 3.76210486e-02 -2.50907686e-04 9.99292046e-01 2.05710376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.05, Z:0.21 [[ 9.98846798e-01 -2.98397939e-02 -3.76119718e-02 1.13925811e+01] [ 2.98284212e-02 9.99554661e-01 -8.63609989e-04 -5.34450535e-02] [ 3.76209917e-02 -2.59291665e-04 9.99292046e-01 2.05361648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568623852999998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.05, Z:0.21 [[ 9.98854525e-01 -2.95800780e-02 -3.76119264e-02 1.14504011e+01] [ 2.95684469e-02 9.99562383e-01 -8.65585225e-04 -5.25815043e-02] [ 3.76210708e-02 -2.47532527e-04 9.99292046e-01 2.14103859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.05, Z:0.22 [[ 9.98878383e-01 -2.87633839e-02 -3.76117592e-02 1.15078800e+01] [ 2.87509028e-02 9.99586226e-01 -8.72788343e-04 -5.07366271e-02] [ 3.76213008e-02 -2.09562623e-04 9.99292046e-01 2.16670170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.05, Z:0.22 [[ 9.98901189e-01 -2.79603960e-02 -3.76115798e-02 1.15656646e+01] [ 2.79470573e-02 9.99609017e-01 -8.80452023e-04 -5.00454226e-02] [ 3.76214921e-02 -1.71648404e-04 9.99292046e-01 2.16848802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.05, Z:0.22 [[ 9.98933212e-01 -2.67919979e-02 -3.76115245e-02 1.16239324e+01] [ 2.67777425e-02 9.99641022e-01 -8.82809190e-04 -4.73160473e-02] [ 3.76216750e-02 -1.25284299e-04 9.99292046e-01 2.21096492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.05, Z:0.22 [[ 9.98980309e-01 -2.49745552e-02 -3.76113551e-02 1.16819998e+01] [ 2.49587426e-02 9.99688086e-01 -8.89968833e-04 -4.70146527e-02] [ 3.76218501e-02 -4.96707890e-05 9.99292046e-01 2.24626122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868623852999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.04, Z:0.22 [[ 9.99006600e-01 -2.39000533e-02 -3.76111827e-02 1.17392565e+01] [ 2.38832074e-02 9.99714353e-01 -8.97192856e-04 -4.49583057e-02] [ 3.76218822e-02 -1.97409547e-06 9.99292046e-01 2.22709697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.05, Z:0.22 [[ 9.98957124e-01 -2.58857615e-02 -3.76110659e-02 1.17969170e+01] [ 2.58701390e-02 9.99664905e-01 -9.02066247e-04 -4.52312149e-02] [ 3.76218132e-02 -7.18779972e-05 9.99292046e-01 2.24165822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988623852999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.05, Z:0.23 [[ 9.98843231e-01 -2.99602853e-02 -3.76109081e-02 1.18549039e+01] [ 2.99473040e-02 9.99551066e-01 -9.08598007e-04 -4.52607917e-02] [ 3.76212451e-02 -2.18798330e-04 9.99292046e-01 2.30112888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.05, Z:0.23 [[ 9.98796942e-01 -3.14658898e-02 -3.76107328e-02 1.19127269e+01] [ 3.14537044e-02 9.99504790e-01 -9.15797970e-04 -4.57376551e-02] [ 3.76209240e-02 -2.68300657e-04 9.99292046e-01 2.33514895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.05, Z:0.24 [[ 9.98714862e-01 -3.39716047e-02 -3.76105563e-02 1.19710711e+01] [ 3.39609245e-02 9.99422735e-01 -9.22986514e-04 -4.90740182e-02] [ 3.76202004e-02 -3.55488915e-04 9.99292046e-01 2.36140814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.05, Z:0.24 [[ 9.98765366e-01 -3.24531064e-02 -3.76103761e-02 1.20286245e+01] [ 3.24410756e-02 9.99473217e-01 -9.30272934e-04 -5.04440844e-02] [ 3.76207539e-02 -2.90996666e-04 9.99292047e-01 2.39479766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.05, Z:0.24 [[ 9.98843540e-01 -2.99507451e-02 -3.76103203e-02 1.20865814e+01] [ 2.99368562e-02 9.99551357e-01 -9.32524452e-04 -5.08902243e-02] [ 3.76213765e-02 -1.94488726e-04 9.99292047e-01 2.42586251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.05, Z:0.25 [[ 9.98954991e-01 -2.59691112e-02 -3.76102663e-02 1.21445214e+01] [ 2.59523193e-02 9.99662745e-01 -9.34696406e-04 -5.31762041e-02] [ 3.76218553e-02 -4.23539995e-05 9.99292047e-01 2.45854277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.05, Z:0.25 [[ 9.99035939e-01 -2.26422991e-02 -3.76100888e-02 1.22012377e+01] [ 2.26228834e-02 9.99743626e-01 -9.41786152e-04 -5.45157484e-02] [ 3.76217707e-02 9.00295586e-05 9.99292047e-01 2.45709303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.06, Z:0.25 [[ 9.99071759e-01 -2.10025505e-02 -3.76100121e-02 1.22591635e+01] [ 2.09818584e-02 9.99779410e-01 -9.44837707e-04 -5.50871567e-02] [ 3.76215597e-02 1.54832721e-04 9.99292047e-01 2.47742685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.06, Z:0.25 [[ 9.99146527e-01 -1.70797615e-02 -3.76098319e-02 1.23167996e+01] [ 1.70560231e-02 9.99854082e-01 -9.51957074e-04 -5.64284643e-02] [ 3.76206032e-02 3.09670440e-04 9.99292047e-01 2.50422455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.06, Z:0.25 [[ 9.99218524e-01 -1.21592965e-02 -3.76097476e-02 1.23748645e+01] [ 1.21319492e-02 9.99925949e-01 -9.55277518e-04 -5.53598309e-02] [ 3.76185780e-02 4.98251446e-04 9.99292047e-01 2.54344234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.05, Z:0.26 [[ 9.99252821e-01 -8.90617617e-03 -3.76095653e-02 1.24322844e+01] [ 8.87625782e-03 9.99960142e-01 -9.62402089e-04 -5.38474815e-02] [ 3.76166376e-02 6.27850804e-04 9.99292047e-01 2.56407478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.05, Z:0.26 [[ 9.99278397e-01 -5.31145017e-03 -3.76094864e-02 1.24904825e+01] [ 5.27887186e-03 9.99985601e-01 -9.65476406e-04 -5.02878342e-02] [ 3.76140729e-02 7.66244056e-04 9.99292047e-01 2.57717387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.05, Z:0.26 [[ 9.99287444e-01 -3.18518471e-03 -3.76092971e-02 1.25485181e+01] [ 3.15082648e-03 9.99994563e-01 -9.72792710e-04 -4.70393640e-02] [ 3.76121912e-02 8.53599172e-04 9.99292047e-01 2.56854148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.04, Z:0.26 [[ 9.99284953e-01 -3.88939355e-03 -3.76092386e-02 1.26059085e+01] [ 3.85544870e-03 9.99992092e-01 -9.75050993e-04 -4.42287772e-02] [ 3.76127335e-02 8.29353296e-04 9.99292047e-01 2.58313279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.04, Z:0.26 [[ 9.99268390e-01 -6.94512353e-03 -3.76091613e-02 1.26648758e+01] [ 6.91322944e-03 9.99975625e-01 -9.78021982e-04 -3.94110257e-02] [ 3.76150371e-02 7.17305691e-04 9.99292047e-01 2.62745552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.04, Z:0.27 [[ 9.99243718e-01 -9.87702486e-03 -3.76090065e-02 1.27223623e+01] [ 9.84698334e-03 9.99951033e-01 -9.83939079e-04 -3.57836442e-02] [ 3.76168833e-02 6.12859683e-04 9.99292047e-01 2.66071434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.03, Z:0.27 [[ 9.99175767e-01 -1.52762303e-02 -3.76088214e-02 1.27798470e+01] [ 1.52497468e-02 9.99883225e-01 -9.90963089e-04 -3.24708380e-02] [ 3.76195678e-02 4.16621301e-04 9.99292047e-01 2.68370648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.03, Z:0.27 [[ 9.99074559e-01 -2.08714042e-02 -3.76086330e-02 1.28376509e+01] [ 2.08486156e-02 9.99782146e-01 -9.98062990e-04 -2.93305960e-02] [ 3.76212708e-02 2.13051409e-04 9.99292047e-01 2.72028808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.03, Z:0.27 [[ 9.98991120e-01 -2.45425473e-02 -3.76085744e-02 1.28958425e+01] [ 2.45222760e-02 9.99698783e-01 -1.00026804e-03 -2.63991326e-02] [ 3.76217952e-02 7.70110529e-05 9.99292047e-01 2.72389885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.03, Z:0.27 [[ 9.98864264e-01 -2.92539194e-02 -3.76083867e-02 1.29536307e+01] [ 2.92367222e-02 9.99572008e-01 -1.00727439e-03 -2.55573989e-02] [ 3.76217573e-02 -9.34155664e-05 9.99292047e-01 2.73704127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.02, Z:0.27 [[ 9.98783214e-01 -3.19016448e-02 -3.76081922e-02 1.30105265e+01] [ 3.18860523e-02 9.99490996e-01 -1.01448341e-03 -2.29073160e-02] [ 3.76214132e-02 -1.85927785e-04 9.99292047e-01 2.74488011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.02, Z:0.28 [[ 9.98729891e-01 -3.35296232e-02 -3.76081073e-02 1.30686002e+01] [ 3.35150663e-02 9.99437694e-01 -1.01762088e-03 -2.18792673e-02] [ 3.76210805e-02 -2.44109823e-04 9.99292047e-01 2.78030336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.02, Z:0.28 [[ 9.98695557e-01 -3.45373727e-02 -3.76079067e-02 1.31268727e+01] [ 3.45232528e-02 9.99403369e-01 -1.02498350e-03 -1.97226886e-02] [ 3.76208689e-02 -2.74700804e-04 9.99292047e-01 2.82770358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.02, Z:0.28 [[ 9.98755556e-01 -3.27566929e-02 -3.76077024e-02 1.31837947e+01] [ 3.27410307e-02 9.99463335e-01 -1.03242639e-03 -1.67502913e-02] [ 3.76213385e-02 -2.00173350e-04 9.99292047e-01 2.83769204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.01, Z:0.29 [[ 9.98809843e-01 -3.10574512e-02 -3.76076139e-02 1.32415309e+01] [ 3.10404641e-02 9.99517592e-01 -1.03563706e-03 -1.29697896e-02] [ 3.76216360e-02 -1.32953296e-04 9.99292047e-01 2.85030765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.01, Z:0.28 [[ 9.98883434e-01 -2.85931530e-02 -3.76074088e-02 1.33000336e+01] [ 2.85741413e-02 9.99591132e-01 -1.04303414e-03 -8.70922808e-03] [ 3.76218559e-02 -3.27298928e-05 9.99292047e-01 2.84826237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.00, Z:0.29 [[ 9.98934105e-01 -2.67647355e-02 -3.76072271e-02 1.33575495e+01] [ 2.67441834e-02 9.99641759e-01 -1.04954289e-03 -4.02450014e-03] [ 3.76218454e-02 4.26496094e-05 9.99292047e-01 2.86139699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.42, Y:0.00, Z:0.29 [[ 9.98926766e-01 -2.70373307e-02 -3.76071627e-02 1.34158933e+01] [ 2.70168850e-02 9.99634424e-01 -1.05184687e-03 4.11206698e-04] [ 3.76218536e-02 3.46896060e-05 9.99292047e-01 2.88034961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:0.00, Z:0.29 [[ 9.98890770e-01 -2.83362937e-02 -3.76069565e-02 1.34727189e+01] [ 2.83164925e-02 9.99598447e-01 -1.05916952e-03 3.38406374e-03] [ 3.76218682e-02 -6.90244539e-06 9.99292047e-01 2.89948555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:0.00, Z:0.29 [[ 9.98791545e-01 -3.16413871e-02 -3.76068165e-02 1.35308057e+01] [ 3.16237414e-02 9.99499278e-01 -1.06411514e-03 4.54458434e-03] [ 3.76216560e-02 -1.26439033e-04 9.99292047e-01 2.92959422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.59, Y:0.00, Z:0.30 [[ 9.98699008e-01 -3.44388479e-02 -3.76066074e-02 1.35898192e+01] [ 3.44229083e-02 9.99406782e-01 -1.07145694e-03 4.60959698e-03] [ 3.76211982e-02 -2.24465816e-04 9.99292047e-01 2.97366340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.65, Y:0.00, Z:0.30 [[ 9.98565698e-01 -3.81091141e-02 -3.76064243e-02 1.36475230e+01] [ 3.80955352e-02 9.99273520e-01 -1.07784497e-03 4.70624163e-03] [ 3.76201797e-02 -3.56337844e-04 9.99292047e-01 3.01177143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.71, Y:0.00, Z:0.31 [[ 9.98472106e-01 -4.04872358e-02 -3.76063594e-02 1.37064563e+01] [ 4.04752578e-02 9.99179957e-01 -1.08010229e-03 3.98449204e-03] [ 3.76192510e-02 -4.43675085e-04 9.99292047e-01 3.06072725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.76, Y:0.00, Z:0.31 [[ 9.98464002e-01 -4.06867691e-02 -3.76061721e-02 1.37644293e+01] [ 4.06746883e-02 9.99171852e-01 -1.08658739e-03 4.84725411e-03] [ 3.76192383e-02 -4.44700928e-04 9.99292047e-01 3.07567605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.82, Y:0.00, Z:0.31 [[ 9.98505011e-01 -3.96678141e-02 -3.76059566e-02 1.38235956e+01] [ 3.96547321e-02 9.99212843e-01 -1.09399241e-03 2.65964516e-03] [ 3.76197511e-02 -3.98897235e-04 9.99292047e-01 3.06605359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.88, Y:0.00, Z:0.31 [[ 9.98565436e-01 -3.81166025e-02 -3.76057680e-02 1.38814871e+01] [ 3.81021781e-02 9.99273242e-01 -1.10043906e-03 2.61832610e-03] [ 3.76203827e-02 -3.34001262e-04 9.99292047e-01 3.06667728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.94, Y:0.00, Z:0.31 [[ 9.98656563e-01 -3.56494021e-02 -3.76057015e-02 1.39386309e+01] [ 3.56331436e-02 9.99364330e-01 -1.10270673e-03 1.24600958e-03] [ 3.76211075e-02 -2.38784051e-04 9.99292047e-01 3.08061496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:14.00, Y:0.00, Z:0.31 [[ 9.98697603e-01 -3.44806678e-02 -3.76056102e-02 1.39966430e+01] [ 3.44634642e-02 9.99405347e-01 -1.10581010e-03 2.95208298e-03] [ 3.76213770e-02 -1.91649701e-04 9.99292047e-01 3.12503095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:0.00, Z:0.31 [[ 9.98747723e-01 -3.29972778e-02 -3.76053942e-02 1.40546683e+01] [ 3.29787483e-02 9.99455433e-01 -1.11310905e-03 1.39071852e-03] [ 3.76216451e-02 -1.28463695e-04 9.99292047e-01 3.14021756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:0.00, Z:0.32 [[ 9.98797997e-01 -3.14390294e-02 -3.76051775e-02 1.41127694e+01] [ 3.14191219e-02 9.99505670e-01 -1.12038102e-03 1.99584837e-03] [ 3.76218118e-02 -6.24873369e-05 9.99292047e-01 3.16088057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:0.00, Z:0.32 [[ 9.98822903e-01 -3.06378036e-02 -3.76049614e-02 1.41716343e+01] [ 3.06170570e-02 9.99530552e-01 -1.12758943e-03 2.77974833e-03] [ 3.76218547e-02 -2.50911024e-05 9.99292047e-01 3.21109545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:0.00, Z:0.32 [[ 9.98861621e-01 -2.93486640e-02 -3.76047657e-02 1.42298750e+01] [ 2.93267598e-02 9.99569235e-01 -1.13407736e-03 4.28652434e-03] [ 3.76218506e-02 2.99604118e-05 9.99292047e-01 3.23581948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.29, Y:0.01, Z:0.33 [[ 9.98944685e-01 -2.63704981e-02 -3.76046967e-02 1.42875739e+01] [ 2.63463984e-02 9.99652228e-01 -1.13636260e-03 7.92562444e-03] [ 3.76215852e-02 1.44415064e-04 9.99292047e-01 3.25441945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:0.01, Z:0.33 [[ 9.99015801e-01 -2.35230205e-02 -3.76044778e-02 1.43454098e+01] [ 2.34966331e-02 9.99723262e-01 -1.14356016e-03 1.12565601e-02] [ 3.76209712e-02 2.58856054e-04 9.99292047e-01 3.26563490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:0.02, Z:0.33 [[ 9.99100709e-01 -1.95881034e-02 -3.76042571e-02 1.44034754e+01] [ 1.95586584e-02 9.99808049e-01 -1.15077206e-03 1.63974731e-02] [ 3.76195804e-02 4.14248363e-04 9.99292047e-01 3.29802280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:0.02, Z:0.33 [[ 9.99120334e-01 -1.85606029e-02 -3.76040292e-02 1.44613132e+01] [ 1.85301521e-02 9.99827631e-01 -1.15817102e-03 2.29757186e-02] [ 3.76190438e-02 4.60343833e-04 9.99292047e-01 3.30293359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748623852999998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:0.03, Z:0.33 [[ 9.99087389e-01 -2.02566319e-02 -3.76039590e-02 1.45190799e+01] [ 2.02272961e-02 9.99794734e-01 -1.16044777e-03 2.84887741e-02] [ 3.76197469e-02 3.98762321e-04 9.99292047e-01 3.33724995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.58, Y:0.03, Z:0.33 [[ 9.99077971e-01 -2.07163470e-02 -3.76037271e-02 1.45767412e+01] [ 2.06870557e-02 9.99785318e-01 -1.16791420e-03 3.16878785e-02] [ 3.76198491e-02 3.88926948e-04 9.99292047e-01 3.31986186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:0.04, Z:0.33 [[ 9.99058444e-01 -2.16376958e-02 -3.76036553e-02 1.46357458e+01] [ 2.16089700e-02 9.99765814e-01 -1.17021996e-03 3.80515233e-02] [ 3.76201699e-02 3.56541869e-04 9.99292047e-01 3.33272917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:0.04, Z:0.34 [[ 9.99022858e-01 -2.32230448e-02 -3.76034551e-02 1.46932632e+01] [ 2.31952007e-02 9.99730263e-01 -1.17661836e-03 4.15529479e-02] [ 3.76206367e-02 3.03248947e-04 9.99292047e-01 3.36449474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:0.05, Z:0.34 [[ 9.98937896e-01 -2.66285011e-02 -3.76032219e-02 1.47506231e+01] [ 2.66027899e-02 9.99645382e-01 -1.18402411e-03 4.58489474e-02] [ 3.76214159e-02 1.82415940e-04 9.99292047e-01 3.38758734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:0.05, Z:0.34 [[ 9.98843899e-01 -2.99477593e-02 -3.76031499e-02 1.48084468e+01] [ 2.99243132e-02 9.99551463e-01 -1.18630845e-03 5.07437718e-02] [ 3.76218107e-02 5.96885278e-05 9.99292047e-01 3.41539115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:0.05, Z:0.34 [[ 9.98798080e-01 -3.14390849e-02 -3.76029152e-02 1.48663002e+01] [ 3.14164170e-02 9.99505670e-01 -1.19369898e-03 5.49537041e-02] [ 3.76218558e-02 1.09153807e-05 9.99292047e-01 3.41077724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.92, Y:0.06, Z:0.34 [[ 9.98788010e-01 -3.17575182e-02 -3.76028058e-02 1.49247132e+01] [ 3.17349466e-02 9.99495603e-01 -1.19713641e-03 5.94025243e-02] [ 3.76218571e-02 2.36246132e-06 9.99292047e-01 3.42236051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:0.07, Z:0.35 [[ 9.98810339e-01 -3.10475747e-02 -3.76025997e-02 1.49834753e+01] [ 3.10242577e-02 9.99517907e-01 -1.20357451e-03 6.66725025e-02] [ 3.76218399e-02 3.55499144e-05 9.99292047e-01 3.47703072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:0.07, Z:0.35 [[ 9.98808370e-01 -3.11110827e-02 -3.76023932e-02 1.50413440e+01] [ 3.10875691e-02 9.99515932e-01 -1.20999158e-03 7.12902295e-02] [ 3.76218353e-02 3.95827169e-05 9.99292047e-01 3.52438480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:0.07, Z:0.35 [[ 9.98761998e-01 -3.25658953e-02 -3.76023201e-02 1.50988876e+01] [ 3.25433270e-02 9.99469590e-01 -1.21225905e-03 7.43601116e-02] [ 3.76218538e-02 -1.29463341e-05 9.99292047e-01 3.53137400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408623852999998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:0.08, Z:0.35 [[ 9.98634756e-01 -3.62588939e-02 -3.76020891e-02 1.51572271e+01] [ 3.62386740e-02 9.99342420e-01 -1.21938338e-03 7.95363811e-02] [ 3.76215762e-02 -1.44931224e-04 9.99292047e-01 3.54407078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:0.08, Z:0.35 [[ 9.98484767e-01 -4.01779476e-02 -3.76018877e-02 1.52154333e+01] [ 4.01602725e-02 9.99192499e-01 -1.22556360e-03 8.09190631e-02] [ 3.76207648e-02 -2.86395468e-04 9.99292047e-01 3.53945222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:0.08, Z:0.35 [[ 9.98433337e-01 -4.14365435e-02 -3.76016526e-02 1.52723835e+01] [ 4.14194905e-02 9.99141084e-01 -1.23273442e-03 8.42617152e-02] [ 3.76204362e-02 -3.26638149e-04 9.99292047e-01 3.54209589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588623852999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:0.09, Z:0.36 [[ 9.98398045e-01 -4.22784406e-02 -3.76015511e-02 1.53307121e+01] [ 4.22618681e-02 9.99105804e-01 -1.23582356e-03 8.60768129e-02] [ 3.76201766e-02 -3.55267962e-04 9.99292047e-01 3.62954799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:0.09, Z:0.37 [[ 9.98343743e-01 -4.35420431e-02 -3.76013405e-02 1.53880992e+01] [ 4.35261264e-02 9.99051517e-01 -1.24219795e-03 8.77011642e-02] [ 3.76197641e-02 -3.96500149e-04 9.99292047e-01 3.66671611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:0.09, Z:0.37 [[ 9.98280599e-01 -4.49665520e-02 -3.76012659e-02 1.54464178e+01] [ 4.49515603e-02 9.98988393e-01 -1.24445226e-03 8.64303764e-02] [ 3.76191869e-02 -4.47923026e-04 9.99292047e-01 3.67566146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768623852999998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:0.09, Z:0.37 [[ 9.98171306e-01 -4.73308276e-02 -3.76010259e-02 1.55040559e+01] [ 4.73172408e-02 9.98879128e-01 -1.25165990e-03 8.53819206e-02] [ 3.76181221e-02 -5.29805799e-04 9.99292047e-01 3.71345482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:0.09, Z:0.37 [[ 9.98140239e-01 -4.79817055e-02 -3.76007806e-02 1.55623134e+01] [ 4.79683043e-02 9.98848065e-01 -1.25898816e-03 8.56611550e-02] [ 3.76178753e-02 -5.46998943e-04 9.99292048e-01 3.71469673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:0.08, Z:0.38 [[ 9.98123216e-01 -4.83347274e-02 -3.76005356e-02 1.56198840e+01] [ 4.83213026e-02 9.98831041e-01 -1.26626348e-03 8.36205257e-02] [ 3.76177866e-02 -5.53019882e-04 9.99292048e-01 3.77711382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:0.08, Z:0.38 [[ 9.98157448e-01 -4.76226249e-02 -3.76004597e-02 1.56774967e+01] [ 4.76086103e-02 9.98865262e-01 -1.26851235e-03 8.32061902e-02] [ 3.76182029e-02 -5.23930586e-04 9.99292048e-01 3.77805339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:15.74, Y:0.08, Z:0.38 [[ 9.98228827e-01 -4.61024139e-02 -3.76002187e-02 1.57359886e+01] [ 4.60870539e-02 9.98936613e-01 -1.27561471e-03 8.07003437e-02] [ 3.76190441e-02 -4.59527932e-04 9.99292048e-01 3.81292844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:0.08, Z:0.38 [[ 9.98396102e-01 -4.23256829e-02 -3.75999922e-02 1.57935625e+01] [ 4.23073952e-02 9.99103818e-01 -1.28225914e-03 7.90626260e-02] [ 3.76205682e-02 -3.10555201e-04 9.99292048e-01 3.80594296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:0.08, Z:0.38 [[ 9.98599604e-01 -3.72166184e-02 -3.75999119e-02 1.58502342e+01] [ 3.71946213e-02 9.99307215e-01 -1.28460953e-03 7.80674968e-02] [ 3.76216720e-02 -1.15703917e-04 9.99292048e-01 3.81794620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:0.08, Z:0.38 [[ 9.98702815e-01 -3.43358068e-02 -3.75997395e-02 1.59082073e+01] [ 3.43115794e-02 9.99410352e-01 -1.28963343e-03 7.90796405e-02] [ 3.76218495e-02 -2.14591262e-06 9.99292048e-01 3.84723599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:0.08, Z:0.39 [[ 9.98748657e-01 -3.29757153e-02 -3.75994876e-02 1.59658734e+01] [ 3.29502494e-02 9.99456152e-01 -1.29693676e-03 7.99499102e-02] [ 3.76218066e-02 5.64013487e-05 9.99292048e-01 3.86135636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:0.08, Z:0.39 [[ 9.98680227e-01 -3.49871586e-02 -3.75992357e-02 1.60232518e+01] [ 3.49628442e-02 9.99387762e-01 -1.30420087e-03 7.79581856e-02] [ 3.76218463e-02 -1.20965955e-05 9.99292048e-01 3.88082046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.08, Y:0.08, Z:0.39 [[ 9.98585186e-01 -3.76022785e-02 -3.75991269e-02 1.60811610e+01] [ 3.75796991e-02 9.99292778e-01 -1.30733014e-03 7.74449702e-02] [ 3.76216945e-02 -1.07483364e-04 9.99292048e-01 3.90212721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428623852999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:16.14, Y:0.08, Z:0.40 [[ 9.98438210e-01 -4.13214898e-02 -3.75988779e-02 1.61395151e+01] [ 4.13012780e-02 9.99145874e-01 -1.31445150e-03 7.57216333e-02] [ 3.76210788e-02 -2.40483103e-04 9.99292048e-01 3.95639271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.20, Y:0.07, Z:0.40 [[ 9.98395078e-01 -4.23510565e-02 -3.75986283e-02 1.61984130e+01] [ 4.23313070e-02 9.99102754e-01 -1.32155357e-03 7.14007818e-02] [ 3.76208622e-02 -2.72166501e-04 9.99292048e-01 3.96042397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.26, Y:0.07, Z:0.40 [[ 9.98370047e-01 -4.29372791e-02 -3.75984077e-02 1.62560411e+01] [ 4.29177100e-02 9.99077728e-01 -1.32779946e-03 7.02964847e-02] [ 3.76207438e-02 -2.88002343e-04 9.99292048e-01 3.98482606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.31, Y:0.07, Z:0.40 [[ 9.98378733e-01 -4.27350555e-02 -3.75981480e-02 1.63139493e+01] [ 4.27150677e-02 9.99086403e-01 -1.33511236e-03 6.80523946e-02] [ 3.76208545e-02 -2.73059656e-04 9.99292048e-01 3.99612923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.37, Y:0.06, Z:0.40 [[ 9.98439134e-01 -4.13000564e-02 -3.75978884e-02 1.63716753e+01] [ 4.12787776e-02 9.99146766e-01 -1.34238470e-03 6.37932586e-02] [ 3.76212491e-02 -2.11705455e-04 9.99292048e-01 3.99838265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.43, Y:0.06, Z:0.40 [[ 9.98502245e-01 -3.97450813e-02 -3.75978081e-02 1.64287868e+01] [ 3.97226159e-02 9.99209841e-01 -1.34462994e-03 6.31836167e-02] [ 3.76215422e-02 -1.50867272e-04 9.99292048e-01 4.00237801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:0.06, Z:0.41 [[ 9.98651539e-01 -3.57982718e-02 -3.75976984e-02 1.64862917e+01] [ 3.57728947e-02 9.99359036e-01 -1.34769050e-03 6.13177760e-02] [ 3.76218446e-02 8.94685859e-07 9.99292048e-01 4.06042862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.54, Y:0.06, Z:0.41 [[ 9.98789627e-01 -3.17129779e-02 -3.75974355e-02 1.65442861e+01] [ 3.16844324e-02 9.99497004e-01 -1.35498418e-03 6.20619008e-02] [ 3.76214947e-02 1.62090744e-04 9.99292048e-01 4.08149016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.60, Y:0.06, Z:0.41 [[ 9.98949925e-01 -2.61817897e-02 -3.75973543e-02 1.66020434e+01] [ 2.61492431e-02 9.99657129e-01 -1.35723272e-03 6.05553899e-02] [ 3.76199981e-02 3.72665165e-04 9.99292048e-01 4.10538150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:0.06, Z:0.41 [[ 9.99069589e-01 -2.11284969e-02 -3.75971022e-02 1.66602464e+01] [ 2.10921119e-02 9.99776606e-01 -1.36418249e-03 6.04101667e-02] [ 3.76175263e-02 5.69910955e-04 9.99292048e-01 4.13420772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.72, Y:0.06, Z:0.42 [[ 9.99131230e-01 -1.79794880e-02 -3.75968456e-02 1.67174627e+01] [ 1.79406102e-02 9.99838114e-01 -1.37121680e-03 6.17267619e-02] [ 3.76154130e-02 6.95515178e-04 9.99292048e-01 4.17276943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.78, Y:0.06, Z:0.42 [[ 9.99187289e-01 -1.45343954e-02 -3.75967059e-02 1.67752754e+01] [ 1.44929368e-02 9.99894026e-01 -1.37503731e-03 6.39662193e-02] [ 3.76127070e-02 8.29033117e-04 9.99292048e-01 4.18886721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:0.07, Z:0.42 [[ 9.99218370e-01 -1.22129559e-02 -3.75964478e-02 1.68336707e+01] [ 1.21695915e-02 9.99924993e-01 -1.38205671e-03 6.58523547e-02] [ 3.76105068e-02 9.23443041e-04 9.99292048e-01 4.18380537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:0.07, Z:0.42 [[ 9.99236823e-01 -1.05969731e-02 -3.75962234e-02 1.68919052e+01] [ 1.05522375e-02 9.99943360e-01 -1.38813431e-03 6.92469790e-02] [ 3.76088040e-02 9.90350636e-04 9.99292048e-01 4.20315039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.95, Y:0.08, Z:0.42 [[ 9.99239387e-01 -1.03533431e-02 -3.75959587e-02 1.69494519e+01] [ 1.03081670e-02 9.99945896e-01 -1.39526801e-03 7.50072349e-02] [ 3.76083703e-02 1.00666133e-03 9.99292048e-01 4.23301439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.01, Y:0.08, Z:0.43 [[ 9.99223868e-01 -1.17569098e-02 -3.75956919e-02 1.70059901e+01] [ 1.17124573e-02 9.99930423e-01 -1.40241937e-03 8.05838873e-02] [ 3.76095643e-02 9.60992973e-04 9.99292048e-01 4.25294572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.06, Y:0.09, Z:0.43 [[ 9.99181611e-01 -1.49225123e-02 -3.75955764e-02 1.70636401e+01] [ 1.48801822e-02 9.99888296e-01 -1.40550908e-03 8.80153941e-02] [ 3.76123506e-02 8.44929796e-04 9.99292048e-01 4.29238374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:0.09, Z:0.43 [[ 9.99131822e-01 -1.79497865e-02 -3.75953020e-02 1.71210175e+01] [ 1.79093231e-02 9.99838617e-01 -1.41281283e-03 9.35776107e-02] [ 3.76145944e-02 7.38279851e-04 9.99292048e-01 4.32419817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.18, Y:0.10, Z:0.43 [[ 9.99008794e-01 -2.38333459e-02 -3.75952168e-02 1.71782067e+01] [ 2.37969604e-02 9.99715811e-01 -1.41507442e-03 1.00851819e-01] [ 3.76182586e-02 5.19019904e-04 9.99292048e-01 4.34507379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.24, Y:0.11, Z:0.44 [[ 9.98873105e-01 -2.89678160e-02 -3.75950310e-02 1.72358602e+01] [ 2.89348798e-02 9.99580290e-01 -1.41999400e-03 1.07626002e-01] [ 3.76203861e-02 3.30586109e-04 9.99292048e-01 4.36925934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:0.11, Z:0.44 [[ 9.98782467e-01 -3.19406404e-02 -3.75949476e-02 1.72937650e+01] [ 3.19097262e-02 9.99489743e-01 -1.42219886e-03 1.12273858e-01] [ 3.76211905e-02 2.20822802e-04 9.99292048e-01 4.40368977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:0.12, Z:0.44 [[ 9.98658811e-01 -3.55980442e-02 -3.75946673e-02 1.73516354e+01] [ 3.55694427e-02 9.99366185e-01 -1.42957083e-03 1.17773582e-01] [ 3.76217291e-02 9.04321411e-05 9.99292048e-01 4.38244427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:0.12, Z:0.44 [[ 9.98609219e-01 -3.69631600e-02 -3.75945805e-02 1.74091923e+01] [ 3.69354397e-02 9.99316628e-01 -1.43185042e-03 1.21431297e-01] [ 3.76218151e-02 4.12866748e-05 9.99292048e-01 4.39726250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:0.13, Z:0.44 [[ 9.98400418e-01 -4.22288165e-02 -3.75943060e-02 1.74684327e+01] [ 4.22045572e-02 9.99107954e-01 -1.43901984e-03 1.25448486e-01] [ 3.76215383e-02 -1.49933023e-04 9.99292048e-01 4.39276592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:17.53, Y:0.13, Z:0.45 [[ 9.98147362e-01 -4.78385052e-02 -3.75941758e-02 1.75268432e+01] [ 4.78180942e-02 9.98855019e-01 -1.44241469e-03 1.28843140e-01] [ 3.76201341e-02 -3.57939419e-04 9.99292048e-01 4.46893527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928623852999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:0.13, Z:0.45 [[ 9.98051895e-01 -4.97906731e-02 -3.75939269e-02 1.75845394e+01] [ 4.97714032e-02 9.98759585e-01 -1.44887139e-03 1.30707129e-01] [ 3.76194351e-02 -4.25053660e-04 9.99292048e-01 4.48757588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:0.13, Z:0.45 [[ 9.97990629e-01 -5.10040240e-02 -3.75937951e-02 1.76433013e+01] [ 5.09854858e-02 9.98698338e-01 -1.45228470e-03 1.31812728e-01] [ 3.76189330e-02 -4.67371385e-04 9.99292048e-01 4.52000468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:0.13, Z:0.45 [[ 9.98013742e-01 -5.05499292e-02 -3.75935458e-02 1.77010461e+01] [ 5.05308271e-02 9.98721436e-01 -1.45870925e-03 1.32994983e-01] [ 3.76192177e-02 -4.43821087e-04 9.99292048e-01 4.50623077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:0.13, Z:0.45 [[ 9.98045097e-01 -4.99271329e-02 -3.75934139e-02 1.77597026e+01] [ 4.99074614e-02 9.98752776e-01 -1.46210164e-03 1.34410098e-01] [ 3.76195250e-02 -4.16948482e-04 9.99292048e-01 4.52637066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:0.14, Z:0.45 [[ 9.98097323e-01 -4.88721467e-02 -3.75931683e-02 1.78186480e+01] [ 4.88514905e-02 9.98804974e-01 -1.46838747e-03 1.35405556e-01] [ 3.76200068e-02 -3.70888703e-04 9.99292048e-01 4.52989090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:0.14, Z:0.46 [[ 9.98212972e-01 -4.64503465e-02 -3.75929221e-02 1.78770871e+01] [ 4.64277370e-02 9.98920563e-01 -1.47466371e-03 1.35749301e-01] [ 3.76208416e-02 -2.73325856e-04 9.99292048e-01 4.55979008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:0.14, Z:0.46 [[ 9.98363437e-01 -4.30957245e-02 -3.75926355e-02 1.79347794e+01] [ 4.30704635e-02 9.99070938e-01 -1.48193504e-03 1.38330076e-01] [ 3.76215747e-02 -1.39622476e-04 9.99292048e-01 4.58981003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:0.14, Z:0.46 [[ 9.98627290e-01 -3.64737839e-02 -3.75925473e-02 1.79927571e+01] [ 3.64437474e-02 9.99334604e-01 -1.48416978e-03 1.41480571e-01] [ 3.76216666e-02 1.12119151e-04 9.99292048e-01 4.62727731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:0.14, Z:0.47 [[ 9.98771600e-01 -3.22817556e-02 -3.75922639e-02 1.80507550e+01] [ 3.22484817e-02 9.99478770e-01 -1.49131163e-03 1.44699683e-01] [ 3.76208119e-02 2.77186266e-04 9.99292048e-01 4.66898199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.11, Y:0.15, Z:0.47 [[ 9.98873472e-01 -2.89588403e-02 -3.75921764e-02 1.81087181e+01] [ 2.89231310e-02 9.99580523e-01 -1.49351436e-03 1.48184686e-01] [ 3.76196578e-02 4.04548429e-04 9.99292048e-01 4.74732155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:0.15, Z:0.48 [[ 9.98841777e-01 -3.00323027e-02 -3.75920868e-02 1.81664799e+01] [ 2.99972685e-02 9.99548862e-01 -1.49576811e-03 1.51266716e-01] [ 3.76200489e-02 3.66375763e-04 9.99292048e-01 4.76837025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:0.15, Z:0.48 [[ 9.98742534e-01 -3.31693776e-02 -3.75917999e-02 1.82245167e+01] [ 3.31362943e-02 9.99449712e-01 -1.50294359e-03 1.53750594e-01] [ 3.76209653e-02 2.55400741e-04 9.99292048e-01 4.75040415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:0.15, Z:0.48 [[ 9.98646294e-01 -3.59505509e-02 -3.75917110e-02 1.82830685e+01] [ 3.59193536e-02 9.99353558e-01 -1.50516279e-03 1.54596654e-01] [ 3.76215216e-02 1.52855281e-04 9.99292048e-01 4.75900827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:0.16, Z:0.48 [[ 9.98545658e-01 -3.86451899e-02 -3.75914728e-02 1.83408141e+01] [ 3.86156781e-02 9.99252994e-01 -1.51108814e-03 1.56368368e-01] [ 3.76217881e-02 5.72702833e-05 9.99292048e-01 4.79395768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768623852999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:0.16, Z:0.48 [[ 9.98500937e-01 -3.97841796e-02 -3.75911812e-02 1.83985114e+01] [ 3.97552029e-02 9.99208296e-01 -1.51830832e-03 1.59846415e-01] [ 3.76218248e-02 2.15872433e-05 9.99292048e-01 4.81922065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:0.16, Z:0.48 [[ 9.98539360e-01 -3.88079301e-02 -3.75910910e-02 1.84562641e+01] [ 3.87781778e-02 9.99246687e-01 -1.52053815e-03 1.62523860e-01] [ 3.76217821e-02 6.06031800e-05 9.99292048e-01 4.83036264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:0.17, Z:0.49 [[ 9.98560976e-01 -3.82479910e-02 -3.75907979e-02 1.85135584e+01] [ 3.82175706e-02 9.99268274e-01 -1.52775044e-03 1.65764073e-01] [ 3.76217251e-02 8.89229942e-05 9.99292048e-01 4.89531932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:0.17, Z:0.49 [[ 9.98586795e-01 -3.75681715e-02 -3.75904979e-02 1.85726552e+01] [ 3.75369931e-02 9.99294060e-01 -1.53509718e-03 1.70601044e-01] [ 3.76216320e-02 1.21893516e-04 9.99292048e-01 4.90363172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:0.17, Z:0.49 [[ 9.98588931e-01 -3.75115991e-02 -3.75902359e-02 1.86305065e+01] [ 3.74801400e-02 9.99296184e-01 -1.54148642e-03 1.72771864e-01] [ 3.76216029e-02 1.30423977e-04 9.99292048e-01 4.90265046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:0.18, Z:0.49 [[ 9.98572769e-01 -3.79395040e-02 -3.75901432e-02 1.86878788e+01] [ 3.79082631e-02 9.99280031e-01 -1.54374277e-03 1.76330582e-01] [ 3.76216483e-02 1.16562451e-04 9.99292048e-01 4.94141055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:0.18, Z:0.50 [[ 9.98598591e-01 -3.72539554e-02 -3.75898403e-02 1.87444344e+01] [ 3.72219526e-02 9.99305819e-01 -1.55108254e-03 1.80382608e-01] [ 3.76215302e-02 1.49741582e-04 9.99292048e-01 4.95473518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.80, Y:0.18, Z:0.50 [[ 9.98589022e-01 -3.75097215e-02 -3.75897097e-02 1.88025010e+01] [ 3.74777808e-02 9.99296253e-01 -1.55424347e-03 1.83914981e-01] [ 3.76215552e-02 1.43271567e-04 9.99292048e-01 4.97992626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.86, Y:0.19, Z:0.50 [[ 9.98565399e-01 -3.81337201e-02 -3.75894098e-02 1.88603479e+01] [ 3.81019497e-02 9.99272637e-01 -1.56146210e-03 1.87848654e-01] [ 3.76216130e-02 1.26992222e-04 9.99292048e-01 4.99989018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.92, Y:0.19, Z:0.50 [[ 9.98562652e-01 -3.82058621e-02 -3.75891104e-02 1.89186788e+01] [ 3.81738727e-02 9.99269881e-01 -1.56863706e-03 1.91799656e-01] [ 3.76215970e-02 1.31460468e-04 9.99292048e-01 5.02530925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:0.20, Z:0.50 [[ 9.98589836e-01 -3.74889344e-02 -3.75888133e-02 1.89763505e+01] [ 3.74561705e-02 9.99297029e-01 -1.57572449e-03 1.95760473e-01] [ 3.76214617e-02 1.65569462e-04 9.99292049e-01 5.04595114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:0.20, Z:0.51 [[ 9.98638479e-01 -3.61703220e-02 -3.75885155e-02 1.90349879e+01] [ 3.61363581e-02 9.99345615e-01 -1.58279628e-03 2.01098526e-01] [ 3.76211684e-02 2.22329213e-04 9.99292049e-01 5.09540171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.09, Y:0.21, Z:0.51 [[ 9.98689203e-01 -3.47419084e-02 -3.75882458e-02 1.90929239e+01] [ 3.47066931e-02 9.99396278e-01 -1.58917434e-03 2.07180363e-01] [ 3.76207639e-02 2.82527544e-04 9.99292049e-01 5.11928213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:0.22, Z:0.51 [[ 9.98741046e-01 -3.32182905e-02 -3.75881503e-02 1.91511670e+01] [ 3.31819117e-02 9.99448062e-01 -1.59143072e-03 2.15760112e-01] [ 3.76202686e-02 3.42180498e-04 9.99292049e-01 5.12566688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:0.22, Z:0.51 [[ 9.98746905e-01 -3.30419545e-02 -3.75878835e-02 1.92084538e+01] [ 3.30052146e-02 9.99453902e-01 -1.59770805e-03 2.22691469e-01] [ 3.76201482e-02 3.55109806e-04 9.99292049e-01 5.13435380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:0.23, Z:0.52 [[ 9.98721921e-01 -3.37890195e-02 -3.75875784e-02 1.92660559e+01] [ 3.37525395e-02 9.99428932e-01 -1.60485310e-03 2.30474079e-01] [ 3.76203398e-02 3.34125747e-04 9.99292049e-01 5.17527757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:0.24, Z:0.52 [[ 9.98684491e-01 -3.48779195e-02 -3.75874843e-02 1.93244908e+01] [ 3.48421275e-02 9.99391537e-01 -1.60705480e-03 2.37668415e-01] [ 3.76206644e-02 2.95312786e-04 9.99292049e-01 5.17102959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:0.25, Z:0.52 [[ 9.98594464e-01 -3.73670531e-02 -3.75872216e-02 1.93826874e+01] [ 3.73327932e-02 9.99301586e-01 -1.61317410e-03 2.45947164e-01] [ 3.76212498e-02 2.07670751e-04 9.99292049e-01 5.20609189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:0.26, Z:0.52 [[ 9.98551857e-01 -3.84890945e-02 -3.75869566e-02 1.94407555e+01] [ 3.84553977e-02 9.99259006e-01 -1.61932612e-03 2.55831755e-01] [ 3.76214313e-02 1.71559743e-04 9.99292049e-01 5.23035159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908623852999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.50, Y:0.26, Z:0.53 [[ 9.98520548e-01 -3.92932237e-02 -3.75866802e-02 1.94982238e+01] [ 3.92598558e-02 9.99227712e-01 -1.62571771e-03 2.64449167e-01] [ 3.76215321e-02 1.47664895e-04 9.99292049e-01 5.27073753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968623852999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.56, Y:0.27, Z:0.53 [[ 9.98386908e-01 -4.25540632e-02 -3.75863551e-02 1.95562558e+01] [ 4.25227233e-02 9.99094165e-01 -1.63319876e-03 2.73187153e-01] [ 3.76218073e-02 3.22900814e-05 9.99292049e-01 5.28509997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:0.28, Z:0.53 [[ 9.98168988e-01 -4.73915497e-02 -3.75860718e-02 1.96142402e+01] [ 4.73633929e-02 9.98876379e-01 -1.63969261e-03 2.79850263e-01] [ 3.76215469e-02 -1.43513569e-04 9.99292049e-01 5.29614085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:0.29, Z:0.53 [[ 9.98002056e-01 -5.07859084e-02 -3.75857399e-02 1.96715483e+01] [ 5.07598723e-02 9.98709528e-01 -1.64726661e-03 2.86855415e-01] [ 3.76208944e-02 -2.63871891e-04 9.99292049e-01 5.31405547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:0.29, Z:0.53 [[ 9.97939750e-01 -5.19959127e-02 -3.75856367e-02 1.97293450e+01] [ 5.19706459e-02 9.98647250e-01 -1.64961610e-03 2.91502928e-01] [ 3.76205661e-02 -3.07132336e-04 9.99292049e-01 5.33477115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:0.30, Z:0.53 [[ 9.97903448e-01 -5.26882567e-02 -3.75853123e-02 1.97870588e+01] [ 5.26632036e-02 9.98610956e-01 -1.65697430e-03 2.95749941e-01] [ 3.76204078e-02 -3.25862589e-04 9.99292049e-01 5.34751752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.85, Y:0.30, Z:0.54 [[ 9.97896444e-01 -5.28208219e-02 -3.75852122e-02 1.98452739e+01] [ 5.27957774e-02 9.98603952e-01 -1.65924298e-03 2.99745496e-01] [ 3.76203840e-02 -3.28587827e-04 9.99292049e-01 5.40648558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.90, Y:0.30, Z:0.54 [[ 9.97970335e-01 -5.14060657e-02 -3.75849374e-02 1.99025602e+01] [ 5.13797846e-02 9.98677798e-01 -1.66544357e-03 3.03927422e-01] [ 3.76208565e-02 -2.69042719e-04 9.99292049e-01 5.41636768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.96, Y:0.31, Z:0.54 [[ 9.98020141e-01 -5.04299374e-02 -3.75848402e-02 1.99601015e+01] [ 5.04028819e-02 9.98727575e-01 -1.66763531e-03 3.06814392e-01] [ 3.76211150e-02 -2.30050634e-04 9.99292049e-01 5.43310488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:0.31, Z:0.55 [[ 9.98111043e-01 -4.85978448e-02 -3.75845215e-02 2.00179317e+01] [ 4.85692214e-02 9.98818415e-01 -1.67478627e-03 3.09328017e-01] [ 3.76215032e-02 -1.53828279e-04 9.99292049e-01 5.45272437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.08, Y:0.31, Z:0.55 [[ 9.98201683e-01 -4.66993443e-02 -3.75841970e-02 2.00757218e+01] [ 4.66691026e-02 9.98908988e-01 -1.68203712e-03 3.12248770e-01] [ 3.76217422e-02 -7.50084662e-05 9.99292049e-01 5.48166675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:0.32, Z:0.55 [[ 9.98442577e-01 -4.12295155e-02 -3.75838698e-02 2.01333730e+01] [ 4.11951249e-02 9.99149692e-01 -1.68931717e-03 3.16265385e-01] [ 3.76215617e-02 1.38413973e-04 9.99292049e-01 5.50791714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:0.32, Z:0.55 [[ 9.98677265e-01 -3.50881966e-02 -3.75837685e-02 2.01914644e+01] [ 3.50493731e-02 9.99384150e-01 -1.69156709e-03 3.23813538e-01] [ 3.76199766e-02 3.72042072e-04 9.99292049e-01 5.51851955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:0.33, Z:0.55 [[ 9.98791218e-01 -3.16794140e-02 -3.75834877e-02 2.02501625e+01] [ 3.16379442e-02 9.99497953e-01 -1.69778422e-03 3.31712420e-01] [ 3.76184038e-02 5.06667684e-04 9.99292049e-01 5.50607999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:0.34, Z:0.56 [[ 9.98783188e-01 -3.19318873e-02 -3.75832091e-02 2.03088177e+01] [ 3.18903649e-02 9.99489921e-01 -1.70393015e-03 3.37090369e-01] [ 3.76184483e-02 5.03314535e-04 9.99292049e-01 5.55964465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.37, Y:0.34, Z:0.56 [[ 9.98650155e-01 -3.58523730e-02 -3.75829164e-02 2.03659340e+01] [ 3.58133833e-02 9.99357031e-01 -1.71036086e-03 3.44520668e-01] [ 3.76200723e-02 3.62080746e-04 9.99292049e-01 5.61090073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:20.42, Y:0.35, Z:0.57 [[ 9.98397315e-01 -4.23123232e-02 -3.75828133e-02 2.04247385e+01] [ 4.22778221e-02 9.99104425e-01 -1.71262442e-03 3.49868491e-01] [ 3.76216202e-02 1.20960131e-04 9.99292049e-01 5.67672856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.48, Y:0.35, Z:0.57 [[ 9.98195101e-01 -4.68411552e-02 -3.75825254e-02 2.04824413e+01] [ 4.68096254e-02 9.98902350e-01 -1.71891805e-03 3.53369622e-01] [ 3.76217890e-02 -4.34083598e-05 9.99292049e-01 5.70678641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.54, Y:0.36, Z:0.57 [[ 9.97908420e-01 -5.25960684e-02 -3.75824231e-02 2.05405220e+01] [ 5.25685330e-02 9.98615836e-01 -1.72115219e-03 3.57612130e-01] [ 3.76209287e-02 -2.58100588e-04 9.99292049e-01 5.72677054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.60, Y:0.36, Z:0.57 [[ 9.97746647e-01 -5.55806971e-02 -3.75820958e-02 2.05987735e+01] [ 5.55550098e-02 9.98454132e-01 -1.72826866e-03 3.60911141e-01] [ 3.76200572e-02 -3.63499436e-04 9.99292049e-01 5.69525739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108623852999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:20.66, Y:0.36, Z:0.58 [[ 9.97700506e-01 -5.64029607e-02 -3.75819949e-02 2.06569221e+01] [ 5.63777739e-02 9.98408009e-01 -1.73045964e-03 3.62948376e-01] [ 3.76197678e-02 -3.92308756e-04 9.99292049e-01 5.75960359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.71, Y:0.37, Z:0.57 [[ 9.97694111e-01 -5.65161637e-02 -3.75816915e-02 2.07145909e+01] [ 5.64908099e-02 9.98401608e-01 -1.73702491e-03 3.65447571e-01] [ 3.76197912e-02 -3.90000661e-04 9.99292049e-01 5.74694886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:0.37, Z:0.58 [[ 9.97689192e-01 -5.66030098e-02 -3.75815839e-02 2.07731695e+01] [ 5.65776300e-02 9.98396688e-01 -1.73934974e-03 3.68109836e-01] [ 3.76197813e-02 -3.90946507e-04 9.99292049e-01 5.77817596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.83, Y:0.37, Z:0.58 [[ 9.97631231e-01 -5.76157487e-02 -3.75812902e-02 2.08320145e+01] [ 5.75908490e-02 9.98338743e-01 -1.74567203e-03 3.69039675e-01] [ 3.76194363e-02 -4.22801473e-04 9.99292049e-01 5.78491816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:20.89, Y:0.37, Z:0.58 [[ 9.97526963e-01 -5.93938286e-02 -3.75809963e-02 2.08909726e+01] [ 5.93699525e-02 9.98234511e-01 -1.75197692e-03 3.71057517e-01] [ 3.76187041e-02 -4.83537747e-04 9.99292049e-01 5.82892982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.95, Y:0.37, Z:0.58 [[ 9.97555212e-01 -5.89176484e-02 -3.75807029e-02 2.09486580e+01] [ 5.88931984e-02 9.98262741e-01 -1.75824828e-03 3.71525539e-01] [ 3.76190073e-02 -4.59298050e-04 9.99292049e-01 5.83111606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.01, Y:0.37, Z:0.59 [[ 9.97663822e-01 -5.70492382e-02 -3.75803537e-02 2.10070457e+01] [ 5.70231831e-02 9.98371293e-01 -1.76568003e-03 3.73182407e-01] [ 3.76198770e-02 -3.81396306e-04 9.99292049e-01 5.85187452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.07, Y:0.37, Z:0.59 [[ 9.97879223e-01 -5.31488400e-02 -3.75800045e-02 2.10653205e+01] [ 5.31197408e-02 9.98586576e-01 -1.77308248e-03 3.74155444e-01] [ 3.76211252e-02 -2.26917924e-04 9.99292049e-01 5.90958347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:0.38, Z:0.59 [[ 9.98006892e-01 -5.06952690e-02 -3.75796956e-02 2.11235709e+01] [ 5.06641852e-02 9.98714160e-01 -1.77960494e-03 3.77658090e-01] [ 3.76215917e-02 -1.27886658e-04 9.99292049e-01 5.93102206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:0.38, Z:0.59 [[ 9.98060397e-01 -4.96310031e-02 -3.75793402e-02 2.11803447e+01] [ 4.95988838e-02 9.98767619e-01 -1.78707750e-03 3.79391962e-01] [ 3.76217226e-02 -8.02820467e-05 9.99292049e-01 5.92764976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:0.38, Z:0.59 [[ 9.98065853e-01 -4.95212959e-02 -3.75791865e-02 2.12394521e+01] [ 4.94889774e-02 9.98773065e-01 -1.79030355e-03 3.78675768e-01] [ 3.76217375e-02 -7.29146707e-05 9.99292049e-01 5.93118659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768623852999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:0.38, Z:0.60 [[ 9.98103236e-01 -4.87622516e-02 -3.75788882e-02 2.12972659e+01] [ 4.87291603e-02 9.98810413e-01 -1.79654337e-03 3.79301950e-01] [ 3.76217884e-02 -3.80519199e-05 9.99292049e-01 5.96042894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:0.38, Z:0.60 [[ 9.98261490e-01 -4.54075959e-02 -3.75785428e-02 2.13556788e+01] [ 4.53718572e-02 9.98968539e-01 -1.80374012e-03 3.79721881e-01] [ 3.76216855e-02 9.55960258e-05 9.99292049e-01 6.00753986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:0.38, Z:0.61 [[ 9.98452350e-01 -4.09973234e-02 -3.75782435e-02 2.14134322e+01] [ 4.09582277e-02 9.99159220e-01 -1.80995452e-03 3.80999168e-01] [ 3.76208517e-02 2.68015094e-04 9.99292049e-01 6.05174355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:0.39, Z:0.61 [[ 9.98646037e-01 -3.59721526e-02 -3.75778843e-02 2.14715734e+01] [ 3.59292208e-02 9.99352685e-01 -1.81738064e-03 3.85990312e-01] [ 3.76189347e-02 4.64775868e-04 9.99292049e-01 6.05038746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:0.39, Z:0.61 [[ 9.98749614e-01 -3.29715033e-02 -3.75777735e-02 2.15293759e+01] [ 3.29263624e-02 9.99456124e-01 -1.81966981e-03 3.90111663e-01] [ 3.76173331e-02 5.80095131e-04 9.99292049e-01 6.07627437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:21.59, Y:0.40, Z:0.61 [[ 9.98849530e-01 -2.97918554e-02 -3.75774237e-02 2.15866650e+01] [ 2.97441950e-02 9.99555874e-01 -1.82686515e-03 3.95182418e-01] [ 3.76151603e-02 7.07053175e-04 9.99292049e-01 6.08494536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:0.40, Z:0.61 [[ 9.98832119e-01 -3.03701170e-02 -3.75773151e-02 2.16446862e+01] [ 3.03227817e-02 9.99538485e-01 -1.82909493e-03 4.00824461e-01] [ 3.76155225e-02 6.87510045e-04 9.99292049e-01 6.09419862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:0.41, Z:0.61 [[ 9.98756888e-01 -3.27510562e-02 -3.75772091e-02 2.17032196e+01] [ 3.27053230e-02 9.99463360e-01 -1.83127014e-03 4.05873330e-01] [ 3.76170197e-02 6.00018906e-04 9.99292049e-01 6.13930280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248623852999998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:0.41, Z:0.62 [[ 9.98584293e-01 -3.76481823e-02 -3.75769104e-02 2.17601250e+01] [ 3.76056841e-02 9.99290967e-01 -1.83738054e-03 4.10391915e-01] [ 3.76194411e-02 4.21673926e-04 9.99292049e-01 6.20625851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.82, Y:0.41, Z:0.62 [[ 9.98313529e-01 -4.42503284e-02 -3.75766783e-02 2.18177814e+01] [ 4.42123257e-02 9.99020459e-01 -1.84211403e-03 4.13986359e-01] [ 3.76213845e-02 1.77655018e-04 9.99292049e-01 6.16826992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.88, Y:0.42, Z:0.62 [[ 9.98143772e-01 -4.79273416e-02 -3.75763402e-02 2.18759824e+01] [ 4.78916844e-02 9.98850824e-01 -1.84898612e-03 4.16582804e-01] [ 3.76217753e-02 4.59597529e-05 9.99292049e-01 6.18936012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:0.42, Z:0.62 [[ 9.97973716e-01 -5.13469290e-02 -3.75759997e-02 2.19336281e+01] [ 5.13134350e-02 9.98680874e-01 -1.85587889e-03 4.20349107e-01] [ 3.76217259e-02 -7.60352671e-05 9.99292049e-01 6.21291105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:0.42, Z:0.62 [[ 9.97954393e-01 -5.17213669e-02 -3.75756467e-02 2.19912606e+01] [ 5.16878701e-02 9.98661551e-01 -1.86299940e-03 4.24866875e-01] [ 3.76217105e-02 -8.30167120e-05 9.99292049e-01 6.23180149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:0.43, Z:0.63 [[ 9.97967661e-01 -5.14648132e-02 -3.75755371e-02 2.20489275e+01] [ 5.14310515e-02 9.98674806e-01 -1.86520769e-03 4.26574879e-01] [ 3.76217348e-02 -7.11324275e-05 9.99292049e-01 6.28193477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:0.43, Z:0.63 [[ 9.97979834e-01 -5.12284683e-02 -3.75751875e-02 2.21071251e+01] [ 5.11942750e-02 9.98686958e-01 -1.87222312e-03 4.30540899e-01] [ 3.76217609e-02 -5.51935623e-05 9.99292049e-01 6.28669198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:0.43, Z:0.63 [[ 9.97987341e-01 -5.10822695e-02 -3.75748405e-02 2.21660738e+01] [ 5.10477114e-02 9.98694448e-01 -1.87916154e-03 4.33934252e-01] [ 3.76217764e-02 -4.27301870e-05 9.99292049e-01 6.28543023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.22, Y:0.44, Z:0.63 [[ 9.98042044e-01 -5.00023254e-02 -3.75745372e-02 2.22234960e+01] [ 4.99667744e-02 9.98749101e-01 -1.88520809e-03 4.36150910e-01] [ 3.76218000e-02 4.03851696e-06 9.99292049e-01 6.29690210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:0.44, Z:0.63 [[ 9.98116183e-01 -4.85000166e-02 -3.75743872e-02 2.22810729e+01] [ 4.84632891e-02 9.98823180e-01 -1.88819256e-03 4.39389271e-01] [ 3.76217462e-02 6.36571599e-05 9.99292049e-01 6.34551595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:0.44, Z:0.64 [[ 9.98319013e-01 -4.41286765e-02 -3.75740281e-02 2.23384897e+01] [ 4.40885854e-02 9.99025828e-01 -1.89531040e-03 4.43970689e-01] [ 3.76210621e-02 2.35538656e-04 9.99292050e-01 6.39633172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:0.45, Z:0.64 [[ 9.98526480e-01 -3.91544225e-02 -3.75739171e-02 2.23965600e+01] [ 3.91107278e-02 9.99233081e-01 -1.89750934e-03 4.49219257e-01] [ 3.76193968e-02 4.25170075e-04 9.99292050e-01 6.40428439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.45, Y:0.45, Z:0.64 [[ 9.98568741e-01 -3.80617408e-02 -3.75735640e-02 2.24545242e+01] [ 3.80170108e-02 9.99275277e-01 -1.90447595e-03 4.54453169e-01] [ 3.76188212e-02 4.73315570e-04 9.99292050e-01 6.41134667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.51, Y:0.46, Z:0.64 [[ 9.98488231e-01 -4.01186722e-02 -3.75732040e-02 2.25119591e+01] [ 4.00751315e-02 9.99194841e-01 -1.91155238e-03 4.59519899e-01] [ 3.76196405e-02 4.02911466e-04 9.99292050e-01 6.41422361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.57, Y:0.46, Z:0.64 [[ 9.98176119e-01 -4.72514350e-02 -3.75730927e-02 2.25698097e+01] [ 4.72128616e-02 9.98883018e-01 -1.91373641e-03 4.60410515e-01] [ 3.76215510e-02 1.36312754e-04 9.99292050e-01 6.44103268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.63, Y:0.46, Z:0.65 [[ 9.97851387e-01 -5.36738370e-02 -3.75729831e-02 2.26278143e+01] [ 5.36397324e-02 9.98558515e-01 -1.91588666e-03 4.60855784e-01] [ 3.76216552e-02 -1.03634594e-04 9.99292050e-01 6.46277661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.69, Y:0.46, Z:0.65 [[ 9.97342938e-01 -6.24128248e-02 -3.75726326e-02 2.26859030e+01] [ 6.23846579e-02 9.98050328e-01 -1.92273526e-03 4.58665399e-01] [ 3.76193817e-02 -4.26329395e-04 9.99292050e-01 6.47408784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268623852999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:22.74, Y:0.45, Z:0.65 [[ 9.96995546e-01 -6.77362913e-02 -3.75722844e-02 2.27439572e+01] [ 6.77116458e-02 9.97703067e-01 -1.92951568e-03 4.53851107e-01] [ 3.76166816e-02 -6.20362673e-04 9.99292050e-01 6.50729962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.80, Y:0.45, Z:0.65 [[ 9.96926502e-01 -6.87451799e-02 -3.75719183e-02 2.28013265e+01] [ 6.87209828e-02 9.97634039e-01 -1.93661910e-03 4.51125413e-01] [ 3.76161578e-02 -6.51312240e-04 9.99292050e-01 6.50965605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:0.45, Z:0.65 [[ 9.97002789e-01 -6.76298882e-02 -3.75717593e-02 2.28598752e+01] [ 6.76047836e-02 9.97710294e-01 -1.93969752e-03 4.47463213e-01] [ 3.76169126e-02 -6.06146825e-04 9.99292050e-01 6.54810415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448623852999997 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:0.45, Z:0.66 [[ 9.97059709e-01 -6.67856778e-02 -3.75713881e-02 2.29177559e+01] [ 6.67597043e-02 9.97767183e-01 -1.94686257e-03 4.48920722e-01] [ 3.76175206e-02 -5.67116527e-04 9.99292050e-01 6.60326989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508623853 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:0.44, Z:0.66 [[ 9.97333324e-01 -6.25672361e-02 -3.75710172e-02 2.29757913e+01] [ 6.25380013e-02 9.98040671e-01 -1.95399391e-03 4.43992039e-01] [ 3.76196592e-02 -4.00833077e-04 9.99292050e-01 6.64858392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.03, Y:0.44, Z:0.66 [[ 9.97788728e-01 -5.48279365e-02 -3.75706203e-02 2.30338400e+01] [ 5.47929287e-02 9.98495812e-01 -1.96159589e-03 4.40241399e-01] [ 3.76216573e-02 -1.01346045e-04 9.99292050e-01 6.64600129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628623852999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:0.44, Z:0.67 [[ 9.98154645e-01 -4.77049507e-02 -3.75704972e-02 2.30915778e+01] [ 4.76648084e-02 9.98861456e-01 -1.96395032e-03 4.41757843e-01] [ 3.76214117e-02 1.69535587e-04 9.99292050e-01 6.67743475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.15, Y:0.44, Z:0.67 [[ 9.98649562e-01 -3.58823029e-02 -3.75701110e-02 2.31493174e+01] [ 3.58335172e-02 9.99355829e-01 -1.97131059e-03 4.44201045e-01] [ 3.76166446e-02 6.22379239e-04 9.99292050e-01 6.70545342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748623852999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.21, Y:0.45, Z:0.67 [[ 9.98971340e-01 -2.53924628e-02 -3.75697270e-02 2.32061419e+01] [ 2.53359884e-02 9.99677034e-01 -1.97860262e-03 4.49190649e-01] [ 3.76078348e-02 1.02470114e-03 9.99292050e-01 6.68837263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.26, Y:0.46, Z:0.68 [[ 9.99139630e-01 -1.75649803e-02 -3.75695617e-02 2.32632496e+01] [ 1.75028610e-02 9.99844849e-01 -1.98173599e-03 4.57035218e-01] [ 3.75985419e-02 1.32245615e-03 9.99292050e-01 6.75148075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.32, Y:0.46, Z:0.68 [[ 9.99182292e-01 -1.49433537e-02 -3.75691879e-02 2.33204537e+01] [ 1.48791191e-02 9.99887322e-01 -1.98879780e-03 4.63710501e-01] [ 3.75946739e-02 1.42817513e-03 9.99292050e-01 6.77822955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.38, Y:0.47, Z:0.68 [[ 9.99184798e-01 -1.47757730e-02 -3.75688147e-02 2.33778833e+01] [ 1.47111565e-02 9.99889793e-01 -1.99582290e-03 4.72604259e-01] [ 3.75941641e-02 1.44151519e-03 9.99292050e-01 6.78085045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988623852999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.43, Y:0.48, Z:0.68 [[ 9.99110104e-01 -1.91726882e-02 -3.75686995e-02 2.34347663e+01] [ 1.91110934e-02 9.99815370e-01 -1.99798878e-03 4.82617610e-01] [ 3.76000700e-02 1.27823185e-03 9.99292050e-01 6.82556724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.49, Y:0.49, Z:0.69 [[ 9.98992748e-01 -2.45375383e-02 -3.75685852e-02 2.34925075e+01] [ 2.44796509e-02 9.99698328e-01 -2.00013503e-03 4.89653105e-01] [ 3.76063302e-02 1.07845454e-03 9.99292050e-01 6.85668621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.55, Y:0.50, Z:0.69 [[ 9.98727900e-01 -3.36334902e-02 -3.75682163e-02 2.35503374e+01] [ 3.35817707e-02 9.99433958e-01 -2.00704068e-03 4.96607471e-01] [ 3.76144549e-02 7.42880300e-04 9.99292050e-01 6.87777913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:0.50, Z:0.69 [[ 9.98532171e-01 -3.90148885e-02 -3.75678327e-02 2.36080952e+01] [ 3.89667054e-02 9.99238479e-01 -2.01419496e-03 5.01934369e-01] [ 3.76178076e-02 5.47343796e-04 9.99292050e-01 6.87787818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:0.51, Z:0.69 [[ 9.98199044e-01 -4.67690121e-02 -3.75676529e-02 2.36661891e+01] [ 4.67261901e-02 9.98905698e-01 -2.01754397e-03 5.08872252e-01] [ 3.76209010e-02 2.58517173e-04 9.99292050e-01 6.88688485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.72, Y:0.51, Z:0.69 [[ 9.97969218e-01 -5.14406199e-02 -3.75673091e-02 2.37230172e+01] [ 5.14008657e-02 9.98676051e-01 -2.02392438e-03 5.14999831e-01] [ 3.76216838e-02 8.88220240e-05 9.99292050e-01 6.89631466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:0.52, Z:0.69 [[ 9.97657491e-01 -5.71685276e-02 -3.75671382e-02 2.37802273e+01] [ 5.71327123e-02 9.98364535e-01 -2.02709123e-03 5.21703573e-01] [ 3.76215843e-02 -1.23969747e-04 9.99292050e-01 6.91836420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408623852999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.84, Y:0.53, Z:0.70 [[ 9.97422098e-01 -6.11381842e-02 -3.75670192e-02 2.38377498e+01] [ 6.11050998e-02 9.98129275e-01 -2.02929507e-03 5.26838336e-01] [ 3.76208090e-02 -2.71472711e-04 9.99292050e-01 6.95277970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468623852999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.89, Y:0.53, Z:0.69 [[ 9.97354992e-01 -6.22235287e-02 -3.75666380e-02 2.38941914e+01] [ 6.21909490e-02 9.98062192e-01 -2.03632770e-03 5.32500351e-01] [ 3.76205485e-02 -3.05363268e-04 9.99292050e-01 6.94529763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.95, Y:0.54, Z:0.70 [[ 9.97318672e-01 -6.28030728e-02 -3.75664728e-02 2.39518379e+01] [ 6.27707894e-02 9.98025886e-01 -2.03937034e-03 5.38409287e-01] [ 3.76203910e-02 -3.24175034e-04 9.99292050e-01 6.97453164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588623852999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.01, Y:0.54, Z:0.70 [[ 9.97270029e-01 -6.35710481e-02 -3.75661018e-02 2.40101535e+01] [ 6.35390528e-02 9.97977255e-01 -2.04618112e-03 5.42401485e-01] [ 3.76201931e-02 -3.46319424e-04 9.99292050e-01 6.98285620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648623852999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.07, Y:0.55, Z:0.70 [[ 9.97208094e-01 -6.45354874e-02 -3.75657731e-02 2.40675818e+01] [ 6.45039494e-02 9.97915342e-01 -2.05219898e-03 5.46241040e-01] [ 3.76199009e-02 -3.76671288e-04 9.99292050e-01 7.00551181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:24.12, Y:0.55, Z:0.71 [[ 9.97183590e-01 -6.49132373e-02 -3.75653979e-02 2.41243937e+01] [ 6.48817095e-02 9.97890838e-01 -2.05904299e-03 5.49110815e-01] [ 3.76198256e-02 -3.84063356e-04 9.99292050e-01 7.06965520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768623852999998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.18, Y:0.55, Z:0.70 [[ 9.97155388e-01 -6.53451227e-02 -3.75652357e-02 2.41826252e+01] [ 6.53137898e-02 9.97862644e-01 -2.06199935e-03 5.50937754e-01] [ 3.76196870e-02 -3.97394148e-04 9.99292050e-01 7.04965162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828623852999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:24.24, Y:0.55, Z:0.71 [[ 9.97122545e-01 -6.58445947e-02 -3.75648658e-02 2.42406526e+01] [ 6.58133631e-02 9.97829806e-01 -2.06871587e-03 5.51351159e-01] [ 3.76195565e-02 -4.09506918e-04 9.99292050e-01 7.11752359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:0.55, Z:0.71 [[ 9.97125691e-01 -6.57970029e-02 -3.75647512e-02 2.42987356e+01] [ 6.57656592e-02 9.97832947e-01 -2.07079480e-03 5.53403679e-01] [ 3.76195985e-02 -4.05627924e-04 9.99292050e-01 7.10542298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948623852999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:0.55, Z:0.71 [[ 9.97136583e-01 -6.56319444e-02 -3.75643854e-02 2.43568847e+01] [ 6.56002345e-02 9.97843822e-01 -2.07740864e-03 5.52914791e-01] [ 3.76197343e-02 -3.92772343e-04 9.99292050e-01 7.14740029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:0.55, Z:0.72 [[ 9.97086016e-01 -6.63957930e-02 -3.75642724e-02 2.44160881e+01] [ 6.63645480e-02 9.97793277e-01 -2.07945077e-03 5.52176243e-01] [ 3.76194452e-02 -4.19544668e-04 9.99292050e-01 7.15131510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:0.55, Z:0.72 [[ 9.97182259e-01 -6.49345263e-02 -3.75639312e-02 2.44750086e+01] [ 6.49020134e-02 9.97889462e-01 -2.08559630e-03 5.52652649e-01] [ 3.76200783e-02 -3.58255130e-04 9.99292050e-01 7.19385467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128623852999997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:24.53, Y:0.55, Z:0.72 [[ 9.97478460e-01 -6.02137800e-02 -3.75635892e-02 2.45331869e+01] [ 6.01776887e-02 9.98185489e-01 -2.09173811e-03 5.54981113e-01] [ 3.76213811e-02 -1.74026267e-04 9.99292050e-01 7.22633120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.59, Y:0.56, Z:0.72 [[ 9.97616853e-01 -5.78757264e-02 -3.75634682e-02 2.45907374e+01] [ 5.78378964e-02 9.98323792e-01 -2.09390750e-03 5.57283286e-01] [ 3.76216904e-02 -8.36745690e-05 9.99292050e-01 7.24321942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248623852999998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:24.65, Y:0.56, Z:0.73 [[ 9.97711285e-01 -5.62246274e-02 -3.75630616e-02 2.46487177e+01] [ 5.61853538e-02 9.98418144e-01 -2.10117680e-03 5.59036636e-01] [ 3.76217801e-02 -1.41260986e-05 9.99292050e-01 7.26476774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308623852999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:0.56, Z:0.73 [[ 9.97694788e-01 -5.65168733e-02 -3.75626548e-02 2.47068751e+01] [ 5.64775339e-02 9.98401644e-01 -2.10842472e-03 5.61363892e-01] [ 3.76217778e-02 -1.78817546e-05 9.99292050e-01 7.27770457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:24.76, Y:0.56, Z:0.73 [[ 9.97648046e-01 -5.73363213e-02 -3.75622416e-02 2.47638161e+01] [ 5.72972863e-02 9.98354919e-01 -2.11576036e-03 5.63828030e-01] [ 3.76217586e-02 -4.14303221e-05 9.99292050e-01 7.28232631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428623852999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:24.82, Y:0.56, Z:0.73 [[ 9.97536504e-01 -5.92453719e-02 -3.75620632e-02 2.48227197e+01] [ 5.92075706e-02 9.98243444e-01 -2.11892297e-03 5.64240750e-01] [ 3.76216197e-02 -1.10255491e-04 9.99292050e-01 7.28503971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488623852999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:24.88, Y:0.57, Z:0.73 [[ 9.97499164e-01 -5.98710017e-02 -3.75617048e-02 2.48806346e+01] [ 5.98334052e-02 9.98206114e-01 -2.12525744e-03 5.65776276e-01] [ 3.76215647e-02 -1.27502179e-04 9.99292050e-01 7.30858432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:24.94, Y:0.57, Z:0.73 [[ 9.97559313e-01 -5.88605627e-02 -3.75612917e-02 2.49387404e+01] [ 5.88219762e-02 9.98266211e-01 -2.13253312e-03 5.68927981e-01] [ 3.76216904e-02 -8.21011315e-05 9.99292050e-01 7.33771470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608623852999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.00, Y:0.57, Z:0.74 [[ 9.97602656e-01 -5.81214228e-02 -3.75611637e-02 2.49966158e+01] [ 5.80822278e-02 9.98309520e-01 -2.13478502e-03 5.71287071e-01] [ 3.76217440e-02 -5.19688570e-05 9.99292050e-01 7.35427490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:0.57, Z:0.74 [[ 9.97607519e-01 -5.80379807e-02 -3.75610375e-02 2.50541718e+01] [ 5.79986430e-02 9.98314375e-01 -2.13700318e-03 5.73044692e-01] [ 3.76217510e-02 -4.65987680e-05 9.99292050e-01 7.39159452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728623853 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:0.58, Z:0.75 [[ 9.97586839e-01 -5.83926163e-02 -3.75606249e-02 2.51117241e+01] [ 5.83532577e-02 9.98293694e-01 -2.14423074e-03 5.76289891e-01] [ 3.76217422e-02 -5.27284617e-05 9.99292050e-01 7.46989954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788623852999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:25.17, Y:0.58, Z:0.75 [[ 9.97512078e-01 -5.96563914e-02 -3.75602151e-02 2.51706465e+01] [ 5.96176590e-02 9.98218967e-01 -2.15138595e-03 5.79414497e-01] [ 3.76216630e-02 -9.32186205e-05 9.99292050e-01 7.45272375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:25.23, Y:0.58, Z:0.75 [[ 9.97485045e-01 -6.01069203e-02 -3.75598522e-02 2.52287288e+01] [ 6.00682693e-02 9.98191939e-01 -2.15770172e-03 5.81598166e-01] [ 3.76216346e-02 -1.03880120e-04 9.99292050e-01 7.50460791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908623852999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:0.58, Z:0.75 [[ 9.97516371e-01 -5.95849092e-02 -3.75596569e-02 2.52873511e+01] [ 5.95457604e-02 9.98223238e-01 -2.16109702e-03 5.84836228e-01] [ 3.76216911e-02 -8.07886706e-05 9.99292050e-01 7.51301645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968623852999997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:25.34, Y:0.59, Z:0.75 [[ 9.97610663e-01 -5.79850424e-02 -3.75592984e-02 2.53449541e+01] [ 5.79445262e-02 9.98317452e-01 -2.16731015e-03 5.89874861e-01] [ 3.76217746e-02 -1.42240350e-05 9.99292050e-01 7.54159126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:25.40, Y:0.59, Z:0.76 [[ 9.97703038e-01 -5.63735614e-02 -3.75588901e-02 2.54018949e+01] [ 5.63316381e-02 9.98409745e-01 -2.17436254e-03 5.93259741e-01] [ 3.76217384e-02 5.36143103e-05 9.99292050e-01 7.55626575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088623852999998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:0.60, Z:0.76 [[ 9.97726923e-01 -5.59494251e-02 -3.75586123e-02 2.54593933e+01] [ 5.59070211e-02 9.98433601e-01 -2.17915086e-03 5.95132462e-01] [ 3.76217028e-02 7.44073470e-05 9.99292050e-01 7.56077606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148623852999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:0.60, Z:0.76 [[ 9.97695295e-01 -5.65106927e-02 -3.75584875e-02 2.55175269e+01] [ 5.64686054e-02 9.98401992e-01 -2.18129912e-03 5.96543728e-01] [ 3.76217355e-02 5.53964612e-05 9.99292050e-01 7.63141566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:0.60, Z:0.77 [[ 9.97746276e-01 -5.56033995e-02 -3.75583595e-02 2.55751162e+01] [ 5.55605866e-02 9.98452930e-01 -2.18350184e-03 5.99314423e-01] [ 3.76216642e-02 9.18163487e-05 9.99292050e-01 7.66442221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268623852999998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:0.60, Z:0.77 [[ 9.97849219e-01 -5.37244924e-02 -3.75581676e-02 2.56332720e+01] [ 5.36802249e-02 9.98555783e-01 -2.18679604e-03 6.01138609e-01] [ 3.76214100e-02 1.65961830e-04 9.99292050e-01 7.68001407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328623852999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:0.61, Z:0.77 [[ 9.98116762e-01 -4.85009607e-02 -3.75577761e-02 2.56925165e+01] [ 4.84527434e-02 9.98823068e-01 -2.19350090e-03 6.05017364e-01] [ 3.76199600e-02 3.69592730e-04 9.99292050e-01 7.67798500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:0.61, Z:0.77 [[ 9.98360211e-01 -4.32008873e-02 -3.75575896e-02 2.57498037e+01] [ 4.31488007e-02 9.99066242e-01 -2.19668935e-03 6.11589252e-01] [ 3.76174188e-02 5.72522296e-04 9.99292050e-01 7.68010323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448623852999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:25.81, Y:0.62, Z:0.77 [[ 9.98458141e-01 -4.08753991e-02 -3.75571926e-02 2.58081306e+01] [ 4.08214137e-02 9.99164029e-01 -2.20345646e-03 6.15975164e-01] [ 3.76158630e-02 6.66921347e-04 9.99292050e-01 7.68504860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:25.87, Y:0.62, Z:0.77 [[ 9.98557510e-01 -3.83716826e-02 -3.75567974e-02 2.58660634e+01] [ 3.83156749e-02 9.99263241e-01 -2.21017049e-03 6.22416526e-01] [ 3.76139351e-02 7.67968301e-04 9.99292050e-01 7.71217083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:0.63, Z:0.78 [[ 9.98581196e-01 -3.77506500e-02 -3.75564054e-02 2.59247918e+01] [ 3.76939538e-02 9.99286872e-01 -2.21681184e-03 6.29523091e-01] [ 3.76133090e-02 7.98017208e-04 9.99292050e-01 7.75107494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628623852999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:25.98, Y:0.64, Z:0.78 [[ 9.98528778e-01 -3.91129412e-02 -3.75560640e-02 2.59822467e+01] [ 3.90569909e-02 9.99234513e-01 -2.22258039e-03 6.38014085e-01] [ 3.76142470e-02 7.52483627e-04 9.99292050e-01 7.79453674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.04, Y:0.64, Z:0.78 [[ 9.98461637e-01 -4.07913329e-02 -3.75556536e-02 2.60395374e+01] [ 4.07363090e-02 9.99167445e-01 -2.22949363e-03 6.44783669e-01] [ 3.76153305e-02 6.96185153e-04 9.99292051e-01 7.81506466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748623852999998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:26.10, Y:0.65, Z:0.78 [[ 9.98345487e-01 -4.35418505e-02 -3.75552317e-02 2.60968147e+01] [ 4.34885048e-02 9.99051424e-01 -2.23657824e-03 6.54908983e-01] [ 3.76169925e-02 5.99656921e-04 9.99292051e-01 7.82320831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808623852999997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:26.16, Y:0.67, Z:0.79 [[ 9.98213244e-01 -4.64750848e-02 -3.75551011e-02 2.61553265e+01] [ 4.64237311e-02 9.98919329e-01 -2.23876960e-03 6.65472272e-01] [ 3.76185634e-02 4.91321552e-04 9.99292051e-01 7.88468840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.21, Y:0.67, Z:0.79 [[ 9.98130653e-01 -4.82165979e-02 -3.75547609e-02 2.62124804e+01] [ 4.81662621e-02 9.98836810e-01 -2.24446166e-03 6.73385919e-01] [ 3.76192979e-02 4.31393529e-04 9.99292051e-01 7.92703831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928623852999998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.27, Y:0.68, Z:0.80 [[ 9.98043690e-01 -4.99846516e-02 -3.75543313e-02 2.62702706e+01] [ 4.99352973e-02 9.98749917e-01 -2.25162639e-03 6.84163466e-01] [ 3.76199321e-02 3.71934816e-04 9.99292051e-01 7.95080835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988623852999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:0.69, Z:0.79 [[ 9.97935985e-01 -5.20910139e-02 -3.75538991e-02 2.63284605e+01] [ 5.20428798e-02 9.98642297e-01 -2.25881187e-03 6.93209101e-01] [ 3.76205759e-02 2.99736586e-04 9.99292051e-01 7.94618447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:0.70, Z:0.80 [[ 9.97648290e-01 -5.73378031e-02 -3.75535161e-02 2.63855506e+01] [ 5.72931446e-02 9.98354829e-01 -2.26516248e-03 7.01791203e-01] [ 3.76216136e-02 1.08276440e-04 9.99292051e-01 7.95864427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108623852999997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:26.44, Y:0.71, Z:0.80 [[ 9.97390775e-01 -6.16553823e-02 -3.75533809e-02 2.64427788e+01] [ 6.16136981e-02 9.98097496e-01 -2.26740098e-03 7.08482576e-01] [ 3.76217329e-02 -5.23178501e-05 9.99292051e-01 7.96571194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:26.50, Y:0.72, Z:0.80 [[ 9.96920106e-01 -6.88480599e-02 -3.75532469e-02 2.65002554e+01] [ 6.88113909e-02 9.97627105e-01 -2.26961853e-03 7.16219130e-01] [ 3.76203958e-02 -3.21462807e-04 9.99292051e-01 8.00701583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:0.72, Z:0.80 [[ 9.96540562e-01 -7.41396929e-02 -3.75528197e-02 2.65581760e+01] [ 7.41065124e-02 9.97247733e-01 -2.27666579e-03 7.22953110e-01] [ 3.76182556e-02 -5.14118691e-04 9.99292051e-01 8.01891067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288623852999997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:0.73, Z:0.80 [[ 9.96462880e-01 -7.51767752e-02 -3.75523690e-02 2.66157085e+01] [ 7.51440514e-02 9.97170073e-01 -2.28407545e-03 7.27087641e-01] [ 3.76178079e-02 -5.45840745e-04 9.99292051e-01 8.02684940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:0.73, Z:0.80 [[ 9.96352729e-01 -7.66229085e-02 -3.75522294e-02 2.66740007e+01] [ 7.65911248e-02 9.97059964e-01 -2.28636733e-03 7.30868196e-01] [ 3.76170126e-02 -5.98139164e-04 9.99292051e-01 8.02273836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408623852999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:0.73, Z:0.80 [[ 9.96340160e-01 -7.67863584e-02 -3.75518510e-02 2.67312227e+01] [ 7.67544572e-02 9.97047390e-01 -2.29256526e-03 7.34881597e-01] [ 3.76170128e-02 -5.98097108e-04 9.99292051e-01 8.03629074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468623852999997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:26.79, Y:0.74, Z:0.81 [[ 9.96386161e-01 -7.61872082e-02 -3.75516636e-02 2.67895166e+01] [ 7.61547662e-02 9.97093367e-01 -2.29563127e-03 7.37692451e-01] [ 3.76174124e-02 -5.72402934e-04 9.99292051e-01 8.09909885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:0.74, Z:0.81 [[ 9.96476595e-01 -7.49953232e-02 -3.75512631e-02 2.68470976e+01] [ 7.49617891e-02 9.97183749e-01 -2.30216427e-03 7.39686221e-01] [ 3.76181609e-02 -5.20857052e-04 9.99292051e-01 8.14682723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588623852999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:0.74, Z:0.82 [[ 9.96547329e-01 -7.40495435e-02 -3.75511209e-02 2.69045179e+01] [ 7.40152511e-02 9.97254447e-01 -2.30448065e-03 7.42536366e-01] [ 3.76186681e-02 -4.82831605e-04 9.99292051e-01 8.16549934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648623852999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:0.74, Z:0.82 [[ 9.96741183e-01 -7.13930094e-02 -3.75506699e-02 2.69624863e+01] [ 7.13565563e-02 9.97448193e-01 -2.31180720e-03 7.43645690e-01] [ 3.76198947e-02 -3.75213042e-04 9.99292051e-01 8.18485817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:0.75, Z:0.82 [[ 9.97094078e-01 -6.62825848e-02 -3.75502207e-02 2.70198427e+01] [ 6.62422340e-02 9.97800876e-01 -2.31908074e-03 7.45316567e-01] [ 3.76213578e-02 -1.75068837e-04 9.99292051e-01 8.19426874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768623852999998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:27.08, Y:0.75, Z:0.82 [[ 9.97313067e-01 -6.29019066e-02 -3.75499163e-02 2.70774054e+01] [ 6.28589747e-02 9.98019713e-01 -2.32399847e-03 7.49284259e-01] [ 3.76217407e-02 -4.25951992e-05 9.99292051e-01 8.22827852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:0.75, Z:0.82 [[ 9.97607886e-01 -5.80391469e-02 -3.75494709e-02 2.71341402e+01] [ 5.79925005e-02 9.98314297e-01 -2.33117359e-03 7.51570438e-01] [ 3.76214729e-02 1.48009454e-04 9.99292051e-01 8.23202885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:0.76, Z:0.83 [[ 9.97781070e-01 -5.49817879e-02 -3.75491682e-02 2.71919823e+01] [ 5.49327938e-02 9.98487321e-01 -2.33603896e-03 7.55255951e-01] [ 3.76208080e-02 2.68174743e-04 9.99292051e-01 8.26397676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948623852999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:0.76, Z:0.83 [[ 9.97846599e-01 -5.37797219e-02 -3.75487084e-02 2.72489843e+01] [ 5.37295999e-02 9.98552772e-01 -2.34340629e-03 7.58961888e-01] [ 3.76203946e-02 3.20882917e-04 9.99292051e-01 8.27085174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:0.76, Z:0.83 [[ 9.97888598e-01 -5.29948543e-02 -3.75485095e-02 2.73063666e+01] [ 5.29440572e-02 9.98594723e-01 -2.34658800e-03 7.62850612e-01] [ 3.76201006e-02 3.53662972e-04 9.99292051e-01 8.28913779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:0.77, Z:0.83 [[ 9.97880896e-01 -5.31400095e-02 -3.75480610e-02 2.73638620e+01] [ 5.30890458e-02 9.98587008e-01 -2.35374328e-03 7.68286924e-01] [ 3.76200838e-02 3.55364725e-04 9.99292051e-01 8.32094909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:27.42, Y:0.77, Z:0.83 [[ 9.97811098e-01 -5.44351920e-02 -3.75476087e-02 2.74215418e+01] [ 5.43848742e-02 9.98517256e-01 -2.36093653e-03 7.74231424e-01] [ 3.76204533e-02 3.13746691e-04 9.99292051e-01 8.34903388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188623852999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:0.78, Z:0.84 [[ 9.97656437e-01 -5.72000409e-02 -3.75471494e-02 2.74790805e+01] [ 5.71514061e-02 9.98362714e-01 -2.36821922e-03 7.79848952e-01] [ 3.76211362e-02 2.16796770e-04 9.99292051e-01 8.39493647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:0.79, Z:0.84 [[ 9.97520466e-01 -5.95242926e-02 -3.75470071e-02 2.75373834e+01] [ 5.94772186e-02 9.98226849e-01 -2.37047313e-03 7.85546231e-01] [ 3.76215313e-02 1.31403916e-04 9.99292051e-01 8.44778309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:0.79, Z:0.85 [[ 9.97341815e-01 -6.24464262e-02 -3.75465980e-02 2.75953752e+01] [ 6.24011786e-02 9.98048317e-01 -2.37693480e-03 7.91158200e-01] [ 3.76217500e-02 2.76645023e-05 9.99292051e-01 8.47141208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:0.80, Z:0.85 [[ 9.97200083e-01 -6.46703809e-02 -3.75464531e-02 2.76528333e+01] [ 6.46266229e-02 9.97906678e-01 -2.37922075e-03 7.96718362e-01] [ 3.76217215e-02 -5.39413367e-05 9.99292051e-01 8.48542780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:0.80, Z:0.85 [[ 9.96997515e-01 -6.77218850e-02 -3.75459872e-02 2.77095538e+01] [ 6.76800136e-02 9.97704225e-01 -2.38655071e-03 8.03388733e-01] [ 3.76214118e-02 -1.61727800e-04 9.99292051e-01 8.49668672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:0.81, Z:0.85 [[ 9.96769547e-01 -7.09984855e-02 -3.75457858e-02 2.77676517e+01] [ 7.09588179e-02 9.97476383e-01 -2.38971486e-03 8.09341341e-01] [ 3.76207008e-02 -2.82209584e-04 9.99292051e-01 8.49619203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:0.81, Z:0.85 [[ 9.96568686e-01 -7.37643414e-02 -3.75456446e-02 2.78257335e+01] [ 7.37265521e-02 9.97275626e-01 -2.39193210e-03 8.13283239e-01] [ 3.76197955e-02 -3.84386285e-04 9.99292051e-01 8.49792103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:0.82, Z:0.85 [[ 9.96312481e-01 -7.71478967e-02 -3.75451962e-02 2.78829408e+01] [ 7.71122437e-02 9.97019532e-01 -2.39894934e-03 8.18736830e-01] [ 3.76183679e-02 -5.05091153e-04 9.99292051e-01 8.50601193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:0.82, Z:0.85 [[ 9.96070310e-01 -8.02141503e-02 -3.75450022e-02 2.79413275e+01] [ 8.01805594e-02 9.96777462e-01 -2.40198240e-03 8.22959874e-01] [ 3.76166850e-02 -6.17835927e-04 9.99292051e-01 8.54996282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:0.83, Z:0.86 [[ 9.95954779e-01 -8.16362687e-02 -3.75446164e-02 2.79986800e+01] [ 8.16034608e-02 9.96661967e-01 -2.40799774e-03 8.27039667e-01] [ 3.76158712e-02 -6.65513772e-04 9.99292051e-01 8.58155057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:0.83, Z:0.86 [[ 9.95851228e-01 -8.28900924e-02 -3.75441652e-02 2.80550650e+01] [ 8.28579106e-02 9.96558445e-01 -2.41501197e-03 8.30490802e-01] [ 3.76151354e-02 -7.05838446e-04 9.99292051e-01 8.59894617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:0.83, Z:0.86 [[ 9.95811898e-01 -8.33613945e-02 -3.75438592e-02 2.81132973e+01] [ 8.33293684e-02 9.96519122e-01 -2.41976019e-03 8.33452009e-01] [ 3.76148882e-02 -7.18880081e-04 9.99292051e-01 8.62991738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:0.84, Z:0.86 [[ 9.95746646e-01 -8.41374460e-02 -3.75433988e-02 2.81703264e+01] [ 8.41057027e-02 9.96453883e-01 -2.42688221e-03 8.35498962e-01] [ 3.76144572e-02 -7.41054116e-04 9.99292051e-01 8.64213101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:0.84, Z:0.86 [[ 9.95666688e-01 -8.50785149e-02 -3.75431999e-02 2.82281034e+01] [ 8.50473242e-02 9.96373950e-01 -2.42995469e-03 8.35797520e-01] [ 3.76138033e-02 -7.73523754e-04 9.99292051e-01 8.61178263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:0.84, Z:0.86 [[ 9.95662822e-01 -8.51238172e-02 -3.75430598e-02 2.82859164e+01] [ 8.50925771e-02 9.96370081e-01 -2.43211777e-03 8.35828200e-01] [ 3.76138127e-02 -7.73066466e-04 9.99292051e-01 8.64611088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:0.84, Z:0.87 [[ 9.95775970e-01 -8.37900435e-02 -3.75425837e-02 2.83432125e+01] [ 8.37575800e-02 9.96483174e-01 -2.43944525e-03 8.38194332e-01] [ 3.76149542e-02 -7.15334993e-04 9.99292051e-01 8.67393277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:0.84, Z:0.87 [[ 9.96036065e-01 -8.06394658e-02 -3.75424361e-02 2.84009084e+01] [ 8.06046797e-02 9.96743158e-01 -2.44171344e-03 8.38766985e-01] [ 3.76170648e-02 -5.94061401e-04 9.99292051e-01 8.71767664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:0.84, Z:0.87 [[ 9.96091366e-01 -7.99535220e-02 -3.75422988e-02 2.84585431e+01] [ 7.99181694e-02 9.96798432e-01 -2.44382391e-03 8.41390581e-01] [ 3.76174969e-02 -5.66039892e-04 9.99292051e-01 8.73979817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:0.84, Z:0.88 [[ 9.96216857e-01 -7.83746293e-02 -3.75418525e-02 2.85170185e+01] [ 7.83378985e-02 9.96923853e-01 -2.45065986e-03 8.41118457e-01] [ 3.76184378e-02 -4.99561164e-04 9.99292051e-01 8.75155529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:0.84, Z:0.88 [[ 9.96293990e-01 -7.73881719e-02 -3.75413850e-02 2.85753446e+01] [ 7.73504720e-02 9.97000935e-01 -2.45780089e-03 8.38837004e-01] [ 3.76190007e-02 -4.55151592e-04 9.99292051e-01 8.76417437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:0.84, Z:0.88 [[ 9.96395519e-01 -7.60700258e-02 -3.75409157e-02 2.86334323e+01] [ 7.60311214e-02 9.97102398e-01 -2.46494832e-03 8.40413583e-01] [ 3.76196458e-02 -3.98214461e-04 9.99292051e-01 8.77200820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:0.84, Z:0.88 [[ 9.96701181e-01 -7.19546496e-02 -3.75404366e-02 2.86904214e+01] [ 7.19125525e-02 9.97407877e-01 -2.47222298e-03 8.40274715e-01] [ 3.76210151e-02 -2.35561059e-04 9.99292051e-01 8.78601147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:0.84, Z:0.88 [[ 9.97008219e-01 -6.75673193e-02 -3.75402290e-02 2.87492550e+01] [ 6.75219937e-02 9.97714715e-01 -2.47537219e-03 8.43809040e-01] [ 3.76216931e-02 -6.68246905e-05 9.99292051e-01 8.84575563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:0.85, Z:0.89 [[ 9.97185802e-01 -6.48940610e-02 -3.75398132e-02 2.88069327e+01] [ 6.48466046e-02 9.97892158e-01 -2.48166152e-03 8.46121039e-01] [ 3.76217303e-02 4.03482060e-05 9.99292051e-01 8.86793730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:0.85, Z:0.89 [[ 9.97512689e-01 -5.96591112e-02 -3.75396665e-02 2.88649616e+01] [ 5.96078646e-02 9.98218780e-01 -2.48387841e-03 8.50085912e-01] [ 3.76209861e-02 2.40040873e-04 9.99292051e-01 8.89133921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.688623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:0.85, Z:0.89 [[ 9.97741745e-01 -5.56975646e-02 -3.75392024e-02 2.89223109e+01] [ 5.56432513e-02 9.98447607e-01 -2.49087301e-03 8.54688698e-01] [ 3.76196624e-02 3.96444704e-04 9.99292051e-01 8.91658623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:0.86, Z:0.89 [[ 9.97985917e-01 -5.11366051e-02 -3.75387413e-02 2.89799637e+01] [ 5.10788056e-02 9.98691502e-01 -2.49780251e-03 8.61754979e-01] [ 3.76173511e-02 5.75337663e-04 9.99292051e-01 8.94490064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:0.87, Z:0.90 [[ 9.97979417e-01 -5.12636577e-02 -3.75382623e-02 2.90383494e+01] [ 5.12056781e-02 9.98684987e-01 -2.50498084e-03 8.69114887e-01] [ 3.76173135e-02 5.77747146e-04 9.99292051e-01 9.00180216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.868623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.09, Y:0.87, Z:0.90 [[ 9.97849782e-01 -5.37282295e-02 -3.75378359e-02 2.90947030e+01] [ 5.36717529e-02 9.98555475e-01 -2.51135429e-03 8.74357027e-01] [ 3.76185422e-02 4.91232883e-04 9.99292051e-01 9.03553928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:0.88, Z:0.90 [[ 9.97537820e-01 -5.92387148e-02 -3.75376248e-02 2.91525185e+01] [ 5.91860181e-02 9.98243804e-01 -2.51450617e-03 8.80030690e-01] [ 3.76206575e-02 2.86612461e-04 9.99292051e-01 9.03687774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.21, Y:0.89, Z:0.90 [[ 9.97160952e-01 -6.52763247e-02 -3.75371441e-02 2.92092618e+01] [ 6.52276334e-02 9.97867224e-01 -2.52166111e-03 8.86805069e-01] [ 3.76216906e-02 6.60429136e-05 9.99292051e-01 9.03168363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.048623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.27, Y:0.89, Z:0.90 [[ 9.96820207e-01 -7.02883623e-02 -3.75369358e-02 2.92672824e+01] [ 7.02431055e-02 9.97526707e-01 -2.52475902e-03 8.91670634e-01] [ 3.76215571e-02 -1.19980129e-04 9.99292051e-01 9.04084550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.33, Y:0.90, Z:0.91 [[ 9.96220325e-01 -7.83331300e-02 -3.75364588e-02 2.93250823e+01] [ 7.82933116e-02 9.96927152e-01 -2.53183022e-03 8.95471326e-01] [ 3.76194412e-02 -4.16592946e-04 9.99292051e-01 9.08638829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.38, Y:0.90, Z:0.91 [[ 9.95830554e-01 -8.31417975e-02 -3.75359851e-02 2.93823443e+01] [ 8.31051280e-02 9.96537552e-01 -2.53883438e-03 9.00395235e-01] [ 3.76171019e-02 -5.91183996e-04 9.99292051e-01 9.11411029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.228623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.44, Y:0.90, Z:0.91 [[ 9.95470778e-01 -8.73442288e-02 -3.75355146e-02 2.94399322e+01] [ 8.73102823e-02 9.96177913e-01 -2.54577165e-03 9.04480822e-01] [ 3.76144090e-02 -7.42995086e-04 9.99292052e-01 9.13055237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:0.91, Z:0.91 [[ 9.95510344e-01 -8.68923182e-02 -3.75350428e-02 2.94975195e+01] [ 8.68577892e-02 9.96217450e-01 -2.55270883e-03 9.06638679e-01] [ 3.76148754e-02 -7.18962790e-04 9.99292052e-01 9.12663053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:0.91, Z:0.91 [[ 9.95875156e-01 -8.26064799e-02 -3.75345558e-02 2.95547875e+01] [ 8.25686386e-02 9.96582093e-01 -2.55984856e-03 9.12016393e-01] [ 3.76177263e-02 -5.49887594e-04 9.99292052e-01 9.13720589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.408623852999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:0.92, Z:0.92 [[ 9.96160620e-01 -7.90899112e-02 -3.75340619e-02 2.96114897e+01] [ 7.90493020e-02 9.96867402e-01 -2.56707100e-03 9.17387414e-01] [ 3.76195122e-02 -4.09826350e-04 9.99292052e-01 9.16441568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:0.92, Z:0.92 [[ 9.96503752e-01 -7.46424301e-02 -3.75337259e-02 2.96694000e+01] [ 7.45984818e-02 9.97210335e-01 -2.57197446e-03 9.22286185e-01] [ 3.76209978e-02 -2.36976762e-04 9.99292052e-01 9.20085053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:0.93, Z:0.92 [[ 9.96658776e-01 -7.25433721e-02 -3.75332436e-02 2.97268969e+01] [ 7.24976713e-02 9.97365247e-01 -2.57899291e-03 9.26035685e-01] [ 3.76214416e-02 -1.50696843e-04 9.99292052e-01 9.21637997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:0.93, Z:0.92 [[ 9.96721766e-01 -7.16729619e-02 -3.75327583e-02 2.97849382e+01] [ 7.16263789e-02 9.97428180e-01 -2.58603640e-03 9.30164820e-01] [ 3.76215797e-02 -1.10776799e-04 9.99292052e-01 9.22342504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:0.93, Z:0.92 [[ 9.96651405e-01 -7.26450683e-02 -3.75322625e-02 2.98426304e+01] [ 7.25989040e-02 9.97357847e-01 -2.59321238e-03 9.34198017e-01] [ 3.76214806e-02 -1.40272360e-04 9.99292052e-01 9.22113373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:0.94, Z:0.93 [[ 9.96502308e-01 -7.46626878e-02 -3.75317608e-02 2.99007999e+01] [ 7.46176812e-02 9.97208824e-01 -2.60045311e-03 9.36690723e-01] [ 3.76211599e-02 -2.09175436e-04 9.99292052e-01 9.25322393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:0.94, Z:0.93 [[ 9.96408146e-01 -7.59090577e-02 -3.75316063e-02 2.99588465e+01] [ 7.58648509e-02 9.97114713e-01 -2.60268144e-03 9.38735966e-01] [ 3.76208839e-02 -2.53996730e-04 9.99292052e-01 9.29835794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828623852999996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:30.02, Y:0.94, Z:0.93 [[ 9.96284201e-01 -7.75190688e-02 -3.75311170e-02 3.00163557e+01] [ 7.74757387e-02 9.96990822e-01 -2.60971832e-03 9.42033631e-01] [ 3.76204821e-02 -3.07729883e-04 9.99292052e-01 9.31483895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:30.07, Y:0.95, Z:0.93 [[ 9.96131586e-01 -7.94563719e-02 -3.75306332e-02 3.00728529e+01] [ 7.94141546e-02 9.96838274e-01 -2.61665743e-03 9.45117525e-01] [ 3.76198817e-02 -3.73928388e-04 9.99292052e-01 9.32621563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948623853 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:30.13, Y:0.95, Z:0.94 [[ 9.95926141e-01 -8.19914495e-02 -3.75303045e-02 3.01306647e+01] [ 8.19508537e-02 9.96632924e-01 -2.62136264e-03 9.47182289e-01] [ 3.76188665e-02 -4.64956922e-04 9.99292052e-01 9.35457209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008623852999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:30.19, Y:0.95, Z:0.93 [[ 9.95797200e-01 -8.35429414e-02 -3.75301571e-02 3.01887051e+01] [ 8.35033674e-02 9.96504042e-01 -2.62347243e-03 9.50412500e-01] [ 3.76181258e-02 -5.21447989e-04 9.99292052e-01 9.31863917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:30.25, Y:0.95, Z:0.93 [[ 9.95781309e-01 -8.37323675e-02 -3.75296574e-02 3.02466249e+01] [ 8.36926593e-02 9.96488143e-01 -2.63060120e-03 9.53754409e-01] [ 3.76181251e-02 -5.21453325e-04 9.99292052e-01 9.34759643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:0.96, Z:0.94 [[ 9.95862704e-01 -8.27589174e-02 -3.75291438e-02 3.03042264e+01] [ 8.27182430e-02 9.96569483e-01 -2.63790745e-03 9.56575891e-01] [ 3.76187098e-02 -4.77351196e-04 9.99292052e-01 9.38874790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.188623852999996 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:0.96, Z:0.94 [[ 9.96118092e-01 -7.96261407e-02 -3.75289850e-02 3.03623162e+01] [ 7.95831583e-02 9.96824734e-01 -2.64016569e-03 9.58225535e-01] [ 3.76200467e-02 -3.56758343e-04 9.99292052e-01 9.43697872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:0.96, Z:0.94 [[ 9.96340804e-01 -7.67894378e-02 -3.75284627e-02 3.04190910e+01] [ 7.67441646e-02 9.97047303e-01 -2.64756936e-03 9.62041595e-01] [ 3.76209578e-02 -2.42209136e-04 9.99292052e-01 9.44716979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:30.48, Y:0.97, Z:0.95 [[ 9.96713431e-01 -7.17911420e-02 -3.75282355e-02 3.04760678e+01] [ 7.17422047e-02 9.97419686e-01 -2.65078523e-03 9.66932491e-01] [ 3.76217038e-02 -5.02851087e-05 9.99292052e-01 9.45512057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.368623852999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:0.97, Z:0.95 [[ 9.97085348e-01 -6.64263998e-02 -3.75278842e-02 3.05332906e+01] [ 6.63734758e-02 9.97791315e-01 -2.65574930e-03 9.74530675e-01] [ 3.76214088e-02 1.57152603e-04 9.99292052e-01 9.49709548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:0.98, Z:0.95 [[ 9.97302676e-01 -6.30798725e-02 -3.75273643e-02 3.05907226e+01] [ 6.30243039e-02 9.98008439e-01 -2.66307562e-03 9.82491497e-01] [ 3.76206128e-02 2.90756429e-04 9.99292052e-01 9.52014009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488623853 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:0.99, Z:0.95 [[ 9.97583200e-01 -5.84764509e-02 -3.75268312e-02 3.06476285e+01] [ 5.84173439e-02 9.98288677e-01 -2.67056748e-03 9.93669347e-01] [ 3.76187759e-02 4.71895448e-04 9.99292052e-01 9.54589348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.548623852999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:1.01, Z:0.96 [[ 9.97709324e-01 -5.62839315e-02 -3.75263009e-02 3.07052218e+01] [ 5.62229948e-02 9.98414645e-01 -2.67799741e-03 1.00637227e+00] [ 3.76175366e-02 5.62021964e-04 9.99292052e-01 9.55566218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:30.76, Y:1.02, Z:0.96 [[ 9.97652793e-01 -5.72775754e-02 -3.75257756e-02 3.07631741e+01] [ 5.72170651e-02 9.98358150e-01 -2.68533835e-03 1.01609617e+00] [ 3.76179736e-02 5.31920559e-04 9.99292052e-01 9.55852036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668623853 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:1.03, Z:0.96 [[ 9.97352160e-01 -6.22938640e-02 -3.75252425e-02 3.08197407e+01] [ 6.22366221e-02 9.98057790e-01 -2.69276807e-03 1.02702826e+00] [ 3.76201035e-02 3.50193719e-04 9.99292052e-01 9.57434835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.728623852999995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:1.04, Z:0.96 [[ 9.96688926e-01 -7.21322904e-02 -3.75248805e-02 3.08769109e+01] [ 7.20818245e-02 9.97395073e-01 -2.69780319e-03 1.03666164e+00] [ 3.76217296e-02 -1.59912840e-05 9.99292052e-01 9.60034380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.93, Y:1.04, Z:0.96 [[ 9.95585442e-01 -8.60321054e-02 -3.75247179e-02 3.09345691e+01] [ 8.59914122e-02 9.96292220e-01 -2.70006326e-03 1.04234012e+00] [ 3.76178766e-02 -5.38659810e-04 9.99292052e-01 9.61075596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:30.99, Y:1.05, Z:0.96 [[ 9.94770138e-01 -9.49963591e-02 -3.75241939e-02 3.09913355e+01] [ 9.49617600e-02 9.95477240e-01 -2.70732503e-03 1.04570628e+00] [ 3.76116670e-02 -8.70197403e-04 9.99292052e-01 9.61693803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.908623852999995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:31.05, Y:1.05, Z:0.96 [[ 9.93737532e-01 -1.05250509e-01 -3.75239690e-02 3.10494028e+01] [ 1.05223087e-01 9.94444948e-01 -2.71043849e-03 1.04859501e+00] [ 3.76007965e-02 -1.25492341e-03 9.99292052e-01 9.64585058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968623853 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:1.05, Z:0.97 [[ 9.93194779e-01 -1.10254807e-01 -3.75234335e-02 3.11064028e+01] [ 1.10230670e-01 9.93902316e-01 -2.71783292e-03 1.04960591e+00] [ 3.75942815e-02 -1.43689573e-03 9.99292052e-01 9.67316252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:1.05, Z:0.97 [[ 9.93202768e-01 -1.10182900e-01 -3.75232034e-02 3.11638249e+01] [ 1.10158592e-01 9.93910298e-01 -2.72100482e-03 1.05123887e+00] [ 3.75945065e-02 -1.43099373e-03 9.99292052e-01 9.70475600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.088623852999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:1.05, Z:0.97 [[ 9.93526246e-01 -1.07226958e-01 -3.75230413e-02 3.12216830e+01] [ 1.07200460e-01 9.94233698e-01 -2.72323948e-03 1.05407509e+00] [ 3.75986767e-02 -1.31687740e-03 9.99292052e-01 9.73986598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:1.06, Z:0.98 [[ 9.94182787e-01 -1.00958639e-01 -3.75225145e-02 3.12783745e+01] [ 1.00927407e-01 9.94890046e-01 -2.73047843e-03 1.05591584e+00] [ 3.76064415e-02 -1.07245543e-03 9.99292052e-01 9.76651072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:1.06, Z:0.98 [[ 9.94843124e-01 -9.42296990e-02 -3.75222862e-02 3.13360194e+01] [ 9.41935641e-02 9.95550149e-01 -2.73361159e-03 1.05884325e+00] [ 3.76129051e-02 -8.14843178e-04 9.99292052e-01 9.77347968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:31.39, Y:1.06, Z:0.98 [[ 9.95237239e-01 -8.99719760e-02 -3.75217483e-02 3.13929687e+01] [ 8.99325385e-02 9.95944088e-01 -2.74097615e-03 1.06229197e+00] [ 3.76161744e-02 -6.46504530e-04 9.99292052e-01 9.77993818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328623852999996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:31.45, Y:1.06, Z:0.98 [[ 9.95693914e-01 -8.47688890e-02 -3.75215158e-02 3.14507127e+01] [ 8.47256378e-02 9.96400540e-01 -2.74415467e-03 1.06450149e+00] [ 3.76190775e-02 -4.46696250e-04 9.99292052e-01 9.79542761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:31.51, Y:1.07, Z:0.98 [[ 9.96003473e-01 -8.10509646e-02 -3.75209748e-02 3.15083910e+01] [ 8.10047976e-02 9.96709914e-01 -2.75153163e-03 1.06767365e+00] [ 3.76205419e-02 -2.98843914e-04 9.99292052e-01 9.82109323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:1.07, Z:0.98 [[ 9.96284050e-01 -7.75261758e-02 -3.75204328e-02 3.15664113e+01] [ 7.74772318e-02 9.96990304e-01 -2.75890284e-03 1.07023346e+00] [ 3.76213949e-02 -1.58328380e-04 9.99292052e-01 9.84578897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508623852999996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:31.62, Y:1.07, Z:0.99 [[ 9.96436618e-01 -7.55402114e-02 -3.75198887e-02 3.16244094e+01] [ 7.54895820e-02 9.97142753e-01 -2.76628269e-03 1.07350930e+00] [ 3.76216507e-02 -7.59353399e-05 9.99292052e-01 9.91232020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:1.08, Z:0.99 [[ 9.96626371e-01 -7.29943595e-02 -3.75193409e-02 3.16821593e+01] [ 7.29416473e-02 9.97332353e-01 -2.77369282e-03 1.07689529e+00] [ 3.76217165e-02 2.76128732e-05 9.99292052e-01 9.86156187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:1.08, Z:0.99 [[ 9.96580018e-01 -7.36245865e-02 -3.75191713e-02 3.17402881e+01] [ 7.35722345e-02 9.97286027e-01 -2.77598563e-03 1.08056261e+00] [ 3.76217260e-02 6.12254584e-06 9.99292052e-01 9.86342706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.688623852999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:1.08, Z:0.99 [[ 9.96421349e-01 -7.57419782e-02 -3.75186441e-02 3.17978873e+01] [ 7.56908589e-02 9.97127448e-01 -2.78309180e-03 1.08245840e+00] [ 3.76216668e-02 -6.66863126e-05 9.99292052e-01 9.90630846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:31.85, Y:1.08, Z:0.99 [[ 9.96235059e-01 -7.81543406e-02 -3.75180918e-02 3.18547506e+01] [ 7.81046513e-02 9.96941260e-01 -2.79051824e-03 1.08379069e+00] [ 3.76214248e-02 -1.50325374e-04 9.99292052e-01 9.92544115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:31.91, Y:1.09, Z:1.00 [[ 9.96248386e-01 -7.79843791e-02 -3.75178538e-02 3.19122287e+01] [ 7.79344490e-02 9.96954571e-01 -2.79371416e-03 1.08548768e+00] [ 3.76214619e-02 -1.40700035e-04 9.99292052e-01 9.95242785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.868623852999995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:31.97, Y:1.09, Z:1.00 [[ 9.96359623e-01 -7.65503257e-02 -3.75173117e-02 3.19699783e+01] [ 7.64991058e-02 9.97065716e-01 -2.80097461e-03 1.08868884e+00] [ 3.76216408e-02 -7.92627936e-05 9.99292052e-01 9.98075693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:32.03, Y:1.09, Z:1.00 [[ 9.96581978e-01 -7.35992745e-02 -3.75167582e-02 3.20272388e+01] [ 7.35456854e-02 9.97287895e-01 -2.80836901e-03 1.09232294e+00] [ 3.76217027e-02 3.95742431e-05 9.99292052e-01 1.00321568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:1.10, Z:1.00 [[ 9.96654179e-01 -7.26151037e-02 -3.75165874e-02 3.20850343e+01] [ 7.25607317e-02 9.97360036e-01 -2.81064955e-03 1.09640277e+00] [ 3.76216405e-02 7.90145928e-05 9.99292052e-01 1.00053443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.048623852999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:1.10, Z:1.01 [[ 9.96941919e-01 -6.85518578e-02 -3.75160314e-02 3.21419624e+01] [ 6.84943304e-02 9.97647526e-01 -2.81805077e-03 1.09966478e+00] [ 3.76209585e-02 2.39797487e-04 9.99292052e-01 1.00781991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:1.11, Z:1.01 [[ 9.97300507e-01 -6.31210353e-02 -3.75157918e-02 3.21994387e+01] [ 6.30595458e-02 9.98005779e-01 -2.82123761e-03 1.10585263e+00] [ 3.76190564e-02 4.47892905e-04 9.99292052e-01 1.00665056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:32.26, Y:1.12, Z:1.01 [[ 9.97603745e-01 -5.81323720e-02 -3.75152565e-02 3.22563757e+01] [ 5.80670891e-02 9.98308677e-01 -2.82833672e-03 1.11528140e+00] [ 3.76162240e-02 6.43157556e-04 9.99292052e-01 1.01446599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.228623852999995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:1.12, Z:1.01 [[ 9.97767171e-01 -5.52568418e-02 -3.75147154e-02 3.23132960e+01] [ 5.51892583e-02 9.98471885e-01 -2.83549628e-03 1.12289284e+00] [ 3.76140692e-02 7.58755783e-04 9.99292052e-01 1.01053870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288623853 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:1.13, Z:1.02 [[ 9.97819268e-01 -5.43082208e-02 -3.75143492e-02 3.23703535e+01] [ 5.42397856e-02 9.98523900e-01 -2.84033342e-03 1.13464155e+00] [ 3.76132277e-02 7.99369159e-04 9.99292052e-01 1.01801618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:1.15, Z:1.01 [[ 9.97743972e-01 -5.56747888e-02 -3.75137873e-02 3.24281491e+01] [ 5.56070405e-02 9.98448670e-01 -2.84773547e-03 1.14516670e+00] [ 3.76141381e-02 7.55280210e-04 9.99292052e-01 1.01323534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.408623852999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:1.15, Z:1.02 [[ 9.97572777e-01 -5.86624469e-02 -3.75136138e-02 3.24862146e+01] [ 5.85967234e-02 9.98277667e-01 -2.85001861e-03 1.15389862e+00] [ 3.76161920e-02 6.44926127e-04 9.99292052e-01 1.01842623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468623853 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:32.54, Y:1.16, Z:1.02 [[ 9.97046870e-01 -6.70097223e-02 -3.75131378e-02 3.25435245e+01] [ 6.69496656e-02 9.97752266e-01 -2.85627015e-03 1.16407255e+00] [ 3.76202161e-02 3.36343179e-04 9.99292053e-01 1.02075066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:32.60, Y:1.17, Z:1.02 [[ 9.96258899e-01 -7.78525053e-02 -3.75125667e-02 3.26009507e+01] [ 7.77998444e-02 9.96964886e-01 -2.86375072e-03 1.17171334e+00] [ 3.76216620e-02 -6.54347135e-05 9.99292053e-01 1.01975283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.588623852999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:32.66, Y:1.18, Z:1.02 [[ 9.95707307e-01 -8.46154785e-02 -3.75123901e-02 3.26589688e+01] [ 8.45675255e-02 9.96413629e-01 -2.86606321e-03 1.17719619e+00] [ 3.76203700e-02 -3.18569922e-04 9.99292053e-01 1.01928228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:32.72, Y:1.18, Z:1.02 [[ 9.95091868e-01 -9.15698496e-02 -3.75118315e-02 3.27162326e+01] [ 9.15265576e-02 9.95798490e-01 -2.87335503e-03 1.18165449e+00] [ 3.76173379e-02 -5.74076587e-04 9.99292053e-01 1.01911937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:32.78, Y:1.19, Z:1.02 [[ 9.94836518e-01 -9.43036447e-02 -3.75116594e-02 3.27751029e+01] [ 9.42622098e-02 9.95543252e-01 -2.87559985e-03 1.18656648e+00] [ 3.76156590e-02 -6.75180163e-04 9.99292053e-01 1.02406638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:32.83, Y:1.19, Z:1.03 [[ 9.94592224e-01 -9.68463735e-02 -3.75111579e-02 3.28325579e+01] [ 9.68064993e-02 9.95299048e-01 -2.88212690e-03 1.19178459e+00] [ 3.76139433e-02 -7.64782875e-04 9.99292053e-01 1.02844537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828623852999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:1.20, Z:1.03 [[ 9.94446244e-01 -9.83340963e-02 -3.75109816e-02 3.28903918e+01] [ 9.82951930e-02 9.95153121e-01 -2.88441988e-03 1.19527742e+00] [ 3.76128073e-02 -8.18748664e-04 9.99292053e-01 1.03111605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:1.20, Z:1.03 [[ 9.94249971e-01 -1.00299375e-01 -3.75104073e-02 3.29477371e+01] [ 1.00261588e-01 9.94956909e-01 -2.89186907e-03 1.19752090e+00] [ 3.76112916e-02 -8.85612278e-04 9.99292053e-01 1.03209491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:1.20, Z:1.04 [[ 9.93911864e-01 -1.03596305e-01 -3.75101596e-02 3.30054372e+01] [ 1.03560742e-01 9.94618918e-01 -2.89507925e-03 1.19862734e+00] [ 3.76082338e-02 -1.00712633e-03 9.99292053e-01 1.03536377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008623852999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.06, Y:1.20, Z:1.04 [[ 9.93730028e-01 -1.05326447e-01 -3.75095996e-02 3.30636513e+01] [ 1.05291842e-01 9.94437130e-01 -2.90231570e-03 1.19892646e+00] [ 3.76066292e-02 -1.06533657e-03 9.99292053e-01 1.03915482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:1.20, Z:1.04 [[ 9.93606377e-01 -1.06486807e-01 -3.75090387e-02 3.31211140e+01] [ 1.06452754e-01 9.94313505e-01 -2.90954662e-03 1.19671632e+00] [ 3.76055721e-02 -1.10199642e-03 9.99292053e-01 1.04196697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:1.20, Z:1.04 [[ 9.93642899e-01 -1.06145610e-01 -3.75086580e-02 3.31790487e+01] [ 1.06111130e-01 9.94350006e-01 -2.91444680e-03 1.19718593e+00] [ 3.76060900e-02 -1.08416670e-03 9.99292053e-01 1.04200810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.188623852999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:1.19, Z:1.04 [[ 9.93929036e-01 -1.03432169e-01 -3.75081081e-02 3.32373228e+01] [ 1.03395493e-01 9.94636032e-01 -2.92150631e-03 1.19329047e+00] [ 3.76090936e-02 -9.74399367e-04 9.99292053e-01 1.04004817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:1.19, Z:1.05 [[ 9.94446342e-01 -9.83342598e-02 -3.75079381e-02 3.32955280e+01] [ 9.82938761e-02 9.95153137e-01 -2.92368775e-03 1.19095325e+00] [ 3.76136409e-02 -7.79350033e-04 9.99292053e-01 1.04921274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.35, Y:1.19, Z:1.05 [[ 9.94890948e-01 -9.37293822e-02 -3.75073958e-02 3.33543453e+01] [ 9.36854652e-02 9.95597532e-01 -2.93062869e-03 1.19016552e+00] [ 3.76169567e-02 -5.98241868e-04 9.99292053e-01 1.04842446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.368623852999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.41, Y:1.19, Z:1.05 [[ 9.95495699e-01 -8.70720692e-02 -3.75069009e-02 3.34121420e+01] [ 8.70231885e-02 9.96201957e-01 -2.93694811e-03 1.18648231e+00] [ 3.76201742e-02 -3.40250903e-04 9.99292053e-01 1.05112704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.47, Y:1.18, Z:1.05 [[ 9.96060211e-01 -8.03573732e-02 -3.75066548e-02 3.34708416e+01] [ 8.03036130e-02 9.96766114e-01 -2.94008854e-03 1.18303117e+00] [ 3.76216203e-02 -8.34146770e-05 9.99292053e-01 1.05244994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:1.18, Z:1.05 [[ 9.96425533e-01 -7.56931303e-02 -3.75060983e-02 3.35274898e+01] [ 7.56357993e-02 9.97131155e-01 -2.94717025e-03 1.18377278e+00] [ 3.76215796e-02 9.98319713e-05 9.99292053e-01 1.05325422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.548623852999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:1.18, Z:1.06 [[ 9.96976807e-01 -6.80482648e-02 -3.75057204e-02 3.35858924e+01] [ 6.79853427e-02 9.97681953e-01 -2.95197113e-03 1.18265939e+00] [ 3.76196569e-02 3.93207496e-04 9.99292053e-01 1.05581050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:1.18, Z:1.06 [[ 9.97300740e-01 -6.31236572e-02 -3.75051583e-02 3.36436480e+01] [ 6.30569855e-02 9.98005541e-01 -2.95909524e-03 1.18427671e+00] [ 3.76171448e-02 5.86145646e-04 9.99292053e-01 1.05836208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:1.19, Z:1.07 [[ 9.97645706e-01 -5.74147167e-02 -3.75045990e-02 3.37006425e+01] [ 5.73437465e-02 9.98350087e-01 -2.96616796e-03 1.18828625e+00] [ 3.76130213e-02 8.08530513e-04 9.99292053e-01 1.06546583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.728623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:1.19, Z:1.06 [[ 9.97783977e-01 -5.49596059e-02 -3.75043577e-02 3.37582264e+01] [ 5.48867882e-02 9.98488169e-01 -2.96921550e-03 1.19387506e+00] [ 3.76108444e-02 9.04141916e-04 9.99292053e-01 1.06290093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:1.20, Z:1.06 [[ 9.97802453e-01 -5.46235391e-02 -3.75037908e-02 3.38153652e+01] [ 5.45502159e-02 9.98506592e-01 -2.97635878e-03 1.19797916e+00] [ 3.76103616e-02 9.23978204e-04 9.99292053e-01 1.06431600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:1.20, Z:1.07 [[ 9.97677695e-01 -5.68568439e-02 -3.75035453e-02 3.38725437e+01] [ 5.67849809e-02 9.98381985e-01 -2.97944837e-03 1.20483258e+00] [ 3.76122661e-02 8.42891082e-04 9.99292053e-01 1.06661467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.908623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.93, Y:1.21, Z:1.07 [[ 9.97599598e-01 -5.82113972e-02 -3.75030123e-02 3.39303548e+01] [ 5.81402389e-02 9.98303960e-01 -2.98614346e-03 1.21018143e+00] [ 3.76132332e-02 7.98541424e-04 9.99292053e-01 1.06840953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:33.99, Y:1.22, Z:1.07 [[ 9.97280437e-01 -6.34451995e-02 -3.75024802e-02 3.39870162e+01] [ 6.33774874e-02 9.97985139e-01 -2.99281006e-03 1.21743316e+00] [ 3.76167974e-02 6.07857956e-04 9.99292053e-01 1.07030116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:1.22, Z:1.08 [[ 9.96985379e-01 -6.79244841e-02 -3.75022498e-02 3.40447095e+01] [ 6.78598298e-02 9.97690367e-01 -2.99569554e-03 1.22372583e+00] [ 3.76191144e-02 4.41768363e-04 9.99292053e-01 1.07685116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.088623852999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.10, Y:1.23, Z:1.07 [[ 9.96487548e-01 -7.48744926e-02 -3.75016900e-02 3.41028278e+01] [ 7.48144926e-02 9.97192948e-01 -3.00268594e-03 1.23251841e+00] [ 3.76212454e-02 1.86469235e-04 9.99292053e-01 1.06749334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.16, Y:1.24, Z:1.07 [[ 9.96162253e-01 -7.90848243e-02 -3.75014290e-02 3.41606047e+01] [ 7.90276831e-02 9.96867890e-01 -3.00594235e-03 1.23957685e+00] [ 3.76216948e-02 3.07552542e-05 9.99292053e-01 1.06952077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:1.25, Z:1.08 [[ 9.95666976e-01 -8.50937937e-02 -3.75009098e-02 3.42184110e+01] [ 8.50406675e-02 9.96372927e-01 -3.01240582e-03 1.24779236e+00] [ 3.76212283e-02 -1.89749412e-04 9.99292053e-01 1.07538633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:1.25, Z:1.08 [[ 9.94979208e-01 -9.27905812e-02 -3.75004582e-02 3.42762004e+01] [ 9.27427042e-02 9.95685534e-01 -3.01801698e-03 1.25388545e+00] [ 3.76187073e-02 -4.75029759e-04 9.99292053e-01 1.08119401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:1.26, Z:1.08 [[ 9.94538535e-01 -9.74005205e-02 -3.74998814e-02 3.43342004e+01] [ 9.73556478e-02 9.95245058e-01 -3.02516720e-03 1.25895419e+00] [ 3.76162245e-02 -6.42179888e-04 9.99292053e-01 1.08209085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:1.26, Z:1.08 [[ 9.94086622e-01 -1.01909719e-01 -3.74993016e-02 3.43905139e+01] [ 1.01867781e-01 9.94793325e-01 -3.03233808e-03 1.26408991e+00] [ 3.76130796e-02 -8.05563899e-04 9.99292053e-01 1.08394162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:34.45, Y:1.27, Z:1.09 [[ 9.93942025e-01 -1.03310558e-01 -3.74990509e-02 3.44479341e+01] [ 1.03269499e-01 9.94648781e-01 -3.03543459e-03 1.27081803e+00] [ 3.76119777e-02 -8.55462193e-04 9.99292053e-01 1.09284424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:1.27, Z:1.09 [[ 9.93872465e-01 -1.03977826e-01 -3.74984776e-02 3.45068610e+01] [ 1.03936975e-01 9.94579232e-01 -3.04250097e-03 1.27330924e+00] [ 3.76115597e-02 -8.73620390e-04 9.99292053e-01 1.09196921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:1.28, Z:1.09 [[ 9.93826231e-01 -1.04418991e-01 -3.74979700e-02 3.45649571e+01] [ 1.04378218e-01 9.94533002e-01 -3.04874337e-03 1.27699984e+00] [ 3.76113154e-02 -8.84050177e-04 9.99292053e-01 1.09360574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:1.28, Z:1.10 [[ 9.93844065e-01 -1.04249327e-01 -3.74973732e-02 3.46221352e+01] [ 1.04208157e-01 9.94550813e-01 -3.05606634e-03 1.28172886e+00] [ 3.76116359e-02 -8.70278755e-04 9.99292053e-01 1.09849438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.688623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:1.28, Z:1.09 [[ 9.93879666e-01 -1.03909435e-01 -3.74971893e-02 3.46803456e+01] [ 1.03867938e-01 9.94586396e-01 -3.05832123e-03 1.28136941e+00] [ 3.76119828e-02 -8.55152448e-04 9.99292053e-01 1.09374015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:1.28, Z:1.10 [[ 9.93907202e-01 -1.03645926e-01 -3.74966057e-02 3.47386595e+01] [ 1.03603973e-01 9.94613905e-01 -3.06546022e-03 1.28213567e+00] [ 3.76123678e-02 -8.38014327e-04 9.99292053e-01 1.09513353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:1.28, Z:1.10 [[ 9.93953613e-01 -1.03199972e-01 -3.74964240e-02 3.47965338e+01] [ 1.03157618e-01 9.94660291e-01 -3.06768119e-03 1.28225864e+00] [ 3.76127886e-02 -8.18908978e-04 9.99292053e-01 1.09902760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.868623852999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:1.28, Z:1.10 [[ 9.94050181e-01 -1.02265834e-01 -3.74958204e-02 3.48542301e+01] [ 1.02222538e-01 9.94756803e-01 -3.07504066e-03 1.27952652e+00] [ 3.76136940e-02 -7.76173203e-04 9.99292053e-01 1.09990666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:34.91, Y:1.28, Z:1.10 [[ 9.94100820e-01 -1.01772502e-01 -3.74955581e-02 3.49122380e+01] [ 1.01728736e-01 9.94807413e-01 -3.07823560e-03 1.27922569e+00] [ 3.76141389e-02 -7.54299179e-04 9.99292053e-01 1.10400671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:1.28, Z:1.11 [[ 9.94339939e-01 -9.94093279e-02 -3.74949519e-02 3.49699228e+01] [ 9.93636041e-02 9.95046408e-01 -3.08560180e-03 1.27750747e+00] [ 3.76159548e-02 -6.57496454e-04 9.99292053e-01 1.10592624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.048623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:1.28, Z:1.11 [[ 9.94830910e-01 -9.43695340e-02 -3.74946888e-02 3.50282754e+01] [ 9.43201107e-02 9.95537129e-01 -3.08879575e-03 1.27613723e+00] [ 3.76188431e-02 -4.63673711e-04 9.99292053e-01 1.10660180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.09, Y:1.28, Z:1.11 [[ 9.95231149e-01 -9.00506674e-02 -3.74945079e-02 3.50865538e+01] [ 8.99980966e-02 9.95937141e-01 -3.09099019e-03 1.27671491e+00] [ 3.76205187e-02 -2.98184628e-04 9.99292053e-01 1.10909320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:1.28, Z:1.11 [[ 9.95798264e-01 -8.35465464e-02 -3.74938953e-02 3.51441355e+01] [ 8.34890851e-02 9.96503875e-01 -3.09840355e-03 1.27777310e+00] [ 3.76216728e-02 -4.49461367e-05 9.99292053e-01 1.11221798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.228623852999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:1.28, Z:1.12 [[ 9.96207218e-01 -7.85200651e-02 -3.74937060e-02 3.52019438e+01] [ 7.84589575e-02 9.96912523e-01 -3.10069186e-03 1.27794780e+00] [ 3.76214116e-02 1.47214525e-04 9.99292053e-01 1.11900471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:1.28, Z:1.12 [[ 9.96423462e-01 -7.57268137e-02 -3.74931112e-02 3.52608825e+01] [ 7.56634589e-02 9.97128569e-01 -3.10786810e-03 1.28102855e+00] [ 3.76208012e-02 2.59894220e-04 9.99292053e-01 1.11863958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:1.28, Z:1.12 [[ 9.96628138e-01 -7.29839699e-02 -3.74925885e-02 3.53191291e+01] [ 7.29184379e-02 9.97333045e-01 -3.11416102e-03 1.28225784e+00] [ 3.76198813e-02 3.69759516e-04 9.99292053e-01 1.11982976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.408623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:1.29, Z:1.12 [[ 9.96712418e-01 -7.18241354e-02 -3.74919919e-02 3.53767126e+01] [ 7.17575136e-02 9.97417223e-01 -3.12132691e-03 1.28527031e+00] [ 3.76193451e-02 4.20733167e-04 9.99292053e-01 1.12064463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.43, Y:1.29, Z:1.12 [[ 9.96917552e-01 -6.89184995e-02 -3.74918088e-02 3.54343681e+01] [ 6.88497409e-02 9.97622151e-01 -3.12352436e-03 1.28823688e+00] [ 3.76179276e-02 5.32594932e-04 9.99292053e-01 1.12288331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.49, Y:1.29, Z:1.13 [[ 9.97122581e-01 -6.58860255e-02 -3.74912024e-02 3.54932822e+01] [ 6.58148512e-02 9.97826941e-01 -3.13078646e-03 1.29321468e+00] [ 3.76160069e-02 6.54299969e-04 9.99292053e-01 1.12692829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.588623852999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.55, Y:1.30, Z:1.13 [[ 9.97233916e-01 -6.41791728e-02 -3.74906664e-02 3.55506682e+01] [ 6.41065523e-02 9.97938128e-01 -3.13719142e-03 1.29706066e+00] [ 3.76147078e-02 7.25116314e-04 9.99292053e-01 1.12959547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.61, Y:1.30, Z:1.13 [[ 9.97277988e-01 -6.34907738e-02 -3.74904770e-02 3.56086933e+01] [ 6.34175821e-02 9.97982141e-01 -3.13945358e-03 1.30242808e+00] [ 3.76141529e-02 7.53352543e-04 9.99292053e-01 1.13297641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:1.31, Z:1.14 [[ 9.97283077e-01 -6.34111399e-02 -3.74898783e-02 3.56649416e+01] [ 6.33376240e-02 9.97987197e-01 -3.14658653e-03 1.30830263e+00] [ 3.76139472e-02 7.63517680e-04 9.99292053e-01 1.13564619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:1.32, Z:1.14 [[ 9.97299003e-01 -6.31603240e-02 -3.74896191e-02 3.57225344e+01] [ 6.30865151e-02 9.98003092e-01 -3.14967200e-03 1.31519001e+00] [ 3.76136901e-02 7.76075328e-04 9.99292053e-01 1.13787390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828623852999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.78, Y:1.32, Z:1.14 [[ 9.97374588e-01 -6.19556561e-02 -3.74890264e-02 3.57797080e+01] [ 6.18807324e-02 9.98078559e-01 -3.15671128e-03 1.32386484e+00] [ 3.76125695e-02 8.28575204e-04 9.99292053e-01 1.14101894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.84, Y:1.33, Z:1.14 [[ 9.97459456e-01 -6.05743417e-02 -3.74884354e-02 3.58366555e+01] [ 6.04981800e-02 9.98163294e-01 -3.16371395e-03 1.33339703e+00] [ 3.76112201e-02 8.87694281e-04 9.99292053e-01 1.14405930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:1.34, Z:1.15 [[ 9.97496087e-01 -5.99684805e-02 -3.74878480e-02 3.58941999e+01] [ 5.98916304e-02 9.98199849e-01 -3.17065966e-03 1.34439018e+00] [ 3.76105038e-02 9.17512264e-04 9.99292053e-01 1.14710888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:1.35, Z:1.15 [[ 9.97483491e-01 -6.01779985e-02 -3.74872518e-02 3.59508656e+01] [ 6.01010321e-02 9.98187241e-01 -3.17769230e-03 1.35384125e+00] [ 3.76105236e-02 9.16673080e-04 9.99292054e-01 1.14920891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:1.37, Z:1.15 [[ 9.97413967e-01 -6.13196885e-02 -3.74869930e-02 3.60075266e+01] [ 6.12434131e-02 9.98117792e-01 -3.18074217e-03 1.36687295e+00] [ 3.76114768e-02 8.76685260e-04 9.99292054e-01 1.14840035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:1.38, Z:1.15 [[ 9.97239672e-01 -6.40921653e-02 -3.74864145e-02 3.60643021e+01] [ 6.40175911e-02 9.97943680e-01 -3.18754547e-03 1.38041759e+00] [ 3.76136271e-02 7.78956835e-04 9.99292054e-01 1.15194311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.188623852999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:1.39, Z:1.15 [[ 9.97025095e-01 -6.73481528e-02 -3.74858130e-02 3.61217719e+01] [ 6.72756126e-02 9.97729315e-01 -3.19460427e-03 1.39000751e+00] [ 3.76158452e-02 6.63219597e-04 9.99292054e-01 1.15428140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.18, Y:1.40, Z:1.16 [[ 9.96606628e-01 -7.32808799e-02 -3.74852075e-02 3.61793415e+01] [ 7.32122656e-02 9.97311242e-01 -3.20169364e-03 1.40226531e+00] [ 3.76190417e-02 4.46452142e-04 9.99292054e-01 1.15652904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.24, Y:1.41, Z:1.16 [[ 9.96191432e-01 -7.87244271e-02 -3.74846061e-02 3.62379048e+01] [ 7.86593990e-02 9.96896385e-01 -3.20871835e-03 1.41335336e+00] [ 3.76208729e-02 2.47981134e-04 9.99292054e-01 1.15617536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.368623852999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:36.30, Y:1.42, Z:1.16 [[ 9.95874366e-01 -8.26389195e-02 -3.74840824e-02 3.62957755e+01] [ 8.25764325e-02 9.96579549e-01 -3.21482448e-03 1.42223363e+00] [ 3.76215396e-02 1.06259481e-04 9.99292054e-01 1.15692124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:36.35, Y:1.43, Z:1.16 [[ 9.95370902e-01 -8.84971835e-02 -3.74835363e-02 3.63532307e+01] [ 8.84386076e-02 9.96076421e-01 -3.22117986e-03 1.43171384e+00] [ 3.76215320e-02 -1.08723050e-04 9.99292054e-01 1.16072736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.41, Y:1.44, Z:1.17 [[ 9.95033198e-01 -9.22169529e-02 -3.74829074e-02 3.64103267e+01] [ 9.21607394e-02 9.95738909e-01 -3.22848085e-03 1.43983501e+00] [ 3.76209100e-02 -2.42006843e-04 9.99292054e-01 1.16542754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.548623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.47, Y:1.45, Z:1.17 [[ 9.94587014e-01 -9.69108780e-02 -3.74827123e-02 3.64683115e+01] [ 9.68579096e-02 9.95292976e-01 -3.23074542e-03 1.44818021e+00] [ 3.76193746e-02 -4.17239712e-04 9.99292054e-01 1.17233350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.53, Y:1.45, Z:1.17 [[ 9.94127681e-01 -1.01514729e-01 -3.74821705e-02 3.65259195e+01] [ 1.01464793e-01 9.94833864e-01 -3.23701842e-03 1.45335579e+00] [ 3.76171376e-02 -5.85111065e-04 9.99292054e-01 1.17374560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:1.46, Z:1.17 [[ 9.93788745e-01 -1.04781030e-01 -3.74815498e-02 3.65841794e+01] [ 1.04733144e-01 9.94495070e-01 -3.24419004e-03 1.45753369e+00] [ 3.76151460e-02 -7.01521011e-04 9.99292054e-01 1.17361575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.728623852999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:36.64, Y:1.46, Z:1.17 [[ 9.93351005e-01 -1.08852933e-01 -3.74809299e-02 3.66431800e+01] [ 1.08807673e-01 9.94057503e-01 -3.25133546e-03 1.46108091e+00] [ 3.76121170e-02 -8.48495441e-04 9.99292054e-01 1.17206298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.70, Y:1.46, Z:1.18 [[ 9.93379045e-01 -1.08596939e-01 -3.74803705e-02 3.67009662e+01] [ 1.08551255e-01 9.94085515e-01 -3.25777165e-03 1.46363144e+00] [ 3.76124775e-02 -8.32339163e-04 9.99292054e-01 1.17643727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.76, Y:1.47, Z:1.18 [[ 9.93670073e-01 -1.05901164e-01 -3.74797300e-02 3.67598810e+01] [ 1.05853285e-01 9.94376398e-01 -3.26512417e-03 1.46688819e+00] [ 3.76147393e-02 -7.22896383e-04 9.99292054e-01 1.18086320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.908623852999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:36.82, Y:1.47, Z:1.18 [[ 9.94332271e-01 -9.94919467e-02 -3.74791684e-02 3.68165680e+01] [ 9.94392726e-02 9.95038255e-01 -3.27155713e-03 1.46989704e+00] [ 3.76186999e-02 -4.73886418e-04 9.99292054e-01 1.18236286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:1.47, Z:1.18 [[ 9.94905528e-01 -9.35859114e-02 -3.74788903e-02 3.68748572e+01] [ 9.35289262e-02 9.95611177e-01 -3.27474086e-03 1.47421322e+00] [ 3.76208717e-02 -2.47302577e-04 9.99292054e-01 1.18229306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:1.48, Z:1.18 [[ 9.95236105e-01 -9.00026147e-02 -3.74783245e-02 3.69324762e+01] [ 8.99428455e-02 9.95941524e-01 -3.28120291e-03 1.47798661e+00] [ 3.76215365e-02 -1.05335548e-04 9.99292054e-01 1.18074130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.088623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.99, Y:1.48, Z:1.18 [[ 9.95645235e-01 -8.53578179e-02 -3.74781241e-02 3.69903129e+01] [ 8.52946717e-02 9.96350359e-01 -3.28349027e-03 1.48405694e+00] [ 3.76216140e-02 7.25071439e-05 9.99292054e-01 1.18431934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:1.49, Z:1.19 [[ 9.95864134e-01 -8.27651136e-02 -3.74774920e-02 3.70482692e+01] [ 8.26998607e-02 9.96569067e-01 -3.29068982e-03 1.49008844e+00] [ 3.76212635e-02 1.77696606e-04 9.99292054e-01 1.18904195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:1.50, Z:1.19 [[ 9.95939601e-01 -8.18522516e-02 -3.74769290e-02 3.71069522e+01] [ 8.17861119e-02 9.96644451e-01 -3.29708848e-03 1.49587801e+00] [ 3.76210475e-02 2.18608672e-04 9.99292054e-01 1.19284235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.268623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:1.50, Z:1.19 [[ 9.95888381e-01 -8.24733579e-02 -3.74763723e-02 3.71637266e+01] [ 8.24074201e-02 9.96593249e-01 -3.30340471e-03 1.50051546e+00] [ 3.76211425e-02 2.01491210e-04 9.99292054e-01 1.19444505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.22, Y:1.51, Z:1.20 [[ 9.95753062e-01 -8.40915046e-02 -3.74760964e-02 3.72210455e+01] [ 8.40265946e-02 9.96458026e-01 -3.30653116e-03 1.50629413e+00] [ 3.76214083e-02 1.43499768e-04 9.99292054e-01 1.19541501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.28, Y:1.51, Z:1.20 [[ 9.95576687e-01 -8.61548096e-02 -3.74754486e-02 3.72786522e+01] [ 8.60910847e-02 9.96281759e-01 -3.31385793e-03 1.51153897e+00] [ 3.76216106e-02 7.28976815e-05 9.99292054e-01 1.19549772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.34, Y:1.52, Z:1.20 [[ 9.95372305e-01 -8.84849127e-02 -3.74752484e-02 3.73362735e+01] [ 8.84227533e-02 9.96077517e-01 -3.31611982e-03 1.51770896e+00] [ 3.76216790e-02 -1.28908175e-05 9.99292054e-01 1.19832366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508623852999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.39, Y:1.52, Z:1.20 [[ 9.94981380e-01 -9.27777307e-02 -3.74746074e-02 3.73949821e+01] [ 9.27183416e-02 9.95686831e-01 -3.32334830e-03 1.52487377e+00] [ 3.76213057e-02 -1.67913770e-04 9.99292054e-01 1.20231311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.45, Y:1.53, Z:1.20 [[ 9.94548037e-01 -9.73134007e-02 -3.74740486e-02 3.74528790e+01] [ 9.72569918e-02 9.95253732e-01 -3.32963715e-03 1.52829646e+00] [ 3.76202050e-02 -3.33129143e-04 9.99292054e-01 1.20385188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:1.53, Z:1.21 [[ 9.94274649e-01 -1.00068140e-01 -3.74738507e-02 3.75110489e+01] [ 1.00013602e-01 9.94980491e-01 -3.33186282e-03 1.53304346e+00] [ 3.76191637e-02 -4.35108069e-04 9.99292054e-01 1.20922372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.688623852999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:37.57, Y:1.54, Z:1.20 [[ 9.94043305e-01 -1.02340901e-01 -3.74732983e-02 3.75692242e+01] [ 1.02287743e-01 9.94749252e-01 -3.33806453e-03 1.53705966e+00] [ 3.76181560e-02 -5.14878403e-04 9.99292054e-01 1.20436462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.63, Y:1.54, Z:1.21 [[ 9.93837846e-01 -1.04317312e-01 -3.74731026e-02 3.76270845e+01] [ 1.04265476e-01 9.94543892e-01 -3.34025968e-03 1.54117305e+00] [ 3.76170922e-02 -5.87474382e-04 9.99292054e-01 1.20727974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.69, Y:1.55, Z:1.21 [[ 9.93755879e-01 -1.05095510e-01 -3.74724693e-02 3.76858567e+01] [ 1.05043959e-01 9.94461946e-01 -3.34734899e-03 1.54514471e+00] [ 3.76167361e-02 -6.09808798e-04 9.99292054e-01 1.21279663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.868623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:1.55, Z:1.22 [[ 9.93925816e-01 -1.03476214e-01 -3.74719183e-02 3.77446771e+01] [ 1.03423281e-01 9.94631781e-01 -3.35350602e-03 1.54810893e+00] [ 3.76177689e-02 -5.42332536e-04 9.99292054e-01 1.21835268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:1.55, Z:1.22 [[ 9.94149012e-01 -1.01309611e-01 -3.74713733e-02 3.78024800e+01] [ 1.01254910e-01 9.94854842e-01 -3.35958487e-03 1.55326654e+00] [ 3.76189354e-02 -4.54232536e-04 9.99292054e-01 1.22006359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.86, Y:1.56, Z:1.22 [[ 9.94360048e-01 -9.92171228e-02 -3.74707458e-02 3.78592285e+01] [ 9.91606732e-02 9.95065740e-01 -3.36656950e-03 1.55668513e+00] [ 3.76198767e-02 -3.68042168e-04 9.99292054e-01 1.22097444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.048623852999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:1.56, Z:1.22 [[ 9.94426493e-01 -9.85490410e-02 -3.74704736e-02 3.79166508e+01] [ 9.84920033e-02 9.95132138e-01 -3.36959551e-03 1.56090413e+00] [ 3.76201429e-02 -3.39726964e-04 9.99292054e-01 1.22282218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:1.56, Z:1.23 [[ 9.94579173e-01 -9.69962866e-02 -3.74698403e-02 3.79746034e+01] [ 9.69378825e-02 9.95284706e-01 -3.37662373e-03 1.56439076e+00] [ 3.76206789e-02 -2.73927334e-04 9.99292054e-01 1.22742588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.03, Y:1.57, Z:1.23 [[ 9.94757704e-01 -9.51481453e-02 -3.74691925e-02 3.80326359e+01] [ 9.50881602e-02 9.95463104e-01 -3.38379660e-03 1.56850515e+00] [ 3.76211607e-02 -1.96818840e-04 9.99292054e-01 1.22971829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.228623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.09, Y:1.57, Z:1.23 [[ 9.95128471e-01 -9.11890037e-02 -3.74685514e-02 3.80894188e+01] [ 9.11259454e-02 9.95833603e-01 -3.39088048e-03 1.57265874e+00] [ 3.76216536e-02 -3.99954646e-05 9.99292054e-01 1.23031410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:1.58, Z:1.23 [[ 9.95395378e-01 -8.82279446e-02 -3.74682734e-02 3.81472002e+01] [ 8.81626731e-02 9.96100308e-01 -3.39394957e-03 1.57937837e+00] [ 3.76215999e-02 7.50185716e-05 9.99292054e-01 1.22948352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:1.59, Z:1.23 [[ 9.95423393e-01 -8.79113807e-02 -3.74680810e-02 3.82055942e+01] [ 8.78458052e-02 9.96128296e-01 -3.39607227e-03 1.58615015e+00] [ 3.76215691e-02 8.91160393e-05 9.99292054e-01 1.22763109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.408623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:1.59, Z:1.23 [[ 9.95121488e-01 -9.12656000e-02 -3.74675137e-02 3.82638494e+01] [ 9.12021652e-02 9.95826586e-01 -3.40232000e-03 1.59005591e+00] [ 3.76216610e-02 -3.13966282e-05 9.99292054e-01 1.22957422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:1.59, Z:1.23 [[ 9.94506354e-01 -9.77412325e-02 -3.74668415e-02 3.83213551e+01] [ 9.76821105e-02 9.95211826e-01 -3.40970619e-03 1.59418353e+00] [ 3.76207126e-02 -2.68865684e-04 9.99292054e-01 1.23383724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:1.60, Z:1.24 [[ 9.94065700e-01 -1.02125588e-01 -3.74666336e-02 3.83799194e+01] [ 1.02069491e-01 9.94771420e-01 -3.41198875e-03 1.59713251e+00] [ 3.76191877e-02 -4.32459245e-04 9.99292054e-01 1.23922310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.588623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:1.60, Z:1.24 [[ 9.93594366e-01 -1.06613923e-01 -3.74660947e-02 3.84380261e+01] [ 1.06560791e-01 9.94300315e-01 -3.41789604e-03 1.60049320e+00] [ 3.76169451e-02 -5.96414440e-04 9.99292054e-01 1.24308410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:1.60, Z:1.24 [[ 9.93413072e-01 -1.08290394e-01 -3.74654444e-02 3.84962705e+01] [ 1.08238186e-01 9.94119090e-01 -3.42500971e-03 1.60319714e+00] [ 3.76160091e-02 -6.52742307e-04 9.99292054e-01 1.24465507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:1.61, Z:1.25 [[ 9.93370164e-01 -1.08683518e-01 -3.74647946e-02 3.85546651e+01] [ 1.08631322e-01 9.94076182e-01 -3.43210280e-03 1.60587202e+00] [ 3.76158730e-02 -6.60501645e-04 9.99292054e-01 1.24579613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.768623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:1.61, Z:1.25 [[ 9.93410405e-01 -1.08315301e-01 -3.74641464e-02 3.86133763e+01] [ 1.08262576e-01 9.94116385e-01 -3.43916387e-03 1.60716046e+00] [ 3.76162359e-02 -6.39463832e-04 9.99292054e-01 1.25013045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828623852999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:1.61, Z:1.26 [[ 9.93565336e-01 -1.06885002e-01 -3.74635775e-02 3.86705213e+01] [ 1.06831028e-01 9.94271221e-01 -3.44535000e-03 1.61004368e+00] [ 3.76172132e-02 -5.79092172e-04 9.99292054e-01 1.25712256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.73, Y:1.61, Z:1.25 [[ 9.94165319e-01 -1.01152460e-01 -3.74632957e-02 3.87292746e+01] [ 1.01094300e-01 9.94870871e-01 -3.44841152e-03 1.61035107e+00] [ 3.76199570e-02 -3.59034519e-04 9.99292054e-01 1.25252128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.79, Y:1.61, Z:1.25 [[ 9.94758271e-01 -9.51446154e-02 -3.74630979e-02 3.87866511e+01] [ 9.50821134e-02 9.95463453e-01 -3.45055924e-03 1.61484752e+00] [ 3.76214469e-02 -1.29598173e-04 9.99292054e-01 1.25438774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:1.62, Z:1.26 [[ 9.95581200e-01 -8.61082886e-02 -3.74624745e-02 3.88447350e+01] [ 8.60391319e-02 9.96285760e-01 -3.45731403e-03 1.62068082e+00] [ 3.76210333e-02 2.18798065e-04 9.99292054e-01 1.25608440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:1.63, Z:1.26 [[ 9.96035233e-01 -8.06871896e-02 -3.74618879e-02 3.89009291e+01] [ 8.06139598e-02 9.96739380e-01 -3.46365891e-03 1.62762111e+00] [ 3.76192118e-02 4.29975182e-04 9.99292054e-01 1.25658477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:1.63, Z:1.26 [[ 9.96555629e-01 -7.39831483e-02 -3.74615991e-02 3.89580420e+01] [ 7.39050647e-02 9.97259256e-01 -3.46677956e-03 1.63390593e+00] [ 3.76154097e-02 6.86236783e-04 9.99292054e-01 1.26029009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.188623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:1.65, Z:1.26 [[ 9.96856192e-01 -6.98169880e-02 -3.74609317e-02 3.90156344e+01] [ 6.97356937e-02 9.97559454e-01 -3.47397594e-03 1.64546371e+00] [ 3.76120491e-02 8.50690361e-04 9.99292054e-01 1.26295370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:1.65, Z:1.26 [[ 9.96868001e-01 -6.96484843e-02 -3.74603467e-02 3.90733855e+01] [ 6.95668347e-02 9.97571222e-01 -3.48027306e-03 1.65337429e+00] [ 3.76117596e-02 8.63375102e-04 9.99292054e-01 1.26358156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:1.66, Z:1.26 [[ 9.96563567e-01 -7.38771219e-02 -3.74596771e-02 3.91304288e+01] [ 7.37981861e-02 9.97267098e-01 -3.48746556e-03 1.66040484e+00] [ 3.76149474e-02 7.11024902e-04 9.99292054e-01 1.26298419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.368623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:1.67, Z:1.27 [[ 9.95912766e-01 -8.21860772e-02 -3.74594701e-02 3.91883066e+01] [ 8.21129282e-02 9.96616922e-01 -3.48968774e-03 1.66931468e+00] [ 3.76195455e-02 3.99517792e-04 9.99292054e-01 1.26670427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:1.68, Z:1.27 [[ 9.95463682e-01 -8.74579331e-02 -3.74588808e-02 3.92466674e+01] [ 8.73882758e-02 9.96168192e-01 -3.49600198e-03 1.67607346e+00] [ 3.76210986e-02 2.06676002e-04 9.99292055e-01 1.27064217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.30, Y:1.68, Z:1.27 [[ 9.95024714e-01 -9.23184446e-02 -3.74582929e-02 3.93037741e+01] [ 9.22519920e-02 9.95729534e-01 -3.50228914e-03 1.68341137e+00] [ 3.76216544e-02 2.92621111e-05 9.99292055e-01 1.27369661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.548623852999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:39.36, Y:1.69, Z:1.28 [[ 9.94887025e-01 -9.37909060e-02 -3.74576242e-02 3.93607555e+01] [ 9.37252278e-02 9.95591917e-01 -3.50942719e-03 1.69037355e+00] [ 3.76216602e-02 -1.92407776e-05 9.99292055e-01 1.28079273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:1.70, Z:1.28 [[ 9.94828811e-01 -9.44066372e-02 -3.74569573e-02 3.94197827e+01] [ 9.43411279e-02 9.95533719e-01 -3.51653045e-03 1.69706808e+00] [ 3.76216478e-02 -3.53857879e-05 9.99292055e-01 1.27965164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:1.70, Z:1.28 [[ 9.94845344e-01 -9.42324926e-02 -3.74563517e-02 3.94770022e+01] [ 9.41666175e-02 9.95550218e-01 -3.52296855e-03 1.70424346e+00] [ 3.76216573e-02 -2.23290898e-05 9.99292055e-01 1.28063789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.728623852999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:39.53, Y:1.71, Z:1.28 [[ 9.94799369e-01 -9.47168865e-02 -3.74556649e-02 3.95340179e+01] [ 9.46510802e-02 9.95504249e-01 -3.53025621e-03 1.71150057e+00] [ 3.76216484e-02 -3.33224918e-05 9.99292055e-01 1.28458663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:1.72, Z:1.29 [[ 9.94712356e-01 -9.56264526e-02 -3.74554533e-02 3.95922144e+01] [ 9.55612065e-02 9.95417288e-01 -3.53249909e-03 1.71904923e+00] [ 3.76216061e-02 -6.54678207e-05 9.99292055e-01 1.28511613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848623853 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:1.73, Z:1.29 [[ 9.94718269e-01 -9.55651630e-02 -3.74548519e-02 3.96496615e+01] [ 9.54996337e-02 9.95423175e-01 -3.53886434e-03 1.72674582e+00] [ 3.76216198e-02 -5.67516296e-05 9.99292055e-01 1.29326407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.908623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:1.73, Z:1.29 [[ 9.94750814e-01 -9.52260721e-02 -3.74541496e-02 3.97066372e+01] [ 9.51600232e-02 9.95455671e-01 -3.54628256e-03 1.73291425e+00] [ 3.76216442e-02 -3.64702765e-05 9.99292055e-01 1.28830369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:1.74, Z:1.29 [[ 9.94822454e-01 -9.44748302e-02 -3.74538457e-02 3.97653772e+01] [ 9.44081284e-02 9.95527250e-01 -3.54948885e-03 1.74153832e+00] [ 3.76216614e-02 -4.83626753e-06 9.99292055e-01 1.28871434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:1.75, Z:1.29 [[ 9.94942546e-01 -9.32018492e-02 -3.74532529e-02 3.98218657e+01] [ 9.31340105e-02 9.95647233e-01 -3.55573326e-03 1.74894383e+00] [ 3.76216285e-02 4.95786538e-05 9.99292055e-01 1.28951857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.088623852999994 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:1.76, Z:1.29 [[ 9.94993437e-01 -9.26570896e-02 -3.74529587e-02 3.98789815e+01] [ 9.25887486e-02 9.95698076e-01 -3.55882875e-03 1.75617351e+00] [ 3.76215897e-02 7.32886681e-05 9.99292055e-01 1.29180519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148623853 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:1.76, Z:1.30 [[ 9.95030086e-01 -9.22629630e-02 -3.74522854e-02 3.99367401e+01] [ 9.21940767e-02 9.95734672e-01 -3.56590030e-03 1.76223925e+00] [ 3.76215397e-02 9.52992075e-05 9.99292055e-01 1.29953794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208623853 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:1.77, Z:1.30 [[ 9.95020108e-01 -9.23707948e-02 -3.74515893e-02 3.99943755e+01] [ 9.23017103e-02 9.95724674e-01 -3.57319643e-03 1.76740997e+00] [ 3.76215306e-02 9.85565482e-05 9.99292055e-01 1.29636194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.268623852999994 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:1.77, Z:1.30 [[ 9.94876835e-01 -9.39014287e-02 -3.74513746e-02 4.00526609e+01] [ 9.38333434e-02 9.95581498e-01 -3.57544587e-03 1.77223532e+00] [ 3.76216351e-02 4.29405760e-05 9.99292055e-01 1.30032523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328623852999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:1.78, Z:1.30 [[ 9.94752254e-01 -9.52123470e-02 -3.74507967e-02 4.01107379e+01] [ 9.51449629e-02 9.95456985e-01 -3.58148842e-03 1.77688055e+00] [ 3.76216591e-02 -5.60984261e-07 9.99292055e-01 1.30375012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:1.78, Z:1.31 [[ 9.94825045e-01 -9.44488430e-02 -3.74505870e-02 4.01677263e+01] [ 9.43808355e-02 9.95529716e-01 -3.58368014e-03 1.78140119e+00] [ 3.76216467e-02 3.05170680e-05 9.99292055e-01 1.30521553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:40.23, Y:1.79, Z:1.31 [[ 9.95180254e-01 -9.06296687e-02 -3.74502953e-02 4.02253514e+01] [ 9.05588423e-02 9.95884648e-01 -3.58672599e-03 1.78798507e+00] [ 3.76212379e-02 1.77983499e-04 9.99292055e-01 1.30575112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508623852999996 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:40.28, Y:1.79, Z:1.31 [[ 9.95532420e-01 -8.66759651e-02 -3.74496610e-02 4.02831720e+01] [ 8.66020927e-02 9.96236501e-01 -3.59333629e-03 1.79307075e+00] [ 3.76201751e-02 3.34063757e-04 9.99292055e-01 1.30806672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:40.34, Y:1.80, Z:1.31 [[ 9.95647133e-01 -8.53484665e-02 -3.74489727e-02 4.03405895e+01] [ 8.52733861e-02 9.96351086e-01 -3.60049515e-03 1.79975931e+00] [ 3.76196214e-02 3.91421960e-04 9.99292055e-01 1.31379551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:40.40, Y:1.80, Z:1.31 [[ 9.95585296e-01 -8.60670944e-02 -3.74482835e-02 4.03973505e+01] [ 8.59922530e-02 9.96289274e-01 -3.60764974e-03 1.80479380e+00] [ 3.76198231e-02 3.71460767e-04 9.99292055e-01 1.31006571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.688623852999996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:1.81, Z:1.31 [[ 9.95517901e-01 -8.68433602e-02 -3.74478169e-02 4.04549644e+01] [ 8.67688859e-02 9.96221918e-01 -3.61248617e-03 1.80907710e+00] [ 3.76200564e-02 3.46989296e-04 9.99292055e-01 1.30904800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:1.81, Z:1.32 [[ 9.95374146e-01 -8.84759028e-02 -3.74476100e-02 4.05135646e+01] [ 8.84025025e-02 9.96078276e-01 -3.61462997e-03 1.81289454e+00] [ 3.76205585e-02 2.87446780e-04 9.99292055e-01 1.31524294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:1.82, Z:1.32 [[ 9.95328654e-01 -8.89864599e-02 -3.74470320e-02 4.05724907e+01] [ 8.89131959e-02 9.96032798e-01 -3.62060792e-03 1.81721802e+00] [ 3.76206572e-02 2.74159514e-04 9.99292055e-01 1.32217211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.868623852999995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:40.63, Y:1.82, Z:1.33 [[ 9.95441358e-01 -8.77169801e-02 -3.74464260e-02 4.06308706e+01] [ 8.76425828e-02 9.96145383e-01 -3.62686446e-03 1.82062147e+00] [ 3.76202220e-02 3.28429385e-04 9.99292055e-01 1.32740178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928623853 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:1.82, Z:1.33 [[ 9.95602363e-01 -8.58705199e-02 -3.74458072e-02 4.06875682e+01] [ 8.57945770e-02 9.96306223e-01 -3.63324294e-03 1.82437442e+00] [ 3.76194792e-02 4.04618067e-04 9.99292055e-01 1.32692456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988623853 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:1.83, Z:1.33 [[ 9.95941442e-01 -8.18442305e-02 -3.74455015e-02 4.07462287e+01] [ 8.17653239e-02 9.96644976e-01 -3.63639085e-03 1.83087998e+00] [ 3.76174885e-02 5.59888790e-04 9.99292055e-01 1.33433210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.048623852999995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:40.80, Y:1.84, Z:1.33 [[ 9.96153668e-01 -7.92196471e-02 -3.74448682e-02 4.08035807e+01] [ 7.91386424e-02 9.96856963e-01 -3.64290019e-03 1.83657426e+00] [ 3.76157668e-02 6.65552348e-04 9.99292055e-01 1.32974213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108623853 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:40.86, Y:1.84, Z:1.33 [[ 9.96475702e-01 -7.50604689e-02 -3.74446455e-02 4.08611149e+01] [ 7.49764430e-02 9.97178643e-01 -3.64518779e-03 1.84272869e+00] [ 3.76126103e-02 8.24874731e-04 9.99292055e-01 1.33285225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:40.92, Y:1.85, Z:1.34 [[ 9.96734254e-01 -7.15456428e-02 -3.74439423e-02 4.09181980e+01] [ 7.14588677e-02 9.97436860e-01 -3.65239709e-03 1.85077277e+00] [ 3.76092813e-02 9.64767566e-04 9.99292055e-01 1.33631414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.228623852999995 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:40.98, Y:1.86, Z:1.34 [[ 9.96858939e-01 -6.97869781e-02 -3.74437258e-02 4.09759977e+01] [ 6.96988803e-02 9.97561382e-01 -3.65461493e-03 1.85793194e+00] [ 3.76074594e-02 1.03334980e-03 9.99292055e-01 1.33873007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:1.87, Z:1.34 [[ 9.96884800e-01 -6.94169551e-02 -3.74430419e-02 4.10335035e+01] [ 6.93283341e-02 9.97587177e-01 -3.66160798e-03 1.86636107e+00] [ 3.76068762e-02 1.05433762e-03 9.99292055e-01 1.33996475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:41.09, Y:1.88, Z:1.34 [[ 9.96876017e-01 -6.95433385e-02 -3.74423623e-02 4.10910862e+01] [ 6.94545463e-02 9.97578372e-01 -3.66854413e-03 1.87637863e+00] [ 3.76068137e-02 1.05654138e-03 9.99292055e-01 1.34339572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.408623852999995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:41.15, Y:1.89, Z:1.34 [[ 9.96885908e-01 -6.94017943e-02 -3.74416476e-02 4.11478701e+01] [ 6.93126291e-02 9.97588216e-01 -3.67582479e-03 1.88561068e+00] [ 3.76064552e-02 1.06919890e-03 9.99292055e-01 1.34481483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:1.90, Z:1.35 [[ 9.96913815e-01 -6.89999398e-02 -3.74413387e-02 4.12049905e+01] [ 6.89103736e-02 9.97616071e-01 -3.67896858e-03 1.89675297e+00] [ 3.76059298e-02 1.08751797e-03 9.99292055e-01 1.34859415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:1.91, Z:1.35 [[ 9.96899838e-01 -6.92019586e-02 -3.74406529e-02 4.12626814e+01] [ 6.91122732e-02 9.97602079e-01 -3.68593407e-03 1.90500466e+00] [ 3.76059471e-02 1.08689844e-03 9.99292055e-01 1.35153971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.588623852999994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:1.92, Z:1.35 [[ 9.96781711e-01 -7.08834963e-02 -3.74399518e-02 4.13194801e+01] [ 7.07947288e-02 9.97484069e-01 -3.69304172e-03 1.91775303e+00] [ 3.76075312e-02 1.03060520e-03 9.99292055e-01 1.35447937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:1.93, Z:1.36 [[ 9.96580258e-01 -7.36620122e-02 -3.74392386e-02 4.13757581e+01] [ 7.35749322e-02 9.97282827e-01 -3.70025796e-03 1.93147077e+00] [ 3.76100782e-02 9.33014587e-04 9.99292055e-01 1.35616359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:1.94, Z:1.36 [[ 9.96407895e-01 -7.59581057e-02 -3.74389298e-02 4.14330134e+01] [ 7.58725275e-02 9.97110648e-01 -3.70338043e-03 1.94345135e+00] [ 3.76120573e-02 8.49491274e-04 9.99292055e-01 1.35749535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.768623852999994 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:1.96, Z:1.36 [[ 9.96043800e-01 -8.05923539e-02 -3.74382273e-02 4.14890136e+01] [ 8.05097794e-02 9.96746913e-01 -3.71046849e-03 1.95644568e+00] [ 3.76154728e-02 6.81645718e-04 9.99292055e-01 1.35730103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828623852999996 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:1.97, Z:1.36 [[ 9.95707553e-01 -8.46456410e-02 -3.74377498e-02 4.15450069e+01] [ 8.45657480e-02 9.96410975e-01 -3.71528009e-03 1.96685923e+00] [ 3.76178670e-02 5.33381130e-04 9.99292055e-01 1.35777364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:41.60, Y:1.98, Z:1.36 [[ 9.95075634e-01 -9.17764662e-02 -3.74374494e-02 4.16016376e+01] [ 9.17015006e-02 9.95779599e-01 -3.71830426e-03 1.97956705e+00] [ 3.76207012e-02 2.66923678e-04 9.99292055e-01 1.35872286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:41.66, Y:1.99, Z:1.36 [[ 9.94286939e-01 -9.99598515e-02 -3.74367500e-02 4.16596765e+01] [ 9.98904153e-02 9.94991471e-01 -3.72533256e-03 1.98979483e+00] [ 3.76216307e-02 -3.55229942e-05 9.99292055e-01 1.36365003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008623852999996 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:41.72, Y:2.00, Z:1.36 [[ 9.93551849e-01 -1.07019903e-01 -3.74361158e-02 4.17167209e+01] [ 1.06955234e-01 9.94256834e-01 -3.73169561e-03 1.99853583e+00] [ 3.76204796e-02 -2.96355432e-04 9.99292055e-01 1.36466196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:41.77, Y:2.01, Z:1.36 [[ 9.93088219e-01 -1.11240208e-01 -3.74353586e-02 4.17736153e+01] [ 1.11178248e-01 9.93793447e-01 -3.73927620e-03 2.00606196e+00] [ 3.76189719e-02 -4.48566439e-04 9.99292055e-01 1.36437873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:41.83, Y:2.01, Z:1.37 [[ 9.92948528e-01 -1.12480391e-01 -3.74350313e-02 4.18313648e+01] [ 1.12419189e-01 9.93653823e-01 -3.74254927e-03 2.01301019e+00] [ 3.76184254e-02 -4.92257056e-04 9.99292055e-01 1.36613967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.188623852999996 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:41.89, Y:2.02, Z:1.37 [[ 9.93058666e-01 -1.11504082e-01 -3.74342960e-02 4.18884053e+01] [ 1.11441910e-01 9.93763875e-01 -3.74988979e-03 2.02023213e+00] [ 3.76189791e-02 -4.47888878e-04 9.99292055e-01 1.37011832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:41.95, Y:2.03, Z:1.37 [[ 9.93235263e-01 -1.09919983e-01 -3.74340688e-02 4.19466320e+01] [ 1.09856600e-01 9.93940365e-01 -3.75215691e-03 2.02646900e+00] [ 3.76196690e-02 -3.85604969e-04 9.99292055e-01 1.37393235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:2.03, Z:1.38 [[ 9.93394398e-01 -1.08472608e-01 -3.74334456e-02 4.20040651e+01] [ 1.08407964e-01 9.94099385e-01 -3.75836416e-03 2.03098098e+00] [ 3.76202448e-02 -3.24545730e-04 9.99292055e-01 1.37502947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.368623852999995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:2.04, Z:1.38 [[ 9.93531542e-01 -1.07209448e-01 -3.74327358e-02 4.20604507e+01] [ 1.07143642e-01 9.94236421e-01 -3.76542047e-03 2.03543983e+00] [ 3.76206779e-02 -2.69615638e-04 9.99292055e-01 1.37582187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:2.04, Z:1.38 [[ 9.93675987e-01 -1.05862394e-01 -3.74324284e-02 4.21184125e+01] [ 1.05795517e-01 9.94380766e-01 -3.76847383e-03 2.03872649e+00] [ 3.76210264e-02 -2.15541163e-04 9.99292055e-01 1.37777376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:42.18, Y:2.04, Z:1.39 [[ 9.93710841e-01 -1.05534977e-01 -3.74317224e-02 4.21760394e+01] [ 1.05467605e-01 9.94415572e-01 -3.77547329e-03 2.04250543e+00] [ 3.76211321e-02 -1.96105373e-04 9.99292055e-01 1.38545582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.548623852999995 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:2.04, Z:1.38 [[ 9.93871031e-01 -1.04015834e-01 -3.74309994e-02 4.22341447e+01] [ 1.03947115e-01 9.94575633e-01 -3.78262752e-03 2.04476376e+00] [ 3.76214131e-02 -1.31400489e-04 9.99292055e-01 1.38353584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:2.05, Z:1.39 [[ 9.94093050e-01 -1.01872380e-01 -3.74302801e-02 4.22920367e+01] [ 1.01801875e-01 9.94797475e-01 -3.78973215e-03 2.04824294e+00] [ 3.76216171e-02 -4.31262958e-05 9.99292055e-01 1.38597324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:2.05, Z:1.39 [[ 9.94627730e-01 -9.65127340e-02 -3.74295499e-02 4.23498019e+01] [ 9.64381616e-02 9.95331736e-01 -3.79693030e-03 2.05084298e+00] [ 3.76212710e-02 1.66895186e-04 9.99292055e-01 1.38700794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.728623852999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.41, Y:2.05, Z:1.39 [[ 9.95242272e-01 -8.99550043e-02 -3.74288264e-02 4.24084794e+01] [ 8.98755256e-02 9.95945741e-01 -3.80404873e-03 2.05331560e+00] [ 3.76192735e-02 4.22014656e-04 9.99292055e-01 1.38790476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.47, Y:2.06, Z:1.39 [[ 9.95903913e-01 -8.23075174e-02 -3.74281689e-02 4.24662198e+01] [ 8.22223948e-02 9.96606722e-01 -3.81050720e-03 2.06032890e+00] [ 3.76147981e-02 7.17465355e-04 9.99292056e-01 1.39022713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:2.07, Z:1.39 [[ 9.96244323e-01 -7.80794425e-02 -3.74279376e-02 4.25234042e+01] [ 7.79912522e-02 9.96946752e-01 -3.81277749e-03 2.06763215e+00] [ 3.76113604e-02 8.79406211e-04 9.99292056e-01 1.39286737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.908623852999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:2.08, Z:1.40 [[ 9.96597031e-01 -7.34406212e-02 -3.74277145e-02 4.25805471e+01] [ 7.33490796e-02 9.97299032e-01 -3.81496607e-03 2.07624078e+00] [ 3.76067969e-02 1.05669544e-03 9.99292056e-01 1.39509495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:42.64, Y:2.08, Z:1.40 [[ 9.96718305e-01 -7.17763169e-02 -3.74270021e-02 4.26379793e+01] [ 7.16833415e-02 9.97420118e-01 -3.82194254e-03 2.08425673e+00] [ 3.76047698e-02 1.12650752e-03 9.99292056e-01 1.39825051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:2.10, Z:1.40 [[ 9.96765939e-01 -7.11121421e-02 -3.74262727e-02 4.26943815e+01] [ 7.10184315e-02 9.97467654e-01 -3.82907224e-03 2.09632384e+00] [ 3.76037899e-02 1.15873360e-03 9.99292056e-01 1.40122534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.088623852999994 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:2.11, Z:1.40 [[ 9.96433410e-01 -7.56290280e-02 -3.74260473e-02 4.27512036e+01] [ 7.55384162e-02 9.97135532e-01 -3.83127372e-03 2.10713218e+00] [ 3.76085971e-02 9.90504803e-04 9.99292056e-01 1.40089712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.81, Y:2.12, Z:1.40 [[ 9.96031679e-01 -8.07479900e-02 -3.74253342e-02 4.28086073e+01] [ 8.06607259e-02 9.96734225e-01 -3.83822742e-03 2.11517102e+00] [ 3.76130406e-02 8.04241482e-04 9.99292056e-01 1.40298667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:42.87, Y:2.12, Z:1.41 [[ 9.95434838e-01 -8.78002417e-02 -3.74246077e-02 4.28652782e+01] [ 8.77176898e-02 9.96137953e-01 -3.84529778e-03 2.12407286e+00] [ 3.76176902e-02 5.44943244e-04 9.99292056e-01 1.40545908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.268623852999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:42.92, Y:2.13, Z:1.41 [[ 9.95029289e-01 -9.22829142e-02 -3.74242924e-02 4.29221005e+01] [ 9.22034147e-02 9.95732756e-01 -3.84836365e-03 2.13363395e+00] [ 3.76197320e-02 3.78586996e-04 9.99292056e-01 1.41020275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328623852999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:42.98, Y:2.14, Z:1.41 [[ 9.94858536e-01 -9.41059651e-02 -3.74240738e-02 4.29791655e+01] [ 9.40276748e-02 9.95562138e-01 -3.85048867e-03 2.14250424e+00] [ 3.76203449e-02 3.11792883e-04 9.99292056e-01 1.41308897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:43.04, Y:2.15, Z:1.41 [[ 9.94682889e-01 -9.59449933e-02 -3.74233760e-02 4.30368981e+01] [ 9.58677491e-02 9.95386606e-01 -3.85725864e-03 2.15047873e+00] [ 3.76208119e-02 2.49054344e-04 9.99292056e-01 1.41489762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:43.09, Y:2.16, Z:1.42 [[ 9.94626531e-01 -9.65277567e-02 -3.74226592e-02 4.30929940e+01] [ 9.64506636e-02 9.95330266e-01 -3.86420066e-03 2.15806901e+00] [ 3.76209079e-02 2.33996185e-04 9.99292056e-01 1.41723526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508623852999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:43.15, Y:2.17, Z:1.42 [[ 9.94395326e-01 -9.88812577e-02 -3.74223494e-02 4.31503714e+01] [ 9.88057175e-02 9.95099229e-01 -3.86719821e-03 2.16639696e+00] [ 3.76213445e-02 1.47981745e-04 9.99292056e-01 1.41911617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.21, Y:2.17, Z:1.42 [[ 9.94385330e-01 -9.89820099e-02 -3.74216153e-02 4.32079869e+01] [ 9.89062741e-02 9.95089211e-01 -3.87428953e-03 2.17414467e+00] [ 3.76213306e-02 1.51304141e-04 9.99292056e-01 1.42283204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:2.18, Z:1.43 [[ 9.94567036e-01 -9.71395295e-02 -3.74208742e-02 4.32649355e+01] [ 9.70622210e-02 9.95270747e-01 -3.88143357e-03 2.18393410e+00] [ 3.76209421e-02 2.28192721e-04 9.99292056e-01 1.42900309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.688623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:2.19, Z:1.43 [[ 9.94769257e-01 -9.50466145e-02 -3.74201283e-02 4.33220177e+01] [ 9.49675554e-02 9.95472773e-01 -3.88861191e-03 2.19337540e+00] [ 3.76203183e-02 3.14573472e-04 9.99292056e-01 1.42859076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:43.38, Y:2.20, Z:1.43 [[ 9.95012246e-01 -9.24684946e-02 -3.74193536e-02 4.33785883e+01] [ 9.23873329e-02 9.95715522e-01 -3.89605265e-03 2.20405802e+00] [ 3.76192933e-02 4.19545823e-04 9.99292056e-01 1.43417781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:2.21, Z:1.43 [[ 9.95048850e-01 -9.20738584e-02 -3.74191135e-02 4.34358043e+01] [ 9.19923312e-02 9.95752085e-01 -3.89835655e-03 2.21300536e+00] [ 3.76190970e-02 4.36783720e-04 9.99292056e-01 1.43014200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.868623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:2.22, Z:1.43 [[ 9.94876214e-01 -9.39211664e-02 -3.74183442e-02 4.34915296e+01] [ 9.38406678e-02 9.95579567e-01 -3.90572716e-03 2.22330211e+00] [ 3.76197694e-02 3.74352646e-04 9.99292056e-01 1.43255254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.55, Y:2.23, Z:1.44 [[ 9.94568903e-01 -9.71215933e-02 -3.74178226e-02 4.35485010e+01] [ 9.70431703e-02 9.95272490e-01 -3.91071833e-03 2.23347859e+00] [ 3.76207446e-02 2.58334711e-04 9.99292056e-01 1.43686069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.61, Y:2.24, Z:1.44 [[ 9.94290864e-01 -9.99281757e-02 -3.74170636e-02 4.36054738e+01] [ 9.98514660e-02 9.94994640e-01 -3.91796607e-03 2.24193953e+00] [ 3.76212930e-02 1.59449212e-04 9.99292056e-01 1.43973756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.048623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.66, Y:2.25, Z:1.44 [[ 9.93852347e-01 -1.04199484e-01 -3.74162958e-02 4.36625712e+01] [ 1.04125523e-01 9.94556417e-01 -3.92528559e-03 2.24984427e+00] [ 3.76216298e-02 5.16292862e-06 9.99292056e-01 1.44058225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.72, Y:2.26, Z:1.44 [[ 9.93580388e-01 -1.06761843e-01 -3.74155116e-02 4.37203041e+01] [ 1.06689418e-01 9.94284618e-01 -3.93274551e-03 2.25739275e+00] [ 3.76215349e-02 -8.43403386e-05 9.99292056e-01 1.44323061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.78, Y:2.26, Z:1.44 [[ 9.93242004e-01 -1.09865638e-01 -3.74147325e-02 4.37765324e+01] [ 1.09795134e-01 9.93946429e-01 -3.94014450e-03 2.26474160e+00] [ 3.76211262e-02 -1.94438552e-04 9.99292056e-01 1.44475708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.228623852999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.83, Y:2.27, Z:1.45 [[ 9.93049764e-01 -1.11590007e-01 -3.74143955e-02 4.38345037e+01] [ 1.11520606e-01 9.93754298e-01 -3.94334144e-03 2.27132745e+00] [ 3.76207538e-02 -2.56541759e-04 9.99292056e-01 1.44708314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.89, Y:2.28, Z:1.45 [[ 9.92941468e-01 -1.12549818e-01 -3.74136224e-02 4.38912035e+01] [ 1.12480822e-01 9.93646042e-01 -3.95066295e-03 2.27624428e+00] [ 3.76205442e-02 -2.85537948e-04 9.99292056e-01 1.44853694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:2.28, Z:1.45 [[ 9.92873186e-01 -1.13150703e-01 -3.74132886e-02 4.39486701e+01] [ 1.13082014e-01 9.93577790e-01 -3.95382174e-03 2.28159986e+00] [ 3.76203903e-02 -3.05126429e-04 9.99292056e-01 1.45231530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.408623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.01, Y:2.29, Z:1.46 [[ 9.92878064e-01 -1.13108143e-01 -3.74125360e-02 4.40063343e+01] [ 1.13039157e-01 9.93582639e-01 -3.96093062e-03 2.28723169e+00] [ 3.76204597e-02 -2.96360378e-04 9.99292056e-01 1.45540398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:2.29, Z:1.46 [[ 9.93058915e-01 -1.11509414e-01 -3.74117910e-02 4.40642794e+01] [ 1.11439029e-01 9.93763351e-01 -3.96795424e-03 2.29281795e+00] [ 3.76209311e-02 -2.28721322e-04 9.99292056e-01 1.45775950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:2.30, Z:1.46 [[ 9.93326757e-01 -1.09097971e-01 -3.74110494e-02 4.41219939e+01] [ 1.09025612e-01 9.94030993e-01 -3.97493395e-03 2.29806579e+00] [ 3.76213999e-02 -1.30354309e-04 9.99292056e-01 1.46053382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.588623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:2.30, Z:1.46 [[ 9.93487528e-01 -1.07624350e-01 -3.74102985e-02 4.41799140e+01] [ 1.07550681e-01 9.94191629e-01 -3.98198889e-03 2.30411282e+00] [ 3.76215646e-02 -6.74467858e-05 9.99292056e-01 1.46469698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:2.31, Z:1.47 [[ 9.93638142e-01 -1.06225087e-01 -3.74095438e-02 4.42373331e+01] [ 1.06150161e-01 9.94342110e-01 -3.98906630e-03 2.30900572e+00] [ 3.76216236e-02 -7.34065996e-06 9.99292056e-01 1.46661219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:2.31, Z:1.47 [[ 9.93694206e-01 -1.05699618e-01 -3.74087720e-02 4.42953033e+01] [ 1.05624047e-01 9.94398105e-01 -3.99629117e-03 2.31350947e+00] [ 3.76216184e-02 1.98255073e-05 9.99292056e-01 1.46730474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.768623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:2.32, Z:1.47 [[ 9.93832225e-01 -1.04394204e-01 -3.74080028e-02 4.43523817e+01] [ 1.04317437e-01 9.94535995e-01 -4.00347859e-03 2.31714345e+00] [ 3.76215452e-02 7.64790417e-05 9.99292056e-01 1.46835212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:2.32, Z:1.47 [[ 9.93964351e-01 -1.03128804e-01 -3.74074800e-02 4.44103848e+01] [ 1.03050958e-01 9.94668001e-01 -4.00835752e-03 2.32171837e+00] [ 3.76214005e-02 1.29287808e-04 9.99292056e-01 1.47231821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:2.33, Z:1.48 [[ 9.94077627e-01 -1.02031408e-01 -3.74067312e-02 4.44678501e+01] [ 1.01952523e-01 9.94781162e-01 -4.01533363e-03 2.32685904e+00] [ 3.76212016e-02 1.77842723e-04 9.99292056e-01 1.47594365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:44.53, Y:2.33, Z:1.48 [[ 9.94435626e-01 -9.84813739e-02 -3.74059386e-02 4.45251270e+01] [ 9.83997002e-02 9.95138843e-01 -4.02270307e-03 2.33150135e+00] [ 3.76202638e-02 3.19586098e-04 9.99292056e-01 1.47896091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008623852999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.58, Y:2.34, Z:1.48 [[ 9.94698580e-01 -9.57890881e-02 -3.74056946e-02 4.45826431e+01] [ 9.57054259e-02 9.95401563e-01 -4.02497136e-03 2.33736698e+00] [ 3.76192352e-02 4.23705370e-04 9.99292056e-01 1.48020576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.64, Y:2.35, Z:1.48 [[ 9.95036337e-01 -9.22147389e-02 -3.74049440e-02 4.46399920e+01] [ 9.21282897e-02 9.95738983e-01 -4.03193475e-03 2.34602143e+00] [ 3.76173647e-02 5.65868069e-04 9.99292056e-01 1.48052320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.70, Y:2.35, Z:1.48 [[ 9.95155209e-01 -9.09232580e-02 -3.74041629e-02 4.46973071e+01] [ 9.08356252e-02 9.95857708e-01 -4.03916785e-03 2.35166592e+00] [ 3.76164782e-02 6.21968400e-04 9.99292056e-01 1.48230912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.188623852999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.75, Y:2.36, Z:1.48 [[ 9.95153090e-01 -9.09467696e-02 -3.74033863e-02 4.47534860e+01] [ 9.08588837e-02 9.95855557e-01 -4.04634659e-03 2.35891000e+00] [ 3.76163722e-02 6.28304382e-04 9.99292056e-01 1.48415628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:44.81, Y:2.37, Z:1.49 [[ 9.95070705e-01 -9.18439861e-02 -3.74028609e-02 4.48118140e+01] [ 9.17565513e-02 9.95773229e-01 -4.05119696e-03 2.36704094e+00] [ 3.76168457e-02 5.99269891e-04 9.99292056e-01 1.49105794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:44.87, Y:2.37, Z:1.50 [[ 9.95008962e-01 -9.25107619e-02 -3.74021904e-02 4.48693397e+01] [ 9.24235655e-02 9.95711516e-01 -4.05737852e-03 2.37427898e+00] [ 3.76171428e-02 5.80284202e-04 9.99292056e-01 1.49835900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.368623852999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:44.93, Y:2.38, Z:1.50 [[ 9.94826823e-01 -9.44495988e-02 -3.74014010e-02 4.49266323e+01] [ 9.43634987e-02 9.95529512e-01 -4.06464214e-03 2.37957132e+00] [ 3.76181023e-02 5.14287974e-04 9.99292056e-01 1.49712751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:2.39, Z:1.50 [[ 9.94719062e-01 -9.55779359e-02 -3.74011575e-02 4.49829955e+01] [ 9.54925487e-02 9.95421837e-01 -4.06688113e-03 2.38725271e+00] [ 3.76186330e-02 4.73872327e-04 9.99292056e-01 1.49777414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:2.40, Z:1.50 [[ 9.94581319e-01 -9.70009172e-02 -3.74008247e-02 4.50409198e+01] [ 9.69164206e-02 9.95284202e-01 -4.06993924e-03 2.39584059e+00] [ 3.76192378e-02 4.23131473e-04 9.99292056e-01 1.49751393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.548623852999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:2.40, Z:1.50 [[ 9.94523378e-01 -9.75934755e-02 -3.74000448e-02 4.50987705e+01] [ 9.75091286e-02 9.95226279e-01 -4.07709407e-03 2.40353642e+00] [ 3.76194052e-02 4.07919594e-04 9.99292056e-01 1.49899941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:2.41, Z:1.50 [[ 9.94581269e-01 -9.70020300e-02 -3.73992665e-02 4.51548630e+01] [ 9.69169971e-02 9.95284087e-01 -4.08422100e-03 2.41357883e+00] [ 3.76190725e-02 4.37465106e-04 9.99292056e-01 1.50203173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:2.43, Z:1.51 [[ 9.94547818e-01 -9.73445312e-02 -3.73989297e-02 4.52114761e+01] [ 9.72596246e-02 9.95250652e-01 -4.08730283e-03 2.42579370e+00] [ 3.76191857e-02 4.27612258e-04 9.99292056e-01 1.50531729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.728623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:2.44, Z:1.51 [[ 9.94499767e-01 -9.78345121e-02 -3.73981389e-02 4.52677792e+01] [ 9.77496802e-02 9.95202610e-01 -4.09452566e-03 2.43513166e+00] [ 3.76193113e-02 4.16348700e-04 9.99292056e-01 1.50777543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.32, Y:2.45, Z:1.51 [[ 9.94344875e-01 -9.93965488e-02 -3.73977958e-02 4.53248884e+01] [ 9.93127031e-02 9.95047836e-01 -4.09765698e-03 2.44539212e+00] [ 3.76198887e-02 3.60408025e-04 9.99292056e-01 1.50927403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:45.38, Y:2.46, Z:1.51 [[ 9.94214568e-01 -1.00691892e-01 -3.73970010e-02 4.53803530e+01] [ 1.00608690e-01 9.94917605e-01 -4.10489715e-03 2.45882058e+00] [ 3.76202646e-02 3.18685273e-04 9.99292056e-01 1.51082034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.908623852999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:2.47, Z:1.51 [[ 9.94034366e-01 -1.02455697e-01 -3.73966582e-02 4.54372218e+01] [ 1.02373625e-01 9.94737536e-01 -4.10801806e-03 2.46853399e+00] [ 3.76207495e-02 2.55079665e-04 9.99292056e-01 1.51193326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.49, Y:2.48, Z:1.51 [[ 9.93586517e-01 -1.06711686e-01 -3.73958529e-02 4.54944605e+01] [ 1.06632350e-01 9.94290001e-01 -4.11533609e-03 2.47940483e+00] [ 3.76214770e-02 1.01334770e-04 9.99292057e-01 1.51381931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.55, Y:2.49, Z:1.52 [[ 9.93040632e-01 -1.11677726e-01 -3.73950480e-02 4.55506063e+01] [ 1.11601634e-01 9.93744474e-01 -4.12263658e-03 2.49045271e+00] [ 3.76215290e-02 -7.94028269e-05 9.99292057e-01 1.51726919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.088623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:2.50, Z:1.52 [[ 9.92708588e-01 -1.14591870e-01 -3.73946999e-02 4.56075128e+01] [ 1.14517725e-01 9.93412638e-01 -4.12579180e-03 2.49921156e+00] [ 3.76211497e-02 -1.86647019e-04 9.99292057e-01 1.51876055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:2.51, Z:1.52 [[ 9.92454545e-01 -1.16771882e-01 -3.73939027e-02 4.56640241e+01] [ 1.16699011e-01 9.93158728e-01 -4.13300471e-03 2.50537075e+00] [ 3.76206996e-02 -2.62012169e-04 9.99292057e-01 1.52088394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.72, Y:2.51, Z:1.52 [[ 9.92416905e-01 -1.17091455e-01 -3.73935592e-02 4.57208808e+01] [ 1.17018694e-01 9.93121099e-01 -4.13611016e-03 2.51444798e+00] [ 3.76206358e-02 -2.70999836e-04 9.99292057e-01 1.52270738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.268623852999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.78, Y:2.52, Z:1.52 [[ 9.92552645e-01 -1.15935441e-01 -3.73927734e-02 4.57772518e+01] [ 1.15861594e-01 9.93256727e-01 -4.14320242e-03 2.52358153e+00] [ 3.76209677e-02 -2.20039788e-04 9.99292057e-01 1.52214754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:2.53, Z:1.52 [[ 9.92685804e-01 -1.14789808e-01 -3.73924331e-02 4.58346445e+01] [ 1.14715032e-01 9.93389787e-01 -4.14627078e-03 2.53025184e+00] [ 3.76212108e-02 -1.73530036e-04 9.99292057e-01 1.52336727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:2.54, Z:1.52 [[ 9.92926896e-01 -1.12685590e-01 -3.73916598e-02 4.58921864e+01] [ 1.12609060e-01 9.93630691e-01 -4.15323334e-03 2.53832346e+00] [ 3.76215103e-02 -8.67825797e-05 9.99292057e-01 1.52470842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.448623852999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:2.55, Z:1.53 [[ 9.93181705e-01 -1.10417506e-01 -3.73908482e-02 4.59488748e+01] [ 1.10339094e-01 9.93885292e-01 -4.16052746e-03 2.54679066e+00] [ 3.76216091e-02 6.48744907e-06 9.99292057e-01 1.52652888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508623852999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:2.55, Z:1.53 [[ 9.93328954e-01 -1.09085013e-01 -3.73904970e-02 4.60057652e+01] [ 1.09005539e-01 9.94032422e-01 -4.16368121e-03 2.55339010e+00] [ 3.76215615e-02 6.01338330e-05 9.99292057e-01 1.52915538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:2.56, Z:1.53 [[ 9.93472218e-01 -1.07772577e-01 -3.73901562e-02 4.60626664e+01] [ 1.07692058e-01 9.94175567e-01 -4.16673949e-03 2.56175351e+00] [ 3.76214400e-02 1.12917037e-04 9.99292057e-01 1.53228723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:2.57, Z:1.53 [[ 9.93653885e-01 -1.06084845e-01 -3.73893473e-02 4.61205410e+01] [ 1.06002859e-01 9.94357065e-01 -4.17398487e-03 2.56954057e+00] [ 3.76211582e-02 1.84118566e-04 9.99292057e-01 1.53352816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.688623852999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:2.58, Z:1.53 [[ 9.93768244e-01 -1.05008453e-01 -3.73885251e-02 4.61765306e+01] [ 1.04925428e-01 9.94471302e-01 -4.18133705e-03 2.57830281e+00] [ 3.76208910e-02 2.32272966e-04 9.99292057e-01 1.53497161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:2.59, Z:1.54 [[ 9.93922356e-01 -1.03539727e-01 -3.73881676e-02 4.62342400e+01] [ 1.03455543e-01 9.94625276e-01 -4.18453083e-03 2.58746949e+00] [ 3.76204817e-02 2.91085546e-04 9.99292057e-01 1.53801005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:2.60, Z:1.54 [[ 9.94008235e-01 -1.02712282e-01 -3.73873779e-02 4.62910833e+01] [ 1.02627249e-01 9.94711053e-01 -4.19157511e-03 2.59741722e+00] [ 3.76201643e-02 3.29496452e-04 9.99292057e-01 1.53962101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.868623852999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:2.61, Z:1.54 [[ 9.94011422e-01 -1.02681722e-01 -3.73865898e-02 4.63483153e+01] [ 1.02596403e-01 9.94714205e-01 -4.19859284e-03 2.60592401e+00] [ 3.76200907e-02 3.37719589e-04 9.99292057e-01 1.54008532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:46.40, Y:2.62, Z:1.54 [[ 9.93906637e-01 -1.03691365e-01 -3.73857836e-02 4.64046572e+01] [ 1.03606490e-01 9.94609475e-01 -4.20575923e-03 2.61511360e+00] [ 3.76203555e-02 3.06722195e-04 9.99292057e-01 1.54043906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:2.62, Z:1.54 [[ 9.93707987e-01 -1.05578244e-01 -3.73854354e-02 4.64621990e+01] [ 1.05494588e-01 9.94410970e-01 -4.20885193e-03 2.62287312e+00] [ 3.76208503e-02 2.38408687e-04 9.99292057e-01 1.54251766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.048623852999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:2.63, Z:1.54 [[ 9.93267282e-01 -1.09647133e-01 -3.73846479e-02 4.65194466e+01] [ 1.09566093e-01 9.93970572e-01 -4.21583521e-03 2.63107292e+00] [ 3.76214941e-02 9.13613639e-05 9.99292057e-01 1.54343244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.58, Y:2.64, Z:1.54 [[ 9.92822669e-01 -1.13602796e-01 -3.73838530e-02 4.65771773e+01] [ 1.13524294e-01 9.93526246e-01 -4.22287250e-03 2.63536516e+00] [ 3.76215693e-02 -5.14119679e-05 9.99292057e-01 1.54352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:2.64, Z:1.54 [[ 9.92583024e-01 -1.15678212e-01 -3.73830524e-02 4.66348406e+01] [ 1.15600915e-01 9.93286734e-01 -4.22994776e-03 2.64159168e+00] [ 3.76214028e-02 -1.22940712e-04 9.99292057e-01 1.54486507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.228623852999995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:2.65, Z:1.55 [[ 9.92341844e-01 -1.17729487e-01 -3.73822492e-02 4.66926541e+01] [ 1.17653377e-01 9.93045684e-01 -4.23703450e-03 2.64743648e+00] [ 3.76211051e-02 -1.93561209e-04 9.99292057e-01 1.54592965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:2.65, Z:1.55 [[ 9.92147940e-01 -1.19352811e-01 -3.73814399e-02 4.67489611e+01] [ 1.19277584e-01 9.92851875e-01 -4.24416214e-03 2.65276461e+00] [ 3.76207854e-02 -2.47931100e-04 9.99292057e-01 1.54792173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:2.66, Z:1.55 [[ 9.92089974e-01 -1.19833789e-01 -3.73810903e-02 4.68071300e+01] [ 1.19758788e-01 9.92793933e-01 -4.24723888e-03 2.65625220e+00] [ 3.76206824e-02 -2.63070941e-04 9.99292057e-01 1.55152151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.408623852999995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:2.66, Z:1.55 [[ 9.92252915e-01 -1.18477280e-01 -3.73803049e-02 4.68652070e+01] [ 1.18401056e-01 9.92956742e-01 -4.25414026e-03 2.65981099e+00] [ 3.76210448e-02 -2.04684497e-04 9.99292057e-01 1.55167722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:2.66, Z:1.55 [[ 9.92565031e-01 -1.15833635e-01 -3.73795122e-02 4.69217943e+01] [ 1.15755275e-01 9.93268624e-01 -4.26109438e-03 2.66440583e+00] [ 3.76214747e-02 -9.74624204e-05 9.99292057e-01 1.55355581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:2.67, Z:1.56 [[ 9.93055665e-01 -1.11549287e-01 -3.73791693e-02 4.69795885e+01] [ 1.11467778e-01 9.93758900e-01 -4.26409979e-03 2.67117385e+00] [ 3.76215395e-02 6.79154923e-05 9.99292057e-01 1.55689372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.588623852999994 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:2.68, Z:1.56 [[ 9.93179462e-01 -1.10441903e-01 -3.73783772e-02 4.70370048e+01] [ 1.10359349e-01 9.93882575e-01 -4.27103247e-03 2.67631308e+00] [ 3.76214187e-02 1.16848345e-04 9.99292057e-01 1.55951247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:2.68, Z:1.56 [[ 9.93196477e-01 -1.10289054e-01 -3.73775629e-02 4.70951035e+01] [ 1.10206124e-01 9.93899546e-01 -4.27814642e-03 2.68120584e+00] [ 3.76213756e-02 1.29803606e-04 9.99292057e-01 1.56481241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:2.69, Z:1.56 [[ 9.93108449e-01 -1.11079189e-01 -3.73767520e-02 4.71517791e+01] [ 1.10996552e-01 9.93811553e-01 -4.28521932e-03 2.68579858e+00] [ 3.76214467e-02 1.06996913e-04 9.99292057e-01 1.56433269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.768623852999994 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:2.69, Z:1.57 [[ 9.92948563e-01 -1.12499645e-01 -3.73762029e-02 4.72090937e+01] [ 1.12417833e-01 9.93651763e-01 -4.29000362e-03 2.69125197e+00] [ 3.76215538e-02 5.80011768e-05 9.99292057e-01 1.56648078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828623852999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:47.27, Y:2.69, Z:1.57 [[ 9.92476913e-01 -1.16587550e-01 -3.73754024e-02 4.72670062e+01] [ 1.16508373e-01 9.93180414e-01 -4.29696655e-03 2.69435064e+00] [ 3.76214904e-02 -8.99072178e-05 9.99292057e-01 1.56829166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888623853 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:47.33, Y:2.70, Z:1.57 [[ 9.92080238e-01 -1.19916391e-01 -3.73745993e-02 4.73251146e+01] [ 1.19839311e-01 9.92783972e-01 -4.30394060e-03 2.69936991e+00] [ 3.76210162e-02 -2.09091822e-04 9.99292057e-01 1.57104086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.948623852999994 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:2.70, Z:1.57 [[ 9.91421471e-01 -1.25246426e-01 -3.73737891e-02 4.73832113e+01] [ 1.25172865e-01 9.92125582e-01 -4.31096454e-03 2.70046118e+00] [ 3.76194251e-02 -4.04201447e-04 9.99292057e-01 1.57166629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008623852999996 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:2.70, Z:1.57 [[ 9.91088092e-01 -1.27857954e-01 -3.73729423e-02 4.74400552e+01] [ 1.27785972e-01 9.91792366e-01 -4.31829303e-03 2.70341749e+00] [ 3.76183270e-02 -4.95928955e-04 9.99292057e-01 1.57162101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068623853 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:2.70, Z:1.57 [[ 9.90609718e-01 -1.31513027e-01 -3.73725764e-02 4.74985675e+01] [ 1.31443524e-01 9.91314241e-01 -4.32145712e-03 2.70407526e+00] [ 3.76162952e-02 -6.31505736e-04 9.99292057e-01 1.57436672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128623853 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:2.70, Z:1.57 [[ 9.90132437e-01 -1.35059644e-01 -3.73717660e-02 4.75566983e+01] [ 1.34992401e-01 9.90837179e-01 -4.32845442e-03 2.70339392e+00] [ 3.76139347e-02 -7.59161288e-04 9.99292057e-01 1.57479853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.188623852999996 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:47.61, Y:2.70, Z:1.58 [[ 9.89771939e-01 -1.37676870e-01 -3.73709551e-02 4.76144519e+01] [ 1.37611226e-01 9.90476832e-01 -4.33544418e-03 2.70330330e+00] [ 3.76119556e-02 -8.51561959e-04 9.99292057e-01 1.57649241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248623853 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:47.67, Y:2.70, Z:1.58 [[ 9.89408719e-01 -1.40263411e-01 -3.73706037e-02 4.76735195e+01] [ 1.40199496e-01 9.90113771e-01 -4.33847095e-03 2.70070674e+00] [ 3.76096781e-02 -9.46818819e-04 9.99292057e-01 1.57894830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308623853 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:2.70, Z:1.59 [[ 9.89328640e-01 -1.40827338e-01 -3.73698040e-02 4.77317673e+01] [ 1.40763565e-01 9.90033705e-01 -4.34534838e-03 2.70085574e+00] [ 3.76093094e-02 -9.61329231e-04 9.99292057e-01 1.58794972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.368623852999995 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:2.70, Z:1.59 [[ 9.89413111e-01 -1.40232861e-01 -3.73689854e-02 4.77891915e+01] [ 1.40168399e-01 9.90118113e-01 -4.35237655e-03 2.69596158e+00] [ 3.76100556e-02 -9.31652433e-04 9.99292057e-01 1.58983134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428623853 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:2.69, Z:1.58 [[ 9.89759412e-01 -1.37767579e-01 -3.73684313e-02 4.78476112e+01] [ 1.37701181e-01 9.90464235e-01 -4.35712914e-03 2.69009501e+00] [ 3.76123658e-02 -8.33167557e-04 9.99292057e-01 1.58402279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488623853 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:2.69, Z:1.58 [[ 9.90124184e-01 -1.35121212e-01 -3.73678810e-02 4.79059460e+01] [ 1.35052752e-01 9.90828809e-01 -4.36184382e-03 2.68911994e+00] [ 3.76145506e-02 -7.27868120e-04 9.99292057e-01 1.58492498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.548623852999995 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:2.69, Z:1.59 [[ 9.90639123e-01 -1.31292925e-01 -3.73670544e-02 4.79642694e+01] [ 1.31221476e-01 9.91343451e-01 -4.36891319e-03 2.68511656e+00] [ 3.76171921e-02 -5.75343695e-04 9.99292057e-01 1.58570173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:2.69, Z:1.59 [[ 9.90957597e-01 -1.28867262e-01 -3.73666961e-02 4.80224683e+01] [ 1.28793974e-01 9.91661736e-01 -4.37197585e-03 2.68500310e+00] [ 3.76185273e-02 -4.80162591e-04 9.99292057e-01 1.58699157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668623853 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:2.68, Z:1.59 [[ 9.91626431e-01 -1.23615591e-01 -3.73658488e-02 4.80797566e+01] [ 1.23538300e-01 9.92330142e-01 -4.37920576e-03 2.68300129e+00] [ 3.76205961e-02 -2.73577266e-04 9.99292057e-01 1.58890497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.728623852999995 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:2.68, Z:1.59 [[ 9.92081643e-01 -1.19907607e-01 -3.73654824e-02 4.81375016e+01] [ 1.19827569e-01 9.92785047e-01 -4.38232976e-03 2.68441287e+00] [ 3.76213668e-02 -1.29785999e-04 9.99292057e-01 1.59097193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788623853 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:2.68, Z:1.59 [[ 9.92621038e-01 -1.15357520e-01 -3.73646545e-02 4.81956397e+01] [ 1.15273993e-01 9.93324036e-01 -4.38937726e-03 2.68461310e+00] [ 3.76215571e-02 4.98153042e-05 9.99292057e-01 1.59234970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848623853 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:2.69, Z:1.59 [[ 9.92914302e-01 -1.12805733e-01 -3.73638337e-02 4.82545755e+01] [ 1.12720136e-01 9.93617051e-01 -4.39635323e-03 2.68893546e+00] [ 3.76212760e-02 1.53545597e-04 9.99292057e-01 1.59236887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.908623852999995 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:2.69, Z:1.59 [[ 9.93176627e-01 -1.10472560e-01 -3.73631054e-02 4.83127013e+01] [ 1.10385080e-01 9.93879143e-01 -4.40253390e-03 2.69259557e+00] [ 3.76207704e-02 2.48164398e-04 9.99292057e-01 1.59345125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968623853 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:48.37, Y:2.69, Z:1.60 [[ 9.93487801e-01 -1.07638514e-01 -3.73622664e-02 4.83697940e+01] [ 1.07548763e-01 9.94190031e-01 -4.40964257e-03 2.69407645e+00] [ 3.76198402e-02 3.62660587e-04 9.99292057e-01 1.59548384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028623853 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:2.70, Z:1.60 [[ 9.93723088e-01 -1.05444357e-01 -3.73619045e-02 4.84275737e+01] [ 1.05352939e-01 9.94425103e-01 -4.41270653e-03 2.70074553e+00] [ 3.76189108e-02 4.48821900e-04 9.99292057e-01 1.60372728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.088623852999994 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:2.71, Z:1.60 [[ 9.93729770e-01 -1.05381665e-01 -3.73610666e-02 4.84849896e+01] [ 1.05289937e-01 9.94431745e-01 -4.41978926e-03 2.70642347e+00] [ 3.76187954e-02 4.58331823e-04 9.99292057e-01 1.60148852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148623853 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:2.71, Z:1.61 [[ 9.93632909e-01 -1.06291385e-01 -3.73601972e-02 4.85414142e+01] [ 1.06200024e-01 9.94334931e-01 -4.42712646e-03 2.71270352e+00] [ 3.76191145e-02 4.31284687e-04 9.99292058e-01 1.60940895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208623853 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:2.72, Z:1.61 [[ 9.93385876e-01 -1.08575989e-01 -3.73598200e-02 4.85993268e+01] [ 1.08486123e-01 9.94088091e-01 -4.43030688e-03 2.71888005e+00] [ 3.76199772e-02 3.47982260e-04 9.99292058e-01 1.61252653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.268623852999994 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:2.73, Z:1.61 [[ 9.92872968e-01 -1.13170572e-01 -3.73589616e-02 4.86566855e+01] [ 1.13083684e-01 9.93575558e-01 -4.43753423e-03 2.72514662e+00] [ 3.76211494e-02 1.81218793e-04 9.99292058e-01 1.60905836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328623852999996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:2.73, Z:1.61 [[ 9.92458447e-01 -1.16750180e-01 -3.73580942e-02 4.87156453e+01] [ 1.16665551e-01 9.93161313e-01 -4.44482445e-03 2.73151341e+00] [ 3.76215479e-02 5.29009265e-05 9.99292058e-01 1.60949708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:2.74, Z:1.61 [[ 9.92199210e-01 -1.18933415e-01 -3.73573402e-02 4.87722128e+01] [ 1.18850094e-01 9.92902232e-01 -4.45115259e-03 2.73910088e+00] [ 3.76215772e-02 -2.34933241e-05 9.99292058e-01 1.61127646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.448623852999994 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:2.75, Z:1.61 [[ 9.91925088e-01 -1.21198568e-01 -3.73567532e-02 4.88300102e+01] [ 1.21116668e-01 9.92628277e-01 -4.45607350e-03 2.74743770e+00] [ 3.76214393e-02 -1.04434362e-04 9.99292058e-01 1.61080712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508623852999996 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:2.75, Z:1.61 [[ 9.91675415e-01 -1.23224992e-01 -3.73560192e-02 4.88878967e+01] [ 1.23144297e-01 9.92378744e-01 -4.46221790e-03 2.75427396e+00] [ 3.76211762e-02 -1.75108932e-04 9.99292058e-01 1.61200836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:48.95, Y:2.76, Z:1.61 [[ 9.91534743e-01 -1.24352093e-01 -3.73551853e-02 4.89456583e+01] [ 1.24271935e-01 9.92238133e-01 -4.46918833e-03 2.76135200e+00] [ 3.76209922e-02 -2.10845643e-04 9.99292058e-01 1.61426435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:49.00, Y:2.77, Z:1.62 [[ 9.91318588e-01 -1.26063916e-01 -3.73543403e-02 4.90024341e+01] [ 1.25984707e-01 9.92022085e-01 -4.47624022e-03 2.76805684e+00] [ 3.76206229e-02 -2.68695483e-04 9.99292058e-01 1.61513297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.688623852999996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:49.06, Y:2.78, Z:1.62 [[ 9.91208948e-01 -1.26923211e-01 -3.73539752e-02 4.90598457e+01] [ 1.26844497e-01 9.91912501e-01 -4.47928467e-03 2.77603375e+00] [ 3.76204001e-02 -2.98239153e-04 9.99292058e-01 1.61796776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:49.12, Y:2.78, Z:1.62 [[ 9.91121893e-01 -1.27601303e-01 -3.73537233e-02 4.91170232e+01] [ 1.27522992e-01 9.91825491e-01 -4.48138455e-03 2.78373799e+00] [ 3.76202054e-02 -3.21860205e-04 9.99292058e-01 1.61995093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:49.17, Y:2.79, Z:1.62 [[ 9.90982570e-01 -1.28679086e-01 -3.73529021e-02 4.91749614e+01] [ 1.28601282e-01 9.91686224e-01 -4.48821845e-03 2.79022535e+00] [ 3.76198983e-02 -3.55884848e-04 9.99292058e-01 1.62171075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.868623852999995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:49.23, Y:2.80, Z:1.63 [[ 9.91113628e-01 -1.27665966e-01 -3.73520795e-02 4.92328215e+01] [ 1.27587185e-01 9.91817173e-01 -4.49505440e-03 2.79785604e+00] [ 3.76202993e-02 -3.10537004e-04 9.99292058e-01 1.62617453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:49.29, Y:2.81, Z:1.63 [[ 9.91338157e-01 -1.25910817e-01 -3.73513647e-02 4.92896209e+01] [ 1.25830567e-01 9.92041536e-01 -4.50098610e-03 2.80618332e+00] [ 3.76208280e-02 -2.37944138e-04 9.99292058e-01 1.62799898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988623853 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:49.35, Y:2.81, Z:1.64 [[ 9.91436951e-01 -1.25130626e-01 -3.73510117e-02 4.93462635e+01] [ 1.25049712e-01 9.92140254e-01 -4.50391303e-03 2.81467517e+00] [ 3.76210197e-02 -2.05387444e-04 9.99292058e-01 1.63716334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.048623852999995 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:2.82, Z:1.63 [[ 9.91343075e-01 -1.25872453e-01 -3.73501378e-02 4.94026235e+01] [ 1.25791793e-01 9.92046407e-01 -4.51114904e-03 2.82252251e+00] [ 3.76208994e-02 -2.26244447e-04 9.99292058e-01 1.63172094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:2.83, Z:1.64 [[ 9.91188671e-01 -1.27082770e-01 -3.73495424e-02 4.94601118e+01] [ 1.27002783e-01 9.91892080e-01 -4.51607308e-03 2.82911655e+00] [ 3.76206304e-02 -2.67215362e-04 9.99292058e-01 1.63619089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:49.52, Y:2.84, Z:1.64 [[ 9.91178760e-01 -1.27160302e-01 -3.73486799e-02 4.95181827e+01] [ 1.27080102e-01 9.91882144e-01 -4.52319447e-03 2.83838145e+00] [ 3.76206595e-02 -2.62979781e-04 9.99292058e-01 1.63554634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.228623852999995 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:49.58, Y:2.85, Z:1.64 [[ 9.91451804e-01 -1.25013807e-01 -3.73479317e-02 4.95752197e+01] [ 1.24931852e-01 9.92154986e-01 -4.52936430e-03 2.84637805e+00] [ 3.76211697e-02 -1.75299867e-04 9.99292058e-01 1.64450980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288623853 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:49.63, Y:2.85, Z:1.64 [[ 9.91549425e-01 -1.24237232e-01 -3.73476671e-02 4.96337504e+01] [ 1.24154643e-01 9.92252533e-01 -4.53154490e-03 2.85444664e+00] [ 3.76213039e-02 -1.43635557e-04 9.99292058e-01 1.64054749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:49.69, Y:2.86, Z:1.64 [[ 9.91610402e-01 -1.23749820e-01 -3.73469217e-02 4.96914679e+01] [ 1.23666655e-01 9.92313442e-01 -4.53767954e-03 2.86421131e+00] [ 3.76213895e-02 -1.18958660e-04 9.99292058e-01 1.64412163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.408623852999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:49.75, Y:2.87, Z:1.65 [[ 9.91691972e-01 -1.23094662e-01 -3.73461774e-02 4.97486883e+01] [ 1.23010802e-01 9.92394930e-01 -4.54379761e-03 2.87304209e+00] [ 3.76214743e-02 -8.79356309e-05 9.99292058e-01 1.64614389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:2.88, Z:1.64 [[ 9.91941003e-01 -1.21071772e-01 -3.73453166e-02 4.98063128e+01] [ 1.20986213e-01 9.92643756e-01 -4.55086170e-03 2.88134401e+00] [ 3.76215762e-02 -4.08209741e-06 9.99292058e-01 1.64475418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:49.86, Y:2.89, Z:1.65 [[ 9.92070867e-01 -1.20003090e-01 -3.73450507e-02 4.98634678e+01] [ 1.19916692e-01 9.92773517e-01 -4.55304214e-03 2.89190324e+00] [ 3.76215565e-02 3.86455325e-05 9.99292058e-01 1.64563453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.588623852999994 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:49.92, Y:2.90, Z:1.65 [[ 9.92060226e-01 -1.20091290e-01 -3.73442050e-02 4.99203978e+01] [ 1.20004693e-01 9.92762852e-01 -4.55996848e-03 2.90080765e+00] [ 3.76215519e-02 4.22835071e-05 9.99292058e-01 1.64657034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:49.98, Y:2.91, Z:1.65 [[ 9.91923574e-01 -1.21214943e-01 -3.73438099e-02 4.99783429e+01] [ 1.21129020e-01 9.92626283e-01 -4.56320148e-03 2.90999950e+00] [ 3.76215754e-02 2.92802203e-06 9.99292058e-01 1.65240909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:2.92, Z:1.66 [[ 9.91679440e-01 -1.23196533e-01 -3.73430460e-02 5.00338332e+01] [ 1.23111780e-01 9.92382290e-01 -4.56944455e-03 2.91946638e+00] [ 3.76215172e-02 -6.59446480e-05 9.99292058e-01 1.66205547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.768623852999994 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:50.09, Y:2.93, Z:1.66 [[ 9.91388161e-01 -1.25519144e-01 -3.73424543e-02 5.00917107e+01] [ 1.25435856e-01 9.92091186e-01 -4.57427524e-03 2.92788183e+00] [ 3.76212789e-02 -1.49200381e-04 9.99292058e-01 1.66397396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828623852999996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:50.15, Y:2.93, Z:1.67 [[ 9.90759893e-01 -1.30385717e-01 -3.73416661e-02 5.01494090e+01] [ 1.30305639e-01 9.91463291e-01 -4.58070064e-03 2.93477928e+00] [ 3.76201491e-02 -3.27455178e-04 9.99292058e-01 1.66528158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:2.94, Z:1.67 [[ 9.89935683e-01 -1.36502654e-01 -3.73412501e-02 5.02070018e+01] [ 1.36426795e-01 9.90639549e-01 -4.58408894e-03 2.93966609e+00] [ 3.76174595e-02 -5.56393844e-04 9.99292058e-01 1.66583753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.948623852999994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:2.94, Z:1.67 [[ 9.89390896e-01 -1.40396960e-01 -3.73409806e-02 5.02658406e+01] [ 1.40323788e-01 9.90095046e-01 -4.58628345e-03 2.94304417e+00] [ 3.76150201e-02 -7.02200749e-04 9.99292058e-01 1.66748847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008623852999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:50.32, Y:2.94, Z:1.67 [[ 9.88875271e-01 -1.43984040e-01 -3.73402515e-02 5.03236836e+01] [ 1.43913199e-01 9.89579660e-01 -4.59221168e-03 2.94329819e+00] [ 3.76123586e-02 -8.32630457e-04 9.99292058e-01 1.66761294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:50.38, Y:2.95, Z:1.67 [[ 9.88788674e-01 -1.44577603e-01 -3.73399942e-02 5.03811996e+01] [ 1.44507105e-01 9.89493097e-01 -4.59430292e-03 2.94925571e+00] [ 3.76118998e-02 -8.53099783e-04 9.99292058e-01 1.67334106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:50.44, Y:2.95, Z:1.67 [[ 9.88951760e-01 -1.43458033e-01 -3.73390996e-02 5.04386387e+01] [ 1.43386463e-01 9.89656075e-01 -4.60156240e-03 2.95242448e+00] [ 3.76129978e-02 -8.03198194e-04 9.99292058e-01 1.66991728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.188623852999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:50.50, Y:2.95, Z:1.67 [[ 9.89329890e-01 -1.40826809e-01 -3.73387138e-02 5.04963770e+01] [ 1.40753248e-01 9.90033999e-01 -4.60469074e-03 2.95231841e+00] [ 3.76150600e-02 -6.99987061e-04 9.99292058e-01 1.67318809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:2.96, Z:1.68 [[ 9.89737500e-01 -1.37933026e-01 -3.73384725e-02 5.05547926e+01] [ 1.37857333e-01 9.90441384e-01 -4.60664595e-03 2.95566351e+00] [ 3.76169770e-02 -5.88012011e-04 9.99292058e-01 1.68284334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:2.96, Z:1.68 [[ 9.90713488e-01 -1.30738986e-01 -3.73376835e-02 5.06122398e+01] [ 1.30657941e-01 9.91416775e-01 -4.61303272e-03 2.95915235e+00] [ 3.76203090e-02 -3.08271102e-04 9.99292058e-01 1.68389102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.368623852999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:2.97, Z:1.69 [[ 9.91888840e-01 -1.21500913e-01 -3.73370731e-02 5.06696160e+01] [ 1.21413131e-01 9.92591319e-01 -4.61796745e-03 2.96539249e+00] [ 3.76215419e-02 4.72994270e-05 9.99292058e-01 1.68801943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:2.97, Z:1.69 [[ 9.92818588e-01 -1.13654125e-01 -3.73361867e-02 5.07267119e+01] [ 1.13560523e-01 9.93520315e-01 -4.62512313e-03 2.97333719e+00] [ 3.76199243e-02 3.51991334e-04 9.99292058e-01 1.69048319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:50.78, Y:2.98, Z:1.69 [[ 9.93309375e-01 -1.09282025e-01 -3.73352869e-02 5.07828166e+01] [ 1.09185062e-01 9.94010646e-01 -4.63237514e-03 2.98105955e+00] [ 3.76179080e-02 5.24926051e-04 9.99292058e-01 1.69205963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.548623852999995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:50.84, Y:2.99, Z:1.70 [[ 9.93876640e-01 -1.03996781e-01 -3.73348983e-02 5.08396489e+01] [ 1.03895971e-01 9.94577367e-01 -4.63550514e-03 2.99154966e+00] [ 3.76145224e-02 7.28174752e-04 9.99292058e-01 1.70190095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:3.00, Z:1.70 [[ 9.94281511e-01 -1.00052241e-01 -3.73339825e-02 5.08966470e+01] [ 9.99483750e-02 9.94981792e-01 -4.64286917e-03 3.00233417e+00] [ 3.76111623e-02 8.84848092e-04 9.99292058e-01 1.69918012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:3.01, Z:1.70 [[ 9.94382069e-01 -9.90479432e-02 -3.73336998e-02 5.09536483e+01] [ 9.89432846e-02 9.95082232e-01 -4.64514136e-03 3.01487420e+00] [ 3.76101930e-02 9.25126394e-04 9.99292058e-01 1.70037234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.728623852999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:51.01, Y:3.03, Z:1.70 [[ 9.94294637e-01 -9.99219199e-02 -3.73334251e-02 5.10106449e+01] [ 9.98177940e-02 9.94994879e-01 -4.64734791e-03 3.02514412e+00] [ 3.76109387e-02 8.94292974e-04 9.99292058e-01 1.70208723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:51.07, Y:3.04, Z:1.70 [[ 9.93876066e-01 -1.04003106e-01 -3.73325591e-02 5.10671876e+01] [ 1.03901595e-01 9.94576692e-01 -4.65429443e-03 3.03942461e+00] [ 3.76141542e-02 7.46879401e-04 9.99292058e-01 1.70283028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:3.05, Z:1.71 [[ 9.93221444e-01 -1.10079553e-01 -3.73316832e-02 5.11231656e+01] [ 1.09982065e-01 9.93922642e-01 -4.66130929e-03 3.05095459e+00] [ 3.76179200e-02 5.23896729e-04 9.99292058e-01 1.70529859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.908623852999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:51.18, Y:3.06, Z:1.71 [[ 9.92740982e-01 -1.14331611e-01 -3.73313023e-02 5.11800930e+01] [ 1.14237012e-01 9.93442575e-01 -4.66435731e-03 3.06261597e+00] [ 3.76197886e-02 3.65882238e-04 9.99292058e-01 1.70824461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:3.07, Z:1.71 [[ 9.91912946e-01 -1.21306005e-01 -3.73304348e-02 5.12366032e+01] [ 1.21216078e-01 9.92615153e-01 -4.67128999e-03 3.07452713e+00] [ 3.76214108e-02 1.08464118e-04 9.99292058e-01 1.71035005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:51.29, Y:3.09, Z:1.71 [[ 9.90992574e-01 -1.28608799e-01 -3.73295417e-02 5.12924488e+01] [ 1.28523778e-01 9.91695392e-01 -4.67841660e-03 3.08722067e+00] [ 3.76212200e-02 -1.61457627e-04 9.99292058e-01 1.71152590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.088623852999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.35, Y:3.10, Z:1.71 [[ 9.90252166e-01 -1.34190840e-01 -3.73291540e-02 5.13496090e+01] [ 1.34109665e-01 9.90955439e-01 -4.68150743e-03 3.09584787e+00] [ 3.76197436e-02 -3.70327474e-04 9.99292058e-01 1.71387077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:51.41, Y:3.10, Z:1.72 [[ 9.89200009e-01 -1.41738991e-01 -3.73282723e-02 5.14072329e+01] [ 1.41662917e-01 9.89903852e-01 -4.68852795e-03 3.10445795e+00] [ 3.76159477e-02 -6.50140044e-04 9.99292058e-01 1.71757416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:51.47, Y:3.11, Z:1.72 [[ 9.88550987e-01 -1.46197164e-01 -3.73274009e-02 5.14655985e+01] [ 1.46124003e-01 9.89255138e-01 -4.69545505e-03 3.11275151e+00] [ 3.76127853e-02 -8.12732498e-04 9.99292058e-01 1.72360361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.268623852999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:3.12, Z:1.72 [[ 9.88130292e-01 -1.49014253e-01 -3.73266505e-02 5.15230618e+01] [ 1.48942874e-01 9.88834626e-01 -4.70141293e-03 3.11866385e+00] [ 3.76104620e-02 -9.13930051e-04 9.99292058e-01 1.72068999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328623852999996 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:3.12, Z:1.73 [[ 9.87635148e-01 -1.52261611e-01 -3.73257998e-02 5.15800473e+01] [ 1.52192292e-01 9.88339688e-01 -4.70815681e-03 3.12332370e+00] [ 3.76074409e-02 -1.03075789e-03 9.99292058e-01 1.73088270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:3.13, Z:1.72 [[ 9.87622288e-01 -1.52345095e-01 -3.73254322e-02 5.16385938e+01] [ 1.52275726e-01 9.88326823e-01 -4.71106929e-03 3.12814021e+00] [ 3.76074341e-02 -1.03100026e-03 9.99292058e-01 1.72497673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.448623852999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:3.13, Z:1.73 [[ 9.88228273e-01 -1.48363588e-01 -3.73246023e-02 5.16948529e+01] [ 1.48291132e-01 9.88932497e-01 -4.71763539e-03 3.13350964e+00] [ 3.76114375e-02 -8.72806848e-04 9.99292058e-01 1.72719460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508623852999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:3.14, Z:1.73 [[ 9.89353921e-01 -1.40661775e-01 -3.73240380e-02 5.17521753e+01] [ 1.40583668e-01 9.90057541e-01 -4.72209598e-03 3.13890804e+00] [ 3.76171636e-02 -5.75325992e-04 9.99292058e-01 1.73081497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:3.15, Z:1.74 [[ 9.90282047e-01 -1.33971823e-01 -3.73231434e-02 5.18088829e+01] [ 1.33888697e-01 9.90985092e-01 -4.72915587e-03 3.14718427e+00] [ 3.76202523e-02 -3.13948866e-04 9.99292058e-01 1.73897760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:51.87, Y:3.16, Z:1.74 [[ 9.91438278e-01 -1.25128698e-01 -3.73222472e-02 5.18672596e+01] [ 1.25039034e-01 9.92140518e-01 -4.73621846e-03 3.15748609e+00] [ 3.76215505e-02 2.89305408e-05 9.99292058e-01 1.73858724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.688623852999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:51.92, Y:3.16, Z:1.74 [[ 9.92235375e-01 -1.18642608e-01 -3.73214591e-02 5.19245586e+01] [ 1.18548121e-01 9.92936983e-01 -4.74242021e-03 3.16483938e+00] [ 3.76205101e-02 2.81208239e-04 9.99292058e-01 1.73927114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.98, Y:3.17, Z:1.74 [[ 9.92588933e-01 -1.15647681e-01 -3.73205528e-02 5.19820308e+01] [ 1.15550809e-01 9.93290216e-01 -4.74954153e-03 3.17391255e+00] [ 3.76194134e-02 4.01922277e-04 9.99292059e-01 1.74087320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.04, Y:3.19, Z:1.74 [[ 9.92993619e-01 -1.12120100e-01 -3.73196377e-02 5.20383455e+01] [ 1.12020467e-01 9.93694515e-01 -4.75672151e-03 3.18568933e+00] [ 3.76176433e-02 5.42830866e-04 9.99292059e-01 1.74294102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.868623852999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.10, Y:3.20, Z:1.75 [[ 9.93235698e-01 -1.09955166e-01 -3.73190177e-02 5.20953835e+01] [ 1.09853823e-01 9.93936349e-01 -4.76158090e-03 3.19771424e+00] [ 3.76162886e-02 6.29735383e-04 9.99292059e-01 1.74532037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.15, Y:3.21, Z:1.75 [[ 9.93399316e-01 -1.08467314e-01 -3.73181143e-02 5.21511697e+01] [ 1.08364657e-01 9.94099774e-01 -4.76865026e-03 3.20807633e+00] [ 3.76151717e-02 6.93209260e-04 9.99292059e-01 1.74532702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.21, Y:3.22, Z:1.75 [[ 9.93433966e-01 -1.08149629e-01 -3.73177247e-02 5.22081854e+01] [ 1.08046633e-01 9.94134375e-01 -4.77169718e-03 3.21955576e+00] [ 3.76148902e-02 7.08311561e-04 9.99292059e-01 1.75092679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.048623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:3.23, Z:1.75 [[ 9.93156953e-01 -1.10664900e-01 -3.73168395e-02 5.22644637e+01] [ 1.10563418e-01 9.93857583e-01 -4.77861008e-03 3.23335605e+00] [ 3.76164483e-02 6.20032517e-04 9.99292059e-01 1.75048212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:3.24, Z:1.76 [[ 9.92714956e-01 -1.14562169e-01 -3.73165666e-02 5.23224088e+01] [ 1.14463358e-01 9.93415967e-01 -4.78074007e-03 3.24436971e+00] [ 3.76185651e-02 4.74532651e-04 9.99292059e-01 1.75515853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:3.25, Z:1.76 [[ 9.91866288e-01 -1.21691411e-01 -3.73157891e-02 5.23795988e+01] [ 1.21597411e-01 9.92567960e-01 -4.78680085e-03 3.25346856e+00] [ 3.76209693e-02 2.10363046e-04 9.99292059e-01 1.75678449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.228623852999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:3.26, Z:1.76 [[ 9.90966767e-01 -1.28811748e-01 -3.73148812e-02 5.24365930e+01] [ 1.28722524e-01 9.91669063e-01 -4.79386843e-03 3.26492534e+00] [ 3.76215198e-02 -5.27013854e-05 9.99292059e-01 1.76080549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.49, Y:3.27, Z:1.76 [[ 9.90319674e-01 -1.33695967e-01 -3.73139534e-02 5.24938081e+01] [ 1.33609934e-01 9.91022369e-01 -4.80107920e-03 3.27345481e+00] [ 3.76208474e-02 -2.30911675e-04 9.99292059e-01 1.76284074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.55, Y:3.28, Z:1.77 [[ 9.89392719e-01 -1.40391541e-01 -3.73130331e-02 5.25514813e+01] [ 1.40309994e-01 9.90095948e-01 -4.80822097e-03 3.28124154e+00] [ 3.76185164e-02 -4.78172630e-04 9.99292059e-01 1.76559972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.408623852999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:52.61, Y:3.29, Z:1.78 [[ 9.88780751e-01 -1.44638806e-01 -3.73127484e-02 5.26087158e+01] [ 1.44560197e-01 9.89484315e-01 -4.81042906e-03 3.28875033e+00] [ 3.76161540e-02 -6.37478589e-04 9.99292059e-01 1.77526226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.67, Y:3.29, Z:1.77 [[ 9.87949696e-01 -1.50210608e-01 -3.73118090e-02 5.26666155e+01] [ 1.50135691e-01 9.88653662e-01 -4.81770472e-03 3.29475432e+00] [ 3.76121269e-02 -8.42184316e-04 9.99292059e-01 1.76908589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.72, Y:3.30, Z:1.77 [[ 9.87484978e-01 -1.53235993e-01 -3.73115194e-02 5.27246588e+01] [ 1.53163148e-01 9.88189161e-01 -4.81994655e-03 3.29854890e+00] [ 3.76094283e-02 -9.55124957e-04 9.99292059e-01 1.77176306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.588623852999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.78, Y:3.31, Z:1.78 [[ 9.87510381e-01 -1.53072423e-01 -3.73105975e-02 5.27826446e+01] [ 1.52999192e-01 9.88214525e-01 -4.82707245e-03 3.30519648e+00] [ 3.76097660e-02 -9.41707124e-04 9.99292059e-01 1.77575256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.84, Y:3.31, Z:1.78 [[ 9.87990558e-01 -1.49942152e-01 -3.73096396e-02 5.28398980e+01] [ 1.49866412e-01 9.88694435e-01 -4.83446461e-03 3.31118249e+00] [ 3.76127231e-02 -8.15056420e-04 9.99292059e-01 1.77830375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.90, Y:3.32, Z:1.78 [[ 9.88418169e-01 -1.47097028e-01 -3.73093441e-02 5.28965631e+01] [ 1.47019175e-01 9.89121817e-01 -4.83674395e-03 3.31684858e+00] [ 3.76149569e-02 -7.04463377e-04 9.99292059e-01 1.77869318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.768623852999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:3.32, Z:1.79 [[ 9.88883867e-01 -1.43933104e-01 -3.73089579e-02 5.29547481e+01] [ 1.43852887e-01 9.89587249e-01 -4.83972121e-03 3.32130332e+00] [ 3.76170651e-02 -5.81079067e-04 9.99292059e-01 1.78573661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828623852999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.01, Y:3.33, Z:1.79 [[ 9.89054806e-01 -1.42753958e-01 -3.73081558e-02 5.30121695e+01] [ 1.42672670e-01 9.89758065e-01 -4.84589652e-03 3.32672992e+00] [ 3.76178190e-02 -5.29996950e-04 9.99292059e-01 1.78696138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.07, Y:3.33, Z:1.79 [[ 9.89319383e-01 -1.40908936e-01 -3.73072335e-02 5.30696431e+01] [ 1.40826069e-01 9.90022458e-01 -4.85298657e-03 3.32955330e+00] [ 3.76188282e-02 -4.52677358e-04 9.99292059e-01 1.78765840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.948623852999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:53.13, Y:3.33, Z:1.79 [[ 9.89684088e-01 -1.38324338e-01 -3.73066072e-02 5.31267541e+01] [ 1.38239454e-01 9.90386922e-01 -4.85779692e-03 3.33202348e+00] [ 3.76199274e-02 -3.49560681e-04 9.99292059e-01 1.78903177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.18, Y:3.34, Z:1.79 [[ 9.89864608e-01 -1.37026654e-01 -3.73062116e-02 5.31848319e+01] [ 1.36940734e-01 9.90567316e-01 -4.86083292e-03 3.33667133e+00] [ 3.76203775e-02 -2.97173517e-04 9.99292059e-01 1.79045893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.24, Y:3.34, Z:1.79 [[ 9.90246847e-01 -1.34236717e-01 -3.73053094e-02 5.32427620e+01] [ 1.34148556e-01 9.90949277e-01 -4.86774705e-03 3.33988265e+00] [ 3.76210998e-02 -1.84182234e-04 9.99292059e-01 1.79328240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:53.30, Y:3.34, Z:1.79 [[ 9.90459971e-01 -1.32655122e-01 -3.73050305e-02 5.33006229e+01] [ 1.32565759e-01 9.91162249e-01 -4.86988383e-03 3.34278766e+00] [ 3.76213529e-02 -1.21944679e-04 9.99292059e-01 1.79409448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.188623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.36, Y:3.35, Z:1.80 [[ 9.90443508e-01 -1.32778234e-01 -3.73041154e-02 5.33587112e+01] [ 1.32688695e-01 9.91145764e-01 -4.87688327e-03 3.34720783e+00] [ 3.76213599e-02 -1.19557018e-04 9.99292059e-01 1.79661949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:3.35, Z:1.80 [[ 9.90436927e-01 -1.32827590e-01 -3.73031468e-02 5.34165704e+01] [ 1.32737807e-01 9.91139152e-01 -4.88428114e-03 3.35050538e+00] [ 3.76213765e-02 -1.13965511e-04 9.99292059e-01 1.79662750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.47, Y:3.36, Z:1.80 [[ 9.90292049e-01 -1.33903529e-01 -3.73028473e-02 5.34731444e+01] [ 1.33814423e-01 9.90994360e-01 -4.88656713e-03 3.35548001e+00] [ 3.76212399e-02 -1.52530394e-04 9.99292059e-01 1.79955432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.368623852999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:3.36, Z:1.80 [[ 9.89991693e-01 -1.36106535e-01 -3.73022753e-02 5.35304573e+01] [ 1.36018827e-01 9.90694180e-01 -4.89092972e-03 3.35975547e+00] [ 3.76208345e-02 -2.31831956e-04 9.99292059e-01 1.80412331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:3.36, Z:1.81 [[ 9.89602848e-01 -1.38905772e-01 -3.73013398e-02 5.35888104e+01] [ 1.38819783e-01 9.90305547e-01 -4.89805385e-03 3.36068859e+00] [ 3.76200917e-02 -3.31035859e-04 9.99292059e-01 1.80956902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:3.36, Z:1.81 [[ 9.89394485e-01 -1.40382463e-01 -3.73003719e-02 5.36474168e+01] [ 1.40297245e-01 9.90097278e-01 -4.90541379e-03 3.36438310e+00] [ 3.76196308e-02 -3.79750080e-04 9.99292059e-01 1.81022370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.548623852999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:53.71, Y:3.37, Z:1.81 [[ 9.89473324e-01 -1.39825915e-01 -3.72995190e-02 5.37050352e+01] [ 1.39740058e-01 9.90176040e-01 -4.91189071e-03 3.36577610e+00] [ 3.76198996e-02 -3.52052130e-04 9.99292059e-01 1.81299300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:53.76, Y:3.37, Z:1.82 [[ 9.89768070e-01 -1.37724133e-01 -3.72992178e-02 5.37629354e+01] [ 1.37636698e-01 9.90470590e-01 -4.91417648e-03 3.36601765e+00] [ 3.76205790e-02 -2.69846207e-04 9.99292059e-01 1.81649593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.82, Y:3.37, Z:1.82 [[ 9.89997908e-01 -1.36062273e-01 -3.72987931e-02 5.38212818e+01] [ 1.35973537e-01 9.90700266e-01 -4.91739782e-03 3.36992151e+00] [ 3.76209966e-02 -2.03435278e-04 9.99292059e-01 1.81966354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.728623852999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.88, Y:3.37, Z:1.82 [[ 9.90466112e-01 -1.32611287e-01 -3.72978116e-02 5.38804159e+01] [ 1.32519824e-01 9.91168120e-01 -4.92483168e-03 3.37183821e+00] [ 3.76214900e-02 -6.48205243e-05 9.99292059e-01 1.81922313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.94, Y:3.38, Z:1.82 [[ 9.90807678e-01 -1.30034931e-01 -3.72969549e-02 5.39378573e+01] [ 1.29941399e-01 9.91509413e-01 -4.93131120e-03 3.37586096e+00] [ 3.76215245e-02 3.95625164e-05 9.99292059e-01 1.81890206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.00, Y:3.38, Z:1.82 [[ 9.91096546e-01 -1.27814695e-01 -3.72966537e-02 5.39969741e+01] [ 1.27719504e-01 9.91798058e-01 -4.93358763e-03 3.37894203e+00] [ 3.76213337e-02 1.26151533e-04 9.99292059e-01 1.82198602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.908623852999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.06, Y:3.38, Z:1.83 [[ 9.91413285e-01 -1.25334423e-01 -3.72958441e-02 5.40558160e+01] [ 1.25237248e-01 9.92114525e-01 -4.93970021e-03 3.38376421e+00] [ 3.76208632e-02 2.26455525e-04 9.99292059e-01 1.82778053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.11, Y:3.39, Z:1.83 [[ 9.92062564e-01 -1.20087265e-01 -3.72950118e-02 5.41125623e+01] [ 1.19986145e-01 9.92763246e-01 -4.94597625e-03 3.38874255e+00] [ 3.76190658e-02 4.31833186e-04 9.99292059e-01 1.82858681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.17, Y:3.39, Z:1.83 [[ 9.92642499e-01 -1.15195411e-01 -3.72946002e-02 5.41715960e+01] [ 1.15090722e-01 9.93342656e-01 -4.94907822e-03 3.39425700e+00] [ 3.76164283e-02 6.20402913e-04 9.99292059e-01 1.82678171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.088623852999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:3.40, Z:1.83 [[ 9.92970310e-01 -1.12334942e-01 -3.72937669e-02 5.42276023e+01] [ 1.12228000e-01 9.93670127e-01 -4.95534925e-03 3.40262338e+00] [ 3.76143610e-02 7.35109789e-04 9.99292059e-01 1.82741629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:3.41, Z:1.83 [[ 9.93154029e-01 -1.10699134e-01 -3.72931227e-02 5.42853810e+01] [ 1.10590858e-01 9.93853640e-01 -4.96019332e-03 3.41018306e+00] [ 3.76129948e-02 8.01957557e-04 9.99292059e-01 1.83295385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.34, Y:3.42, Z:1.84 [[ 9.92953976e-01 -1.12479716e-01 -3.72922954e-02 5.43440463e+01] [ 1.12372461e-01 9.93653745e-01 -4.96640525e-03 3.41675121e+00] [ 3.76142488e-02 7.40784817e-04 9.99292059e-01 1.83789881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.268623852999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.40, Y:3.42, Z:1.84 [[ 9.92167785e-01 -1.19215906e-01 -3.72914756e-02 5.44029903e+01] [ 1.19113172e-01 9.92868232e-01 -4.97255281e-03 3.42242480e+00] [ 3.76183289e-02 4.91700760e-04 9.99292059e-01 1.84165674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328623852999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:3.43, Z:1.84 [[ 9.91046003e-01 -1.28207749e-01 -3.72906600e-02 5.44606589e+01] [ 1.28111141e-01 9.91747321e-01 -4.97866179e-03 3.42692756e+00] [ 3.76212152e-02 1.56733865e-04 9.99292059e-01 1.84212882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:3.43, Z:1.84 [[ 9.90280790e-01 -1.33990424e-01 -3.72897254e-02 5.45183192e+01] [ 1.33897648e-01 9.90982625e-01 -4.98565226e-03 3.43069448e+00] [ 3.76214996e-02 -5.58108548e-05 9.99292059e-01 1.84452555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.448623852999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:3.44, Z:1.85 [[ 9.89505195e-01 -1.39603063e-01 -3.72887812e-02 5.45759135e+01] [ 1.39514002e-01 9.90207512e-01 -4.99270449e-03 3.43536288e+00] [ 3.76206281e-02 -2.62000069e-04 9.99292059e-01 1.84662151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508623852999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:3.44, Z:1.85 [[ 9.89243189e-01 -1.41447974e-01 -3.72878381e-02 5.46336947e+01] [ 1.41359958e-01 9.89945637e-01 -4.99973749e-03 3.43984666e+00] [ 3.76201354e-02 -3.25050970e-04 9.99292059e-01 1.85051116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:3.44, Z:1.85 [[ 9.89103777e-01 -1.42419655e-01 -3.72875469e-02 5.46906218e+01] [ 1.42332246e-01 9.89806301e-01 -5.00190877e-03 3.44192657e+00] [ 3.76198190e-02 -3.59813455e-04 9.99292059e-01 1.85388754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:3.45, Z:1.85 [[ 9.89086887e-01 -1.42537069e-01 -3.72869152e-02 5.47481331e+01] [ 1.42449567e-01 9.89789399e-01 -5.00661324e-03 3.44589140e+00] [ 3.76198214e-02 -3.59529417e-04 9.99292059e-01 1.85465804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.688623852999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:3.45, Z:1.85 [[ 9.89308787e-01 -1.40988929e-01 -3.72860009e-02 5.48068295e+01] [ 1.40900071e-01 9.90011129e-01 -5.01341334e-03 3.44997658e+00] [ 3.76203916e-02 -2.93786297e-04 9.99292059e-01 1.85335659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:3.45, Z:1.86 [[ 9.89574763e-01 -1.39110036e-01 -3.72852083e-02 5.48642431e+01] [ 1.39019623e-01 9.90276906e-01 -5.01930053e-03 3.45483333e+00] [ 3.76209158e-02 -2.16402475e-04 9.99292059e-01 1.85501147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:3.46, Z:1.86 [[ 9.90157075e-01 -1.34903100e-01 -3.72843094e-02 5.49217141e+01] [ 1.34809452e-01 9.90858795e-01 -5.02596898e-03 3.45924047e+00] [ 3.76215047e-02 -4.97785897e-05 9.99292059e-01 1.86021430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.868623852999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.98, Y:3.47, Z:1.86 [[ 9.90808579e-01 -1.30031960e-01 -3.72833679e-02 5.49791747e+01] [ 1.29934600e-01 9.91509793e-01 -5.03294350e-03 3.46625367e+00] [ 3.76212679e-02 1.42284078e-04 9.99292059e-01 1.86363214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:3.47, Z:1.86 [[ 9.91301304e-01 -1.26221033e-01 -3.72823803e-02 5.50370093e+01] [ 1.26120703e-01 9.92002099e-01 -5.04024921e-03 3.47346537e+00] [ 3.76203849e-02 2.94325616e-04 9.99292059e-01 1.86350651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:3.48, Z:1.87 [[ 9.91982753e-01 -1.20748765e-01 -3.72820752e-02 5.50936468e+01] [ 1.20644485e-01 9.92682971e-01 -5.04250439e-03 3.48168419e+00] [ 3.76181574e-02 5.04200629e-04 9.99292059e-01 1.87083765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.048623852999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:3.49, Z:1.87 [[ 9.92244150e-01 -1.18581682e-01 -3.72817906e-02 5.51513752e+01] [ 1.18475793e-01 9.92944127e-01 -5.04460800e-03 3.49250086e+00] [ 3.76169331e-02 5.88493069e-04 9.99292059e-01 1.86717219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.21, Y:3.50, Z:1.87 [[ 9.92218796e-01 -1.18793942e-01 -3.72808293e-02 5.52083873e+01] [ 1.18687936e-01 9.92918755e-01 -5.05170236e-03 3.50295716e+00] [ 3.76169462e-02 5.87609351e-04 9.99292059e-01 1.86686953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.27, Y:3.51, Z:1.87 [[ 9.91833045e-01 -1.21972836e-01 -3.72805354e-02 5.52662208e+01] [ 1.21868993e-01 9.92533328e-01 -5.05387057e-03 3.51110230e+00] [ 3.76186088e-02 4.69254538e-04 9.99292059e-01 1.86866447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.228623852999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:3.52, Z:1.87 [[ 9.90904553e-01 -1.29299645e-01 -3.72796077e-02 5.53238311e+01] [ 1.29200722e-01 9.91605548e-01 -5.06070409e-03 3.51928283e+00] [ 3.76210131e-02 1.98122476e-04 9.99292059e-01 1.86923991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:3.53, Z:1.88 [[ 9.89898837e-01 -1.36786491e-01 -3.72793209e-02 5.53811120e+01] [ 1.36692791e-01 9.90600550e-01 -5.06281610e-03 3.52686410e+00] [ 3.76214406e-02 -8.41386546e-05 9.99292059e-01 1.87525887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:3.53, Z:1.88 [[ 9.89249003e-01 -1.41409815e-01 -3.72783414e-02 5.54388728e+01] [ 1.41319123e-01 9.89951110e-01 -5.07001822e-03 3.53425296e+00] [ 3.76206858e-02 -2.52632042e-04 9.99292059e-01 1.87799152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.408623852999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:55.50, Y:3.54, Z:1.88 [[ 9.88840159e-01 -1.44241256e-01 -3.72773397e-02 5.54963337e+01] [ 1.44152297e-01 9.89542488e-01 -5.07737234e-03 3.54192679e+00] [ 3.76198780e-02 -3.52904460e-04 9.99292060e-01 1.87885972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:55.55, Y:3.55, Z:1.88 [[ 9.88792197e-01 -1.44569755e-01 -3.72770288e-02 5.55535624e+01] [ 1.44480943e-01 9.89494545e-01 -5.07965396e-03 3.55071759e+00] [ 3.76197810e-02 -3.63098069e-04 9.99292060e-01 1.88166083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:55.61, Y:3.56, Z:1.89 [[ 9.88873126e-01 -1.44015408e-01 -3.72760342e-02 5.56113950e+01] [ 1.43925928e-01 9.89575389e-01 -5.08694174e-03 3.55873286e+00] [ 3.76200441e-02 -3.34647829e-04 9.99292060e-01 1.88900589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.588623852999994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:55.67, Y:3.57, Z:1.89 [[ 9.89160246e-01 -1.42030173e-01 -3.72751665e-02 5.56682126e+01] [ 1.41939044e-01 9.89862297e-01 -5.09329213e-03 3.56735947e+00] [ 3.76206831e-02 -2.52719412e-04 9.99292060e-01 1.89036664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:55.73, Y:3.58, Z:1.89 [[ 9.89426381e-01 -1.40164307e-01 -3.72747072e-02 5.57259587e+01] [ 1.40071728e-01 9.90128242e-01 -5.09665165e-03 3.57703159e+00] [ 3.76211089e-02 -1.78371051e-04 9.99292060e-01 1.89089902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:55.78, Y:3.59, Z:1.89 [[ 9.89731723e-01 -1.37991963e-01 -3.72737926e-02 5.57831956e+01] [ 1.37897591e-01 9.90433345e-01 -5.10333144e-03 3.58776231e+00] [ 3.76214258e-02 -8.90372048e-05 9.99292060e-01 1.89085279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.768623852999994 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:55.84, Y:3.60, Z:1.89 [[ 9.89797180e-01 -1.37521780e-01 -3.72733412e-02 5.58409251e+01] [ 1.37426952e-01 9.90498741e-01 -5.10662635e-03 3.59652503e+00] [ 3.76214699e-02 -6.78372984e-05 9.99292060e-01 1.89268223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828623852999996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:55.90, Y:3.61, Z:1.90 [[ 9.90061759e-01 -1.35604143e-01 -3.72723772e-02 5.58967722e+01] [ 1.35507691e-01 9.90763098e-01 -5.11365243e-03 3.60754203e+00] [ 3.76215284e-02 1.21379276e-05 9.99292060e-01 1.90122138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:55.95, Y:3.62, Z:1.90 [[ 9.90103592e-01 -1.35298477e-01 -3.72719601e-02 5.59544680e+01] [ 1.35201694e-01 9.90804886e-01 -5.11669103e-03 3.61772327e+00] [ 3.76215207e-02 2.68220126e-05 9.99292060e-01 1.89962147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.948623852999994 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:56.01, Y:3.63, Z:1.90 [[ 9.89866698e-01 -1.37021112e-01 -3.72710948e-02 5.60112904e+01] [ 1.36925313e-01 9.90568127e-01 -5.12298615e-03 3.62898408e+00] [ 3.76215158e-02 -3.22829308e-05 9.99292060e-01 1.90260867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008623852999996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:56.07, Y:3.64, Z:1.90 [[ 9.89275545e-01 -1.41226187e-01 -3.72701002e-02 5.60688246e+01] [ 1.41133097e-01 9.89977338e-01 -5.13021210e-03 3.63858414e+00] [ 3.76210749e-02 -1.84851297e-04 9.99292060e-01 1.90327749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:56.13, Y:3.65, Z:1.91 [[ 9.88696652e-01 -1.45223773e-01 -3.72691081e-02 5.61254360e+01] [ 1.45133249e-01 9.89398781e-01 -5.13740879e-03 3.64744215e+00] [ 3.76200840e-02 -3.29647899e-04 9.99292060e-01 1.90512004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12862385299999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:3.65, Z:1.91 [[ 9.87753922e-01 -1.51503315e-01 -3.72684308e-02 5.61830647e+01] [ 1.51417069e-01 9.88456589e-01 -5.14231806e-03 3.65468258e+00] [ 3.76173042e-02 -5.63731732e-04 9.99292060e-01 1.90943921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.188623852999996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:3.66, Z:1.91 [[ 9.87170356e-01 -1.55260508e-01 -3.72674607e-02 5.62408652e+01] [ 1.55176671e-01 9.87873314e-01 -5.14933858e-03 3.66101366e+00] [ 3.76150189e-02 -6.99766088e-04 9.99292060e-01 1.91237083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:56.30, Y:3.67, Z:1.92 [[ 9.86573655e-01 -1.59008157e-01 -3.72670085e-02 5.62996980e+01] [ 1.58926867e-01 9.87276912e-01 -5.15260920e-03 3.66586967e+00] [ 3.76121640e-02 -8.39300417e-04 9.99292060e-01 1.91736531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:56.36, Y:3.67, Z:1.92 [[ 9.86435509e-01 -1.59863127e-01 -3.72661581e-02 5.63580015e+01] [ 1.59782214e-01 9.87138811e-01 -5.15875258e-03 3.66939270e+00] [ 3.76115653e-02 -8.65692523e-04 9.99292060e-01 1.91721521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.368623852999995 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:56.42, Y:3.67, Z:1.92 [[ 9.86575680e-01 -1.58995895e-01 -3.72657080e-02 5.64155361e+01] [ 1.58914241e-01 9.87278896e-01 -5.16200197e-03 3.67407823e+00] [ 3.76123841e-02 -8.29346103e-04 9.99292060e-01 1.91962722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:56.47, Y:3.68, Z:1.92 [[ 9.87099820e-01 -1.55708973e-01 -3.72647446e-02 5.64739344e+01] [ 1.55624716e-01 9.87802728e-01 -5.16894707e-03 3.67672037e+00] [ 3.76150679e-02 -6.97048573e-04 9.99292060e-01 1.92089361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:56.53, Y:3.68, Z:1.92 [[ 9.87848137e-01 -1.50888924e-01 -3.72637897e-02 5.65311416e+01] [ 1.50800978e-01 9.88550594e-01 -5.17582199e-03 3.68293845e+00] [ 3.76181157e-02 -5.06489808e-04 9.99292060e-01 1.92159315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.548623852999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:3.69, Z:1.92 [[ 9.88329729e-01 -1.47701694e-01 -3.72633447e-02 5.65886232e+01] [ 1.47611362e-01 9.89031882e-01 -5.17902381e-03 3.68855950e+00] [ 3.76195866e-02 -3.81909853e-04 9.99292060e-01 1.92417582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:56.65, Y:3.69, Z:1.93 [[ 9.88737221e-01 -1.44949044e-01 -3.72623562e-02 5.66462824e+01] [ 1.44856489e-01 9.89439084e-01 -5.18612637e-03 3.69426483e+00] [ 3.76205557e-02 -2.69977904e-04 9.99292060e-01 1.92791539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668623853 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:56.70, Y:3.70, Z:1.93 [[ 9.89196190e-01 -1.41783062e-01 -3.72620512e-02 5.67040630e+01] [ 1.41688178e-01 9.89897743e-01 -5.18831699e-03 3.70158776e+00] [ 3.76212358e-02 -1.47328742e-04 9.99292060e-01 1.93282130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.728623852999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:3.71, Z:1.93 [[ 9.89622299e-01 -1.38777929e-01 -3.72611233e-02 5.67616681e+01] [ 1.38680663e-01 9.90323526e-01 -5.19497249e-03 3.70732789e+00] [ 3.76215145e-02 -2.63366803e-05 9.99292060e-01 1.93140740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:3.71, Z:1.93 [[ 9.89775747e-01 -1.37679339e-01 -3.72608381e-02 5.68191114e+01] [ 1.37581218e-01 9.90476855e-01 -5.19701732e-03 3.71455310e+00] [ 3.76215196e-02 1.74902056e-05 9.99292060e-01 1.93458992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:3.72, Z:1.94 [[ 9.89873223e-01 -1.36976873e-01 -3.72604128e-02 5.68774776e+01] [ 1.36878140e-01 9.90574245e-01 -5.20006421e-03 3.72264492e+00] [ 3.76214938e-02 4.72683038e-05 9.99292060e-01 1.93615128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.908623852999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:3.73, Z:1.94 [[ 9.89972176e-01 -1.36260100e-01 -3.72595873e-02 5.69353926e+01] [ 1.36160638e-01 9.90673094e-01 -5.20597279e-03 3.72804509e+00] [ 3.76214370e-02 8.04790531e-05 9.99292060e-01 1.93618069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:3.74, Z:1.94 [[ 9.89949784e-01 -1.36422762e-01 -3.72592955e-02 5.69923048e+01] [ 1.36323336e-01 9.90650707e-01 -5.20806006e-03 3.73558229e+00] [ 3.76214454e-02 7.64064758e-05 9.99292060e-01 1.94158341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:3.74, Z:1.95 [[ 9.89529605e-01 -1.39438077e-01 -3.72583319e-02 5.70494207e+01] [ 1.39340528e-01 9.90230792e-01 -5.21494499e-03 3.74180699e+00] [ 3.76215094e-02 -3.12531850e-05 9.99292060e-01 1.94552352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.088623852999994 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:3.75, Z:1.95 [[ 9.89043820e-01 -1.42843316e-01 -3.72573362e-02 5.71071103e+01] [ 1.42747913e-01 9.89745302e-01 -5.22204896e-03 3.74640655e+00] [ 3.76212082e-02 -1.53571743e-04 9.99292060e-01 1.94693408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:3.75, Z:1.95 [[ 9.88605446e-01 -1.45846444e-01 -3.72570285e-02 5.71659594e+01] [ 1.45753090e-01 9.89307204e-01 -5.22424322e-03 3.75276863e+00] [ 3.76205840e-02 -2.65611708e-04 9.99292060e-01 1.94931461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208623853 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:57.22, Y:3.76, Z:1.95 [[ 9.88081674e-01 -1.49353901e-01 -3.72561222e-02 5.72240310e+01] [ 1.49262794e-01 9.88783727e-01 -5.23069832e-03 3.75777428e+00] [ 3.76194726e-02 -3.92595733e-04 9.99292060e-01 1.94923668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.268623852999994 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:57.28, Y:3.76, Z:1.96 [[ 9.88013544e-01 -1.49804053e-01 -3.72556434e-02 5.72813810e+01] [ 1.49713137e-01 9.88715622e-01 -5.23410614e-03 3.76460880e+00] [ 3.76193270e-02 -4.06291495e-04 9.99292060e-01 1.95836926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328623852999996 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:57.34, Y:3.77, Z:1.96 [[ 9.88153584e-01 -1.48877761e-01 -3.72546189e-02 5.73390847e+01] [ 1.48785912e-01 9.88855541e-01 -5.24138849e-03 3.77079714e+00] [ 3.76197625e-02 -3.63665636e-04 9.99292060e-01 1.96119843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:57.40, Y:3.78, Z:1.96 [[ 9.88146767e-01 -1.48923081e-01 -3.72543029e-02 5.73979708e+01] [ 1.48831180e-01 9.88848717e-01 -5.24363369e-03 3.77708459e+00] [ 3.76197676e-02 -3.63122181e-04 9.99292060e-01 1.95773370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.448623852999994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:57.46, Y:3.78, Z:1.96 [[ 9.87957548e-01 -1.50173454e-01 -3.72534107e-02 5.74556377e+01] [ 1.50082203e-01 9.88659583e-01 -5.24996471e-03 3.78348037e+00] [ 3.76193468e-02 -4.04331688e-04 9.99292060e-01 1.96018559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508623852999996 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:57.51, Y:3.79, Z:1.96 [[ 9.87704936e-01 -1.51826105e-01 -3.72530946e-02 5.75128545e+01] [ 1.51735944e-01 9.88407111e-01 -5.25220635e-03 3.78975355e+00] [ 3.76186457e-02 -4.65003323e-04 9.99292060e-01 1.96239018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:57.57, Y:3.79, Z:1.96 [[ 9.87300283e-01 -1.54435850e-01 -3.72521026e-02 5.75716398e+01] [ 1.54347280e-01 9.88002661e-01 -5.25923262e-03 3.79379934e+00] [ 3.76173906e-02 -5.57318875e-04 9.99292060e-01 1.96158966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62862385299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:3.80, Z:1.96 [[ 9.87142413e-01 -1.55441956e-01 -3.72512341e-02 5.76283122e+01] [ 1.55353870e-01 9.87844852e-01 -5.26537723e-03 3.80027677e+00] [ 3.76169004e-02 -5.89446180e-04 9.99292060e-01 1.96245293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.688623852999996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:3.81, Z:1.97 [[ 9.87102624e-01 -1.55694530e-01 -3.72508028e-02 5.76862947e+01] [ 1.55606509e-01 9.87805071e-01 -5.26842663e-03 3.80733163e+00] [ 3.76167971e-02 -5.95989641e-04 9.99292060e-01 1.96739416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:3.81, Z:1.97 [[ 9.87115578e-01 -1.55612583e-01 -3.72499487e-02 5.77442018e+01] [ 1.55524276e-01 9.87817989e-01 -5.27445888e-03 3.81359020e+00] [ 3.76169416e-02 -5.86770772e-04 9.99292060e-01 1.97017072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:3.82, Z:1.97 [[ 9.86997288e-01 -1.56361337e-01 -3.72489710e-02 5.78017098e+01] [ 1.56273302e-01 9.87699733e-01 -5.28135424e-03 3.81769984e+00] [ 3.76165984e-02 -6.08337405e-04 9.99292060e-01 1.97401393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.868623852999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:3.82, Z:1.98 [[ 9.86900667e-01 -1.56970261e-01 -3.72479682e-02 5.78594919e+01] [ 1.56882393e-01 9.87603133e-01 -5.28841786e-03 3.82399753e+00] [ 3.76163344e-02 -6.24407266e-04 9.99292060e-01 1.97645818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:3.83, Z:1.98 [[ 9.86845487e-01 -1.57317040e-01 -3.72469429e-02 5.79183791e+01] [ 1.57229147e-01 9.87547949e-01 -5.29562898e-03 3.82951828e+00] [ 3.76162347e-02 -6.30337498e-04 9.99292060e-01 1.98471302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:3.83, Z:1.98 [[ 9.86853104e-01 -1.57269443e-01 -3.72461138e-02 5.79767798e+01] [ 1.57181296e-01 9.87555535e-01 -5.30145395e-03 3.83411541e+00] [ 3.76163626e-02 -6.22636155e-04 9.99292060e-01 1.97941520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:3.84, Z:1.98 [[ 9.86907717e-01 -1.56926614e-01 -3.72450807e-02 5.80338033e+01] [ 1.56837950e-01 9.87610083e-01 -5.30870187e-03 3.83960589e+00] [ 3.76166939e-02 -6.02243269e-04 9.99292060e-01 1.97935194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:3.84, Z:1.98 [[ 9.86920765e-01 -1.56844702e-01 -3.72443796e-02 5.80914757e+01] [ 1.56755794e-01 9.87623099e-01 -5.31361614e-03 3.84253898e+00] [ 3.76168222e-02 -5.94154211e-04 9.99292060e-01 1.98163901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:3.84, Z:1.98 [[ 9.86667671e-01 -1.58429285e-01 -3.72433610e-02 5.81499707e+01] [ 1.58341236e-01 9.87370114e-01 -5.32074577e-03 3.84340787e+00] [ 3.76159436e-02 -6.47351986e-04 9.99292060e-01 1.98216540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:3.85, Z:1.99 [[ 9.86494214e-01 -1.59505900e-01 -3.72429026e-02 5.82079386e+01] [ 1.59418497e-01 9.87196737e-01 -5.32395264e-03 3.84694222e+00] [ 3.76152738e-02 -6.85159078e-04 9.99292060e-01 1.98523168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28862385299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:3.85, Z:1.99 [[ 9.86606831e-01 -1.58808068e-01 -3.72418995e-02 5.82662454e+01] [ 1.58719904e-01 9.87309259e-01 -5.33096037e-03 3.84533722e+00] [ 3.76158717e-02 -6.51468786e-04 9.99292060e-01 1.98900190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:3.85, Z:1.99 [[ 9.87188979e-01 -1.55148262e-01 -3.72415899e-02 5.83244251e+01] [ 1.55057411e-01 9.87891065e-01 -5.33312247e-03 3.84602074e+00] [ 3.76180586e-02 -5.09784794e-04 9.99292060e-01 1.99307992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:3.85, Z:1.99 [[ 9.87654606e-01 -1.52156237e-01 -3.72405629e-02 5.83811255e+01] [ 1.52062990e-01 9.88356377e-01 -5.34028428e-03 3.84991992e+00] [ 3.76195054e-02 -3.88554961e-04 9.99292060e-01 1.99426432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:3.85, Z:2.00 [[ 9.88405705e-01 -1.47198288e-01 -3.72401189e-02 5.84396653e+01] [ 1.47101404e-01 9.89106984e-01 -5.34337892e-03 3.85100633e+00] [ 3.76209979e-02 -1.96647544e-04 9.99292060e-01 1.99730111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:3.85, Z:2.00 [[ 9.89022958e-01 -1.42992430e-01 -3.72391424e-02 5.84985498e+01] [ 1.42892307e-01 9.89723782e-01 -5.35017530e-03 3.85082378e+00] [ 3.76214994e-02 -2.97407695e-05 9.99292060e-01 2.00098713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:3.86, Z:2.00 [[ 9.89485307e-01 -1.39757455e-01 -3.72381613e-02 5.85565921e+01] [ 1.39654784e-01 9.90185762e-01 -5.35699526e-03 3.85526109e+00] [ 3.76213772e-02 1.00180708e-04 9.99292060e-01 2.00418163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.648623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:3.86, Z:2.01 [[ 9.90355693e-01 -1.33450344e-01 -3.72371765e-02 5.86134380e+01] [ 1.33342956e-01 9.91055440e-01 -5.36383186e-03 3.85816601e+00] [ 3.76199116e-02 3.46786229e-04 9.99292060e-01 2.00557302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:58.67, Y:3.86, Z:2.01 [[ 9.90896869e-01 -1.29370930e-01 -3.72365103e-02 5.86705304e+01] [ 1.29260488e-01 9.91596141e-01 -5.36845272e-03 3.86418630e+00] [ 3.76181017e-02 5.06373498e-04 9.99292060e-01 2.00721539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:58.73, Y:3.87, Z:2.01 [[ 9.91677087e-01 -1.23247836e-01 -3.72360937e-02 5.87294209e+01] [ 1.23132968e-01 9.92375645e-01 -5.37134121e-03 3.86905952e+00] [ 3.76141987e-02 7.41645275e-04 9.99292060e-01 2.00979370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:3.88, Z:2.01 [[ 9.92390938e-01 -1.17361695e-01 -3.72351913e-02 5.87864694e+01] [ 1.17242450e-01 9.93088762e-01 -5.37758903e-03 3.87735723e+00] [ 3.76089730e-02 9.71125551e-04 9.99292060e-01 2.01237291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:58.84, Y:3.89, Z:2.01 [[ 9.92811120e-01 -1.13752789e-01 -3.72341558e-02 5.88435177e+01] [ 1.13630739e-01 9.93508460e-01 -5.38474961e-03 3.88677334e+00] [ 3.76049791e-02 1.11509464e-03 9.99292060e-01 2.01435941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:3.90, Z:2.02 [[ 9.93276748e-01 -1.09612692e-01 -3.72338376e-02 5.89012722e+01] [ 1.09487654e-01 9.93973558e-01 -5.38694905e-03 3.89735767e+00] [ 3.75999280e-02 1.27408571e-03 9.99292060e-01 2.02002731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.008623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:58.96, Y:3.91, Z:2.02 [[ 9.93414065e-01 -1.08361440e-01 -3.72329576e-02 5.89574648e+01] [ 1.08235297e-01 9.94110676e-01 -5.39302417e-03 3.91014367e+00] [ 3.75980765e-02 1.32758584e-03 9.99292060e-01 2.02151114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:59.01, Y:3.92, Z:2.02 [[ 9.93325818e-01 -1.09167566e-01 -3.72325231e-02 5.90146062e+01] [ 1.09041876e-01 9.94022511e-01 -5.39602223e-03 3.92213526e+00] [ 3.75990367e-02 1.30010403e-03 9.99292060e-01 2.02255428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:59.07, Y:3.94, Z:2.02 [[ 9.92948860e-01 -1.12544992e-01 -3.72315209e-02 5.90712298e+01] [ 1.12421413e-01 9.93645930e-01 -5.40292880e-03 3.93519204e+00] [ 3.76030218e-02 1.17921181e-03 9.99292061e-01 2.02462310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.13, Y:3.95, Z:2.03 [[ 9.92392765e-01 -1.17347721e-01 -3.72305160e-02 5.91267378e+01] [ 1.17227257e-01 9.93090380e-01 -5.40984405e-03 3.95166392e+00] [ 3.76081002e-02 1.00425881e-03 9.99292061e-01 2.02520255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:3.97, Z:2.03 [[ 9.91988992e-01 -1.20713549e-01 -3.72300788e-02 5.91831272e+01] [ 1.20595339e-01 9.92686993e-01 -5.41285147e-03 3.96567805e+00] [ 3.76112195e-02 8.79715094e-04 9.99292061e-01 2.02794175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:3.98, Z:2.03 [[ 9.91341552e-01 -1.25920298e-01 -3.72291008e-02 5.92396867e+01] [ 1.25805502e-01 9.92040122e-01 -5.41956995e-03 3.98171584e+00] [ 3.76151955e-02 6.89019173e-04 9.99292061e-01 2.03287872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:59.30, Y:4.00, Z:2.04 [[ 9.90943398e-01 -1.29016447e-01 -3.72282066e-02 5.92954335e+01] [ 1.28903604e-01 9.91642286e-01 -5.42570525e-03 3.99529321e+00] [ 3.76170691e-02 5.77716816e-04 9.99292061e-01 2.04243687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:4.01, Z:2.04 [[ 9.90200517e-01 -1.34599479e-01 -3.72278902e-02 5.93527918e+01] [ 1.34490495e-01 9.90900018e-01 -5.42787499e-03 4.01066817e+00] [ 3.76197062e-02 3.67887235e-04 9.99292061e-01 2.03779454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:4.03, Z:2.04 [[ 9.89501947e-01 -1.39642572e-01 -3.72270037e-02 5.94089061e+01] [ 1.39536925e-01 9.90201959e-01 -5.43394824e-03 4.02652834e+00] [ 3.76210625e-02 1.82360737e-04 9.99292061e-01 2.03906705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:4.04, Z:2.04 [[ 9.89292998e-01 -1.41115523e-01 -3.72259694e-02 5.94649210e+01] [ 1.41010652e-01 9.89993127e-01 -5.44102456e-03 4.03679827e+00] [ 3.76212669e-02 1.33509274e-04 9.99292061e-01 2.03888605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:4.05, Z:2.04 [[ 9.88811144e-01 -1.44453456e-01 -3.72252644e-02 5.95220624e+01] [ 1.44350766e-01 9.89511596e-01 -5.44584402e-03 4.05155087e+00] [ 3.76215018e-02 1.14158146e-05 9.99292061e-01 2.04031993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:4.07, Z:2.04 [[ 9.88699205e-01 -1.45217866e-01 -3.72243658e-02 5.95796704e+01] [ 1.45115487e-01 9.89399703e-01 -5.45197960e-03 4.06583016e+00] [ 3.76215012e-02 -1.14640615e-05 9.99292061e-01 2.03941128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.64, Y:4.08, Z:2.04 [[ 9.88689661e-01 -1.45283056e-01 -3.72234748e-02 5.96357922e+01] [ 1.45180494e-01 9.89390132e-01 -5.45805586e-03 4.07935869e+00] [ 3.76215017e-02 -7.79906471e-06 9.99292061e-01 2.03915417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:4.09, Z:2.04 [[ 9.88729433e-01 -1.45012224e-01 -3.72231603e-02 5.96922098e+01] [ 1.44909390e-01 9.89429864e-01 -5.46019979e-03 4.09465365e+00] [ 3.76215021e-02 4.67480084e-06 9.99292061e-01 2.04258849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:4.11, Z:2.04 [[ 9.88798513e-01 -1.44540708e-01 -3.72221096e-02 5.97481585e+01] [ 1.44437270e-01 9.89498854e-01 -5.46735324e-03 4.11099862e+00] [ 3.76214899e-02 2.98508425e-05 9.99292061e-01 2.04283846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.81, Y:4.12, Z:2.05 [[ 9.88847049e-01 -1.44208367e-01 -3.72217858e-02 5.98052906e+01] [ 1.44104611e-01 9.89547343e-01 -5.46955656e-03 4.12385140e+00] [ 3.76214751e-02 4.47238877e-05 9.99292061e-01 2.04686099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:4.14, Z:2.05 [[ 9.88726118e-01 -1.45035445e-01 -3.72207504e-02 5.98625879e+01] [ 1.44932010e-01 9.89426460e-01 -5.47659358e-03 4.13940521e+00] [ 3.76214955e-02 2.03729247e-05 9.99292061e-01 2.05065876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:4.15, Z:2.05 [[ 9.88538218e-01 -1.46310890e-01 -3.72198286e-02 5.99192182e+01] [ 1.46208124e-01 9.89238658e-01 -5.48285123e-03 4.15179647e+00] [ 3.76214941e-02 -2.18333210e-05 9.99292061e-01 2.05390892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:4.17, Z:2.06 [[ 9.88112983e-01 -1.49155759e-01 -3.72195031e-02 5.99755501e+01] [ 1.49054926e-01 9.88813705e-01 -5.48505978e-03 4.16524358e+00] [ 3.76212830e-02 -1.27891506e-04 9.99292061e-01 2.05535928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:4.18, Z:2.06 [[ 9.87601633e-01 -1.52505079e-01 -3.72184704e-02 6.00322040e+01] [ 1.52406359e-01 9.88302656e-01 -5.49205850e-03 4.17688478e+00] [ 3.76206799e-02 -2.48365596e-04 9.99292061e-01 2.05658307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.09, Y:4.19, Z:2.06 [[ 9.86996966e-01 -1.56370883e-01 -3.72174073e-02 6.00888694e+01] [ 1.56274637e-01 9.87698332e-01 -5.49925304e-03 4.18675149e+00] [ 3.76194942e-02 -3.88390751e-04 9.99292061e-01 2.05761613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.15, Y:4.20, Z:2.06 [[ 9.86621048e-01 -1.58725633e-01 -3.72166858e-02 6.01460761e+01] [ 1.58630877e-01 9.87322617e-01 -5.50413116e-03 4.19603770e+00] [ 3.76185224e-02 -4.73223861e-04 9.99292061e-01 2.06044733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:4.20, Z:2.06 [[ 9.85886043e-01 -1.63228993e-01 -3.72156752e-02 6.02039148e+01] [ 1.63137183e-01 9.86588004e-01 -5.51095625e-03 4.20385853e+00] [ 3.76160865e-02 -6.38085576e-04 9.99292061e-01 2.06413598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:4.21, Z:2.07 [[ 9.85374992e-01 -1.66286489e-01 -3.72146180e-02 6.02615803e+01] [ 1.66196589e-01 9.86077200e-01 -5.51808628e-03 4.21051729e+00] [ 3.76140695e-02 -7.47558328e-04 9.99292061e-01 2.07206957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:4.22, Z:2.08 [[ 9.85229461e-01 -1.67146660e-01 -3.72142916e-02 6.03186621e+01] [ 1.67057289e-01 9.85931736e-01 -5.52028655e-03 4.21724419e+00] [ 3.76134486e-02 -7.78169723e-04 9.99292061e-01 2.07726680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:4.22, Z:2.07 [[ 9.85309764e-01 -1.66672874e-01 -3.72132094e-02 6.03757633e+01] [ 1.66582890e-01 9.86011961e-01 -5.52757190e-03 4.22372473e+00] [ 3.76139659e-02 -7.52713418e-04 9.99292061e-01 2.06984251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56862385299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:60.43, Y:4.23, Z:2.08 [[ 9.85699982e-01 -1.64349556e-01 -3.72124776e-02 6.04333087e+01] [ 1.64257732e-01 9.86401941e-01 -5.53249426e-03 4.22837726e+00] [ 3.76157231e-02 -6.59057680e-04 9.99292061e-01 2.07886167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:4.24, Z:2.08 [[ 9.86152665e-01 -1.61611357e-01 -3.72114282e-02 6.04910701e+01] [ 1.61517317e-01 9.86854331e-01 -5.53954341e-03 4.23559378e+00] [ 3.76175122e-02 -5.47454554e-04 9.99292061e-01 2.08082845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:60.55, Y:4.24, Z:2.08 [[ 9.87045855e-01 -1.56063684e-01 -3.72102904e-02 6.05486754e+01] [ 1.55965413e-01 9.87746941e-01 -5.54717564e-03 4.23972538e+00] [ 3.76200632e-02 -3.28201584e-04 9.99292061e-01 2.08304393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.61, Y:4.25, Z:2.08 [[ 9.88196919e-01 -1.48601044e-01 -3.72099392e-02 6.06063257e+01] [ 1.48497390e-01 9.88897228e-01 -5.54953088e-03 4.24693590e+00] [ 3.76214718e-02 -4.15495345e-05 9.99292061e-01 2.07747147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:4.25, Z:2.08 [[ 9.89048214e-01 -1.42825524e-01 -3.72088707e-02 6.06644185e+01] [ 1.42717511e-01 9.89747864e-01 -5.55668539e-03 4.25490777e+00] [ 3.76210369e-02 1.85472332e-04 9.99292061e-01 2.07822753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:4.26, Z:2.08 [[ 9.90240328e-01 -1.34311811e-01 -3.72079441e-02 6.07219939e+01] [ 1.34197550e-01 9.90938985e-01 -5.56288327e-03 4.26439466e+00] [ 3.76179633e-02 5.15376405e-04 9.99292061e-01 2.08232391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:4.27, Z:2.09 [[ 9.91252777e-01 -1.26623779e-01 -3.72068603e-02 6.07799577e+01] [ 1.26503829e-01 9.91950480e-01 -5.57012252e-03 4.27466411e+00] [ 3.76126729e-02 8.14589122e-04 9.99292061e-01 2.08616972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:4.29, Z:2.09 [[ 9.91720535e-01 -1.22906877e-01 -3.72059238e-02 6.08364133e+01] [ 1.22784078e-01 9.92417742e-01 -5.57637114e-03 4.28528214e+00] [ 3.76091933e-02 9.61906710e-04 9.99292061e-01 2.08660330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.89, Y:4.30, Z:2.09 [[ 9.92033054e-01 -1.20358519e-01 -3.72054607e-02 6.08932268e+01] [ 1.20233813e-01 9.92729923e-01 -5.57945924e-03 4.29703120e+00] [ 3.76065096e-02 1.06165359e-03 9.99292061e-01 2.09055158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:4.31, Z:2.09 [[ 9.92153264e-01 -1.19363872e-01 -3.72043804e-02 6.09501419e+01] [ 1.19238198e-01 9.92849959e-01 -5.58665370e-03 4.30917883e+00] [ 3.76052122e-02 1.10663342e-03 9.99292061e-01 2.08983146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:4.32, Z:2.10 [[ 9.92247562e-01 -1.18577551e-01 -3.72040458e-02 6.10074490e+01] [ 1.18451241e-01 9.92944141e-01 -5.58888075e-03 4.32306486e+00] [ 3.76042551e-02 1.13868789e-03 9.99292061e-01 2.09896536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.06, Y:4.34, Z:2.09 [[ 9.92273256e-01 -1.18362632e-01 -3.72031171e-02 6.10641898e+01] [ 1.18235941e-01 9.92969767e-01 -5.59505631e-03 4.33694448e+00] [ 3.76038161e-02 1.15307920e-03 9.99292061e-01 2.09177546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:4.35, Z:2.10 [[ 9.91877819e-01 -1.21632002e-01 -3.72027902e-02 6.11212349e+01] [ 1.21507525e-01 9.92574729e-01 -5.59722905e-03 4.35015846e+00] [ 3.76073516e-02 1.03134837e-03 9.99292061e-01 2.09642072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:4.36, Z:2.10 [[ 9.91175174e-01 -1.27231272e-01 -3.72018567e-02 6.11777224e+01] [ 1.27110500e-01 9.91872735e-01 -5.60342685e-03 4.36495663e+00] [ 3.76124384e-02 8.25230971e-04 9.99292061e-01 2.09984050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:4.38, Z:2.10 [[ 9.90696936e-01 -1.30903120e-01 -3.72015269e-02 6.12345401e+01] [ 1.30784851e-01 9.91394926e-01 -5.60561512e-03 4.38010186e+00] [ 3.76151975e-02 6.88069571e-04 9.99292061e-01 2.10290167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:4.39, Z:2.10 [[ 9.90480446e-01 -1.32531541e-01 -3.72005002e-02 6.12907324e+01] [ 1.32414164e-01 9.91178586e-01 -5.61242051e-03 4.39011094e+00] [ 3.76161619e-02 6.33119625e-04 9.99292061e-01 2.10403068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:4.40, Z:2.11 [[ 9.89713332e-01 -1.38143692e-01 -3.72000235e-02 6.13481826e+01] [ 1.38030156e-01 9.90412107e-01 -5.61557853e-03 4.40452805e+00] [ 3.76191104e-02 4.23087908e-04 9.99292061e-01 2.10536542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:4.42, Z:2.11 [[ 9.88935920e-01 -1.43603532e-01 -3.71990790e-02 6.14049266e+01] [ 1.43493619e-01 9.89635274e-01 -5.62182791e-03 4.41922760e+00] [ 3.76208351e-02 2.21797089e-04 9.99292061e-01 2.10664073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.648623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:4.43, Z:2.11 [[ 9.88252541e-01 -1.48233494e-01 -3.71987443e-02 6.14623748e+01] [ 1.48126775e-01 9.88952390e-01 -5.62404187e-03 4.43082043e+00] [ 3.76214584e-02 4.78436615e-05 9.99292061e-01 2.11247921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:4.44, Z:2.12 [[ 9.87871379e-01 -1.50752988e-01 -3.71977962e-02 6.15192419e+01] [ 1.50647817e-01 9.88571462e-01 -5.63030539e-03 4.44158325e+00] [ 3.76214652e-02 -4.17492360e-05 9.99292061e-01 2.11621041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.57, Y:4.45, Z:2.12 [[ 9.87475829e-01 -1.53322841e-01 -3.71966983e-02 6.15747344e+01] [ 1.53219220e-01 9.88176143e-01 -5.63754939e-03 4.45476753e+00] [ 3.76212550e-02 -1.32305333e-04 9.99292061e-01 2.11718024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:4.47, Z:2.12 [[ 9.87479249e-01 -1.53300923e-01 -3.71962225e-02 6.16329920e+01] [ 1.53197167e-01 9.88179544e-01 -5.64068697e-03 4.46513508e+00] [ 3.76212687e-02 -1.28294588e-04 9.99292061e-01 2.11913232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.69, Y:4.48, Z:2.12 [[ 9.87797717e-01 -1.51235519e-01 -3.71952677e-02 6.16896617e+01] [ 1.51130062e-01 9.88497757e-01 -5.64697603e-03 4.47772992e+00] [ 3.76214621e-02 -4.32530990e-05 9.99292061e-01 2.12191153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.75, Y:4.49, Z:2.13 [[ 9.88047223e-01 -1.49596863e-01 -3.71949298e-02 6.17466822e+01] [ 1.49490162e-01 9.88747075e-01 -5.64920065e-03 4.48815118e+00] [ 3.76214808e-02 2.14009269e-05 9.99292061e-01 2.12531221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.80, Y:4.50, Z:2.13 [[ 9.88376292e-01 -1.47407334e-01 -3.71938549e-02 6.18045242e+01] [ 1.47298816e-01 9.89075864e-01 -5.65626915e-03 4.50002942e+00] [ 3.76213197e-02 1.11911534e-04 9.99292061e-01 2.12927351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:61.86, Y:4.51, Z:2.13 [[ 9.88573126e-01 -1.46081699e-01 -3.71928961e-02 6.18604596e+01] [ 1.45972006e-01 9.89272515e-01 -5.66256654e-03 4.51025937e+00] [ 3.76211072e-02 1.68739440e-04 9.99292061e-01 2.13176200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:61.92, Y:4.52, Z:2.13 [[ 9.89035227e-01 -1.42919783e-01 -3.71921545e-02 6.19183786e+01] [ 1.42807671e-01 9.89734232e-01 -5.66743340e-03 4.52437118e+00] [ 3.76203368e-02 2.93966307e-04 9.99292061e-01 2.13190192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:61.97, Y:4.54, Z:2.13 [[ 9.89617173e-01 -1.38833210e-01 -3.71912737e-02 6.19747675e+01] [ 1.38717995e-01 9.90315673e-01 -5.67320737e-03 4.54009207e+00] [ 3.76187309e-02 4.55204523e-04 9.99292061e-01 2.13431224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:62.03, Y:4.55, Z:2.13 [[ 9.89624673e-01 -1.38780034e-01 -3.71901785e-02 6.20299410e+01] [ 1.38664512e-01 9.90323122e-01 -5.68037802e-03 4.55385392e+00] [ 3.76186168e-02 4.64484269e-04 9.99292061e-01 2.13477013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.09, Y:4.57, Z:2.14 [[ 9.89192081e-01 -1.41830787e-01 -3.71894346e-02 6.20868913e+01] [ 1.41717237e-01 9.89890854e-01 -5.68524452e-03 4.56518045e+00] [ 3.76198238e-02 3.53414963e-04 9.99292061e-01 2.13880022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:4.58, Z:2.14 [[ 9.88221939e-01 -1.48439984e-01 -3.71883143e-02 6.21431870e+01] [ 1.48330831e-01 9.88921412e-01 -5.69256294e-03 4.57785925e+00] [ 3.76213242e-02 1.09342007e-04 9.99292061e-01 2.13982121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.20, Y:4.59, Z:2.14 [[ 9.87137857e-01 -1.55486034e-01 -3.71879666e-02 6.22015085e+01] [ 1.55381788e-01 9.87838078e-01 -5.69483340e-03 4.58863361e+00] [ 3.76211565e-02 -1.56747112e-04 9.99292061e-01 2.13960853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.26, Y:4.60, Z:2.14 [[ 9.86210774e-01 -1.61262008e-01 -3.71870205e-02 6.22595077e+01] [ 1.61161631e-01 9.86911560e-01 -5.70100444e-03 4.60088141e+00] [ 3.76196559e-02 -3.70728874e-04 9.99292061e-01 2.14387821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:4.61, Z:2.14 [[ 9.85667301e-01 -1.64551428e-01 -3.71860190e-02 6.23164989e+01] [ 1.64453143e-01 9.86368383e-01 -5.70752961e-03 4.60995424e+00] [ 3.76182956e-02 -4.89632394e-04 9.99292061e-01 2.14414080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.37, Y:4.62, Z:2.15 [[ 9.85214237e-01 -1.67242740e-01 -3.71856661e-02 6.23739894e+01] [ 1.67146283e-01 9.85915573e-01 -5.70982778e-03 4.61820377e+00] [ 3.76168546e-02 -5.90042265e-04 9.99292061e-01 2.14624549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.43, Y:4.63, Z:2.15 [[ 9.85208935e-01 -1.67274045e-01 -3.71853273e-02 6.24307744e+01] [ 1.67177528e-01 9.85910263e-01 -5.71203354e-03 4.62666035e+00] [ 3.76168708e-02 -5.89004612e-04 9.99292061e-01 2.14855518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.49, Y:4.64, Z:2.15 [[ 9.85628097e-01 -1.64786320e-01 -3.71849956e-02 6.24882640e+01] [ 1.64687951e-01 9.86329168e-01 -5.71419236e-03 4.63547148e+00] [ 3.76182665e-02 -4.91852180e-04 9.99292061e-01 2.15056112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:4.64, Z:2.15 [[ 9.86234328e-01 -1.61118596e-01 -3.71839810e-02 6.25455694e+01] [ 1.61017371e-01 9.86934992e-01 -5.72078659e-03 4.64361169e+00] [ 3.76198971e-02 -3.45230772e-04 9.99292061e-01 2.15474910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.60, Y:4.65, Z:2.16 [[ 9.86685256e-01 -1.58333948e-01 -3.71828907e-02 6.26032329e+01] [ 1.58230479e-01 9.87385592e-01 -5.72786467e-03 4.65176939e+00] [ 3.76207660e-02 -2.31866981e-04 9.99292062e-01 2.15749866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:4.66, Z:2.16 [[ 9.87460025e-01 -1.53428021e-01 -3.71825525e-02 6.26599697e+01] [ 1.53320990e-01 9.88159825e-01 -5.73005910e-03 4.66168804e+00] [ 3.76214562e-02 -4.26614523e-05 9.99292062e-01 2.16145907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:4.67, Z:2.16 [[ 9.88253842e-01 -1.48229166e-01 -3.71814287e-02 6.27166745e+01] [ 1.48118180e-01 9.88953026e-01 -5.73734198e-03 4.67174913e+00] [ 3.76211279e-02 1.62704708e-04 9.99292062e-01 2.16263948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.77, Y:4.68, Z:2.17 [[ 9.88908525e-01 -1.43796722e-01 -3.71810796e-02 6.27730065e+01] [ 1.43682517e-01 9.89607190e-01 -5.73960358e-03 4.68215399e+00] [ 3.76199999e-02 3.33671806e-04 9.99292062e-01 2.16572660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.83, Y:4.70, Z:2.17 [[ 9.89302867e-01 -1.41058317e-01 -3.71804798e-02 6.28307483e+01] [ 1.40942031e-01 9.90001190e-01 -5.74348639e-03 4.69534332e+00] [ 3.76188858e-02 4.41755207e-04 9.99292062e-01 2.16998937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.148623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:62.89, Y:4.71, Z:2.18 [[ 9.89406455e-01 -1.40330151e-01 -3.71795099e-02 6.28871599e+01] [ 1.40213116e-01 9.90104652e-01 -5.74975835e-03 4.70710354e+00] [ 3.76184701e-02 4.75793100e-04 9.99292062e-01 2.17776218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:4.72, Z:2.17 [[ 9.89373818e-01 -1.40560359e-01 -3.71784085e-02 6.29431996e+01] [ 1.40443220e-01 9.90071998e-01 -5.75687078e-03 4.71644907e+00] [ 3.76184890e-02 4.74241826e-04 9.99292062e-01 2.17305551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:4.73, Z:2.18 [[ 9.89091431e-01 -1.42534007e-01 -3.71779333e-02 6.29996434e+01] [ 1.42418145e-01 9.89789824e-01 -5.75993801e-03 4.73049665e+00] [ 3.76193271e-02 4.02293016e-04 9.99292062e-01 2.18003089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:4.74, Z:2.18 [[ 9.88693765e-01 -1.45267065e-01 -3.71768572e-02 6.30562654e+01] [ 1.45152873e-01 9.89392433e-01 -5.76687517e-03 4.74237972e+00] [ 3.76202383e-02 3.05345882e-04 9.99292062e-01 2.17891673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388623853 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:4.75, Z:2.19 [[ 9.88505359e-01 -1.46543720e-01 -3.71765252e-02 6.31128339e+01] [ 1.46430350e-01 9.89204160e-01 -5.76901467e-03 4.75370710e+00] [ 3.76205863e-02 2.58930292e-04 9.99292062e-01 2.18784383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:4.76, Z:2.18 [[ 9.87903434e-01 -1.50548309e-01 -3.71754095e-02 6.31695876e+01] [ 1.50437501e-01 9.88602647e-01 -5.77619568e-03 4.76487753e+00] [ 3.76213047e-02 1.13747852e-04 9.99292062e-01 2.18281411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.508623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.23, Y:4.78, Z:2.18 [[ 9.87276771e-01 -1.54604821e-01 -3.71742724e-02 6.32273862e+01] [ 1.54496611e-01 9.87976391e-01 -5.78350448e-03 4.77793504e+00] [ 3.76214611e-02 -3.33794662e-05 9.99292062e-01 2.18247409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:4.79, Z:2.19 [[ 9.86739563e-01 -1.57997415e-01 -3.71732713e-02 6.32844658e+01] [ 1.57891368e-01 9.87439513e-01 -5.78993206e-03 4.78827064e+00] [ 3.76211512e-02 -1.56183636e-04 9.99292062e-01 2.18582798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:4.80, Z:2.19 [[ 9.86138204e-01 -1.61708617e-01 -3.71721222e-02 6.33404270e+01] [ 1.61604927e-01 9.86838507e-01 -5.79730011e-03 4.79764588e+00] [ 3.76203549e-02 -2.90258959e-04 9.99292062e-01 2.18634998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:63.40, Y:4.81, Z:2.19 [[ 9.85620594e-01 -1.64834203e-01 -3.71716256e-02 6.33981603e+01] [ 1.64732613e-01 9.86321206e-01 -5.80048245e-03 4.80702101e+00] [ 3.76192804e-02 -4.06304047e-04 9.99292062e-01 2.18958987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:63.46, Y:4.82, Z:2.19 [[ 9.85401958e-01 -1.66136460e-01 -3.71706576e-02 6.34552102e+01] [ 1.66035563e-01 9.86102669e-01 -5.80667882e-03 4.81686733e+00] [ 3.76187857e-02 -4.49738387e-04 9.99292062e-01 2.19037500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.51, Y:4.82, Z:2.19 [[ 9.85306147e-01 -1.66703990e-01 -3.71695591e-02 6.35125426e+01] [ 1.66603231e-01 9.86006878e-01 -5.81370215e-03 4.82470100e+00] [ 3.76186083e-02 -4.64292180e-04 9.99292062e-01 2.19197258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:63.57, Y:4.83, Z:2.20 [[ 9.85345008e-01 -1.66474384e-01 -3.71684592e-02 6.35709664e+01] [ 1.66373197e-01 9.86045678e-01 -5.82072528e-03 4.83259869e+00] [ 3.76188002e-02 -4.48412800e-04 9.99292062e-01 2.19717969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:63.63, Y:4.84, Z:2.20 [[ 9.85458675e-01 -1.65800417e-01 -3.71674946e-02 6.36280640e+01] [ 1.65698519e-01 9.86159241e-01 -5.82687823e-03 4.84065213e+00] [ 3.76191671e-02 -4.16451100e-04 9.99292062e-01 2.20111131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.69, Y:4.85, Z:2.20 [[ 9.85944060e-01 -1.62889449e-01 -3.71663580e-02 6.36853574e+01] [ 1.62785210e-01 9.86644282e-01 -5.83411879e-03 4.84877558e+00] [ 3.76202910e-02 -2.98018626e-04 9.99292062e-01 2.20317890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:4.86, Z:2.21 [[ 9.86561331e-01 -1.59108267e-01 -3.71658284e-02 6.37426150e+01] [ 1.59001216e-01 9.87261129e-01 -5.83749100e-03 4.85683018e+00] [ 3.76211708e-02 -1.50369031e-04 9.99292062e-01 2.20782071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:4.87, Z:2.21 [[ 9.86992204e-01 -1.56413470e-01 -3.71647048e-02 6.37999569e+01] [ 1.56304240e-01 9.87691665e-01 -5.84463581e-03 4.86588784e+00] [ 3.76214489e-02 -4.03909503e-05 9.99292062e-01 2.20844636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:63.86, Y:4.88, Z:2.21 [[ 9.87487643e-01 -1.53254769e-01 -3.71635794e-02 6.38565890e+01] [ 1.53143032e-01 9.88186707e-01 -5.85178282e-03 4.87501032e+00] [ 3.76213688e-02 8.72199792e-05 9.99292062e-01 2.21323149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:63.91, Y:4.88, Z:2.21 [[ 9.87875248e-01 -1.50736347e-01 -3.71624667e-02 6.39137043e+01] [ 1.50622563e-01 9.88573982e-01 -5.85884066e-03 4.88410809e+00] [ 3.76209879e-02 1.90297693e-04 9.99292062e-01 2.21200713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.97, Y:4.89, Z:2.21 [[ 9.88256883e-01 -1.48213918e-01 -3.71613690e-02 6.39706281e+01] [ 1.48098089e-01 9.88955281e-01 -5.86579463e-03 4.89424079e+00] [ 3.76203246e-02 2.93384172e-04 9.99292062e-01 2.21432086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34862385299999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:64.03, Y:4.91, Z:2.21 [[ 9.88833795e-01 -1.44315069e-01 -3.71602769e-02 6.40277973e+01] [ 1.44196226e-01 9.89531687e-01 -5.87270521e-03 4.90618911e+00] [ 3.76187913e-02 4.48757678e-04 9.99292062e-01 2.21487774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:64.09, Y:4.92, Z:2.22 [[ 9.89015953e-01 -1.43061469e-01 -3.71599395e-02 6.40850489e+01] [ 1.42941662e-01 9.89713680e-01 -5.87483929e-03 4.91831526e+00] [ 3.76181636e-02 4.98606254e-04 9.99292062e-01 2.21582966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.14, Y:4.93, Z:2.22 [[ 9.88796854e-01 -1.44568322e-01 -3.71588752e-02 6.41418739e+01] [ 1.44449326e-01 9.89494719e-01 -5.88156353e-03 4.92916024e+00] [ 3.76187985e-02 4.48097051e-04 9.99292062e-01 2.21861220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.20, Y:4.94, Z:2.22 [[ 9.88051097e-01 -1.49580524e-01 -3.71577145e-02 6.41978393e+01] [ 1.49464793e-01 9.88749512e-01 -5.88888716e-03 4.94162713e+00] [ 3.76205349e-02 2.64751317e-04 9.99292062e-01 2.21876549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:4.95, Z:2.22 [[ 9.86919891e-01 -1.56870873e-01 -3.71572115e-02 6.42559701e+01] [ 1.56760181e-01 9.87619122e-01 -5.89205917e-03 4.95167028e+00] [ 3.76214651e-02 -9.78081739e-06 9.99292062e-01 2.22240098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:4.96, Z:2.23 [[ 9.85871092e-01 -1.63332791e-01 -3.71562927e-02 6.43133909e+01] [ 1.63226464e-01 9.86570999e-01 -5.89784794e-03 4.96022916e+00] [ 3.76206328e-02 -2.50372494e-04 9.99292062e-01 2.22593517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70862385299999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:64.37, Y:4.97, Z:2.23 [[ 9.85322579e-01 -1.66610043e-01 -3.71552033e-02 6.43700127e+01] [ 1.66505785e-01 9.86022798e-01 -5.90470282e-03 4.96896099e+00] [ 3.76196603e-02 -3.68519294e-04 9.99292062e-01 2.23418376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:64.43, Y:4.98, Z:2.23 [[ 9.84845632e-01 -1.69406771e-01 -3.71540866e-02 6.44277210e+01] [ 1.69304238e-01 9.85546106e-01 -5.91172092e-03 4.97826496e+00] [ 3.76185509e-02 -4.68211784e-04 9.99292062e-01 2.23172574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:4.99, Z:2.23 [[ 9.84816147e-01 -1.69578349e-01 -3.71529161e-02 6.44837803e+01] [ 1.69475661e-01 9.85516598e-01 -5.91906813e-03 4.98549568e+00] [ 3.76185613e-02 -4.67321131e-04 9.99292062e-01 2.23413373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:4.99, Z:2.24 [[ 9.84969370e-01 -1.68686213e-01 -3.71524108e-02 6.45414952e+01] [ 1.68582770e-01 9.85669710e-01 -5.92223791e-03 4.99415385e+00] [ 3.76190059e-02 -4.30033393e-04 9.99292062e-01 2.23666904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.60, Y:5.00, Z:2.24 [[ 9.85257107e-01 -1.66997655e-01 -3.71512723e-02 6.45990930e+01] [ 1.66892743e-01 9.85957228e-01 -5.92937120e-03 5.00266049e+00] [ 3.76197566e-02 -3.58322651e-04 9.99292062e-01 2.24053597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.66, Y:5.01, Z:2.24 [[ 9.85357862e-01 -1.66402376e-01 -3.71501332e-02 6.46560965e+01] [ 1.66296772e-01 9.86057879e-01 -5.93650013e-03 5.01057654e+00] [ 3.76200292e-02 -3.28370143e-04 9.99292062e-01 2.24280802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.71, Y:5.02, Z:2.24 [[ 9.85460112e-01 -1.65796019e-01 -3.71489974e-02 6.47141188e+01] [ 1.65689717e-01 9.86160023e-01 -5.94359873e-03 5.01807031e+00] [ 3.76202812e-02 -2.98027391e-04 9.99292062e-01 2.24400486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:5.03, Z:2.24 [[ 9.85765954e-01 -1.63968042e-01 -3.71478751e-02 6.47721374e+01] [ 1.63860178e-01 9.86465627e-01 -5.95060534e-03 5.02516402e+00] [ 3.76208109e-02 -2.21153266e-04 9.99292062e-01 2.24347113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:5.03, Z:2.25 [[ 9.86073749e-01 -1.62107002e-01 -3.71467481e-02 6.48297180e+01] [ 1.61997553e-01 9.86773175e-01 -5.95763187e-03 5.03277743e+00] [ 3.76211885e-02 -1.43017924e-04 9.99292062e-01 2.24729189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:5.04, Z:2.25 [[ 9.86164508e-01 -1.61554084e-01 -3.71462206e-02 6.48860383e+01] [ 1.61444119e-01 9.86863853e-01 -5.96091923e-03 5.03942260e+00] [ 3.76212732e-02 -1.18591890e-04 9.99292062e-01 2.24791895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:5.05, Z:2.25 [[ 9.86293949e-01 -1.60762064e-01 -3.71457380e-02 6.49428943e+01] [ 1.60651424e-01 9.86993187e-01 -5.96392533e-03 5.04824069e+00] [ 3.76213632e-02 -8.53322440e-05 9.99292062e-01 2.25100716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.368623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.00, Y:5.06, Z:2.26 [[ 9.86290037e-01 -1.60786313e-01 -3.71446527e-02 6.50003507e+01] [ 1.60675436e-01 9.86989238e-01 -5.97067723e-03 5.05705871e+00] [ 3.76213756e-02 -7.94137894e-05 9.99292062e-01 2.25520704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.06, Y:5.06, Z:2.26 [[ 9.86444953e-01 -1.59833397e-01 -3.71435001e-02 6.50575030e+01] [ 1.59721575e-01 9.87144004e-01 -5.97783888e-03 5.06415987e+00] [ 3.76214417e-02 -3.58093400e-05 9.99292062e-01 2.25992515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:5.07, Z:2.26 [[ 9.86539609e-01 -1.59248376e-01 -3.71423570e-02 6.51148280e+01] [ 1.59135872e-01 9.87238550e-01 -5.98493265e-03 5.07074206e+00] [ 3.76214575e-02 -6.30826448e-06 9.99292062e-01 2.26349957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:5.08, Z:2.26 [[ 9.86616768e-01 -1.58769720e-01 -3.71420036e-02 6.51709747e+01] [ 1.58656795e-01 9.87315641e-01 -5.98712531e-03 5.07950367e+00] [ 3.76214553e-02 1.41669783e-05 9.99292062e-01 2.26464329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:5.08, Z:2.27 [[ 9.86712817e-01 -1.58171821e-01 -3.71415193e-02 6.52290422e+01] [ 1.58058359e-01 9.87411603e-01 -5.99012822e-03 5.08490103e+00] [ 3.76214366e-02 4.00086999e-05 9.99292062e-01 2.26649666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:5.09, Z:2.27 [[ 9.87013333e-01 -1.56285863e-01 -3.71404150e-02 6.52866458e+01] [ 1.56170808e-01 9.87711858e-01 -5.99696723e-03 5.09225963e+00] [ 3.76212695e-02 1.18837985e-04 9.99292062e-01 2.26641441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:5.10, Z:2.27 [[ 9.87319080e-01 -1.54342637e-01 -3.71400744e-02 6.53433226e+01] [ 1.54226129e-01 9.88017364e-01 -5.99907556e-03 5.10233809e+00] [ 3.76209516e-02 1.95031861e-04 9.99292062e-01 2.26727828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.40, Y:5.11, Z:2.27 [[ 9.87721367e-01 -1.51747147e-01 -3.71389858e-02 6.54001686e+01] [ 1.51628551e-01 9.88419300e-01 -6.00580784e-03 5.11171819e+00] [ 3.76202545e-02 3.00734139e-04 9.99292062e-01 2.26692541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.46, Y:5.12, Z:2.27 [[ 9.87764989e-01 -1.51463020e-01 -3.71386497e-02 6.54570920e+01] [ 1.51344144e-01 9.88462875e-01 -6.00788492e-03 5.11814958e+00] [ 3.76201489e-02 3.13661219e-04 9.99292062e-01 2.26918277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:5.13, Z:2.27 [[ 9.87611436e-01 -1.52461164e-01 -3.71381868e-02 6.55145534e+01] [ 1.52342887e-01 9.88309423e-01 -6.01074553e-03 5.12758096e+00] [ 3.76204252e-02 2.78542440e-04 9.99292062e-01 2.27249605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:5.14, Z:2.28 [[ 9.87285586e-01 -1.54557448e-01 -3.71371353e-02 6.55717150e+01] [ 1.54440409e-01 9.87983782e-01 -6.01723507e-03 5.13630507e+00] [ 3.76208959e-02 2.05255105e-04 9.99292062e-01 2.27608236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:5.14, Z:2.28 [[ 9.86934059e-01 -1.56786737e-01 -3.71359891e-02 6.56283990e+01] [ 1.56671008e-01 9.87632474e-01 -6.02430069e-03 5.14261744e+00] [ 3.76212392e-02 1.27454686e-04 9.99292062e-01 2.27632838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:5.15, Z:2.28 [[ 9.86830511e-01 -1.57437351e-01 -3.71352123e-02 6.56855382e+01] [ 1.57321903e-01 9.87528971e-01 -6.02908506e-03 5.15172014e+00] [ 3.76213012e-02 1.07502813e-04 9.99292062e-01 2.27815590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.74, Y:5.16, Z:2.28 [[ 9.86661801e-01 -1.58491461e-01 -3.71341659e-02 6.57428619e+01] [ 1.58376517e-01 9.87360345e-01 -6.03552335e-03 5.15928458e+00] [ 3.76213818e-02 7.38404832e-05 9.99292063e-01 2.27852384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:5.17, Z:2.28 [[ 9.86599292e-01 -1.58880191e-01 -3.71338418e-02 6.58009031e+01] [ 1.58765447e-01 9.87297869e-01 -6.03751664e-03 5.16556422e+00] [ 3.76214046e-02 6.10386411e-05 9.99292063e-01 2.28164974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.86, Y:5.17, Z:2.28 [[ 9.86692114e-01 -1.58302983e-01 -3.71326936e-02 6.58582714e+01] [ 1.58187565e-01 9.87390580e-01 -6.04457000e-03 5.17445085e+00] [ 3.76213454e-02 9.01991679e-05 9.99292063e-01 2.28269653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:5.18, Z:2.29 [[ 9.86856297e-01 -1.57276497e-01 -3.71315502e-02 6.59155011e+01] [ 1.57160089e-01 9.87554598e-01 -6.05158615e-03 5.18279496e+00] [ 3.76212054e-02 1.36448185e-04 9.99292063e-01 2.28598745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:5.19, Z:2.29 [[ 9.87359422e-01 -1.54086677e-01 -3.71304168e-02 6.59732227e+01] [ 1.53967751e-01 9.88057299e-01 -6.05853206e-03 5.19173915e+00] [ 3.76205184e-02 2.65061928e-04 9.99292063e-01 2.29037929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.03, Y:5.20, Z:2.29 [[ 9.87904048e-01 -1.50555630e-01 -3.71294324e-02 6.60301912e+01] [ 1.50433983e-01 9.88601456e-01 -6.06455900e-03 5.20142880e+00] [ 3.76192644e-02 4.05673974e-04 9.99292063e-01 2.28906698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:5.21, Z:2.29 [[ 9.88226758e-01 -1.48422771e-01 -3.71289125e-02 6.60873053e+01] [ 1.48299500e-01 9.88923880e-01 -6.06773999e-03 5.21141960e+00] [ 3.76182590e-02 4.90103853e-04 9.99292063e-01 2.28964128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.14, Y:5.22, Z:2.29 [[ 9.88511181e-01 -1.46516792e-01 -3.71278125e-02 6.61438774e+01] [ 1.46391924e-01 9.89208019e-01 -6.07446335e-03 5.22205523e+00] [ 3.76171408e-02 5.69463019e-04 9.99292063e-01 2.29380948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:5.23, Z:2.30 [[ 9.88574681e-01 -1.46087818e-01 -3.71274734e-02 6.62003060e+01] [ 1.45962570e-01 9.89271451e-01 -6.07653560e-03 5.23199524e+00] [ 3.76168573e-02 5.87887801e-04 9.99292063e-01 2.30150891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:5.24, Z:2.31 [[ 9.88586921e-01 -1.46005239e-01 -3.71263993e-02 6.62568849e+01] [ 1.45879687e-01 9.89283636e-01 -6.08309060e-03 5.24250019e+00] [ 3.76167024e-02 5.97676289e-04 9.99292063e-01 2.30526121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.31, Y:5.25, Z:2.31 [[ 9.88434070e-01 -1.47036723e-01 -3.71253340e-02 6.63142805e+01] [ 1.46911654e-01 9.89130872e-01 -6.08958549e-03 5.25248403e+00] [ 3.76172067e-02 5.65009548e-04 9.99292063e-01 2.30827887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:66.37, Y:5.26, Z:2.31 [[ 9.88018067e-01 -1.49806835e-01 -3.71242774e-02 6.63708234e+01] [ 1.49683478e-01 9.88715174e-01 -6.09602011e-03 5.26422628e+00] [ 3.76185619e-02 4.66087060e-04 9.99292063e-01 2.30892054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.868623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.43, Y:5.28, Z:2.31 [[ 9.87586612e-01 -1.52625343e-01 -3.71239508e-02 6.64280530e+01] [ 1.52503901e-01 9.88284056e-01 -6.09800860e-03 5.27554037e+00] [ 3.76197193e-02 3.60764345e-04 9.99292063e-01 2.30696326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.48, Y:5.29, Z:2.31 [[ 9.87091618e-01 -1.55794850e-01 -3.71228010e-02 6.64844023e+01] [ 1.55675385e-01 9.87789402e-01 -6.10500020e-03 5.28703766e+00] [ 3.76206370e-02 2.47088202e-04 9.99292063e-01 2.30588662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.54, Y:5.30, Z:2.31 [[ 9.86926478e-01 -1.56837661e-01 -3.71224454e-02 6.65407279e+01] [ 1.56718852e-01 9.87624374e-01 -6.10716187e-03 5.29975765e+00] [ 3.76208648e-02 2.09532746e-04 9.99292063e-01 2.31126482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.60, Y:5.31, Z:2.31 [[ 9.86834970e-01 -1.57412686e-01 -3.71212717e-02 6.65962099e+01] [ 1.57294015e-01 9.87532890e-01 -6.11428766e-03 5.31355164e+00] [ 3.76209431e-02 1.94839018e-04 9.99292063e-01 2.31223973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:66.65, Y:5.32, Z:2.32 [[ 9.86509401e-01 -1.59440498e-01 -3.71204749e-02 6.66526995e+01] [ 1.59323080e-01 9.87207533e-01 -6.11912120e-03 5.32383968e+00] [ 3.76212481e-02 1.22422210e-04 9.99292063e-01 2.31945825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.71, Y:5.34, Z:2.32 [[ 9.86076798e-01 -1.62094741e-01 -3.71193144e-02 6.67094770e+01] [ 1.61978938e-01 9.86775199e-01 -6.12615290e-03 5.33508096e+00] [ 3.76214360e-02 2.83101302e-05 9.99292063e-01 2.31804042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.77, Y:5.35, Z:2.32 [[ 9.85655492e-01 -1.64637283e-01 -3.71189539e-02 6.67665532e+01] [ 1.64523198e-01 9.86354176e-01 -6.12833632e-03 5.34524117e+00] [ 3.76213878e-02 -6.65006642e-05 9.99292063e-01 2.32091511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28862385299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:5.36, Z:2.33 [[ 9.85314539e-01 -1.66665915e-01 -3.71178151e-02 6.68233416e+01] [ 1.66553009e-01 9.86013415e-01 -6.13522565e-03 5.35579299e+00] [ 3.76211967e-02 -1.36956777e-04 9.99292063e-01 2.32954172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.88, Y:5.36, Z:2.33 [[ 9.85271957e-01 -1.66917716e-01 -3.71166699e-02 6.68805181e+01] [ 1.66804728e-01 9.85970819e-01 -6.14214654e-03 5.36457331e+00] [ 3.76211865e-02 -1.39551292e-04 9.99292063e-01 2.32973697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.94, Y:5.37, Z:2.33 [[ 9.85434867e-01 -1.65953493e-01 -3.71155018e-02 6.69378800e+01] [ 1.65839556e-01 9.86133576e-01 -6.14919664e-03 5.37441765e+00] [ 3.76213232e-02 -9.55855844e-05 9.99292063e-01 2.32608961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:5.38, Z:2.33 [[ 9.85520581e-01 -1.65443797e-01 -3.71151416e-02 6.69947779e+01] [ 1.65329417e-01 9.86219217e-01 -6.15137007e-03 5.38334220e+00] [ 3.76213719e-02 -7.39229030e-05 9.99292063e-01 2.32560423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:5.39, Z:2.33 [[ 9.85419046e-01 -1.66047612e-01 -3.71146225e-02 6.70521581e+01] [ 1.65933542e-01 9.86117732e-01 -6.15450051e-03 5.39211850e+00] [ 3.76213275e-02 -9.37987324e-05 9.99292063e-01 2.32699038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:5.40, Z:2.33 [[ 9.85233590e-01 -1.67144725e-01 -3.71135299e-02 6.71102346e+01] [ 1.67031185e-01 9.85932363e-01 -6.16108225e-03 5.39964987e+00] [ 3.76212226e-02 -1.29011690e-04 9.99292063e-01 2.33136738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:5.41, Z:2.34 [[ 9.85118862e-01 -1.67819801e-01 -3.71125727e-02 6.71678215e+01] [ 1.67706523e-01 9.85817677e-01 -6.16684298e-03 5.40628355e+00] [ 3.76211485e-02 -1.48947180e-04 9.99292063e-01 2.34122908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.23, Y:5.42, Z:2.34 [[ 9.85605578e-01 -1.64937339e-01 -3.71122346e-02 6.72251793e+01] [ 1.64821940e-01 9.86304047e-01 -6.16887690e-03 5.41634414e+00] [ 3.76214253e-02 -3.68310293e-05 9.99292063e-01 2.33572422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:67.28, Y:5.43, Z:2.34 [[ 9.86088406e-01 -1.62025976e-01 -3.71111698e-02 6.72823944e+01] [ 1.61908274e-01 9.86786490e-01 -6.17527556e-03 5.42650919e+00] [ 3.76213561e-02 8.07621690e-05 9.99292063e-01 2.34166212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.34, Y:5.44, Z:2.34 [[ 9.86486713e-01 -1.59583224e-01 -3.71101019e-02 6.73400051e+01] [ 1.59463553e-01 9.87184462e-01 -6.18168652e-03 5.43641689e+00] [ 3.76210095e-02 1.80442923e-04 9.99292063e-01 2.34284451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.40, Y:5.45, Z:2.35 [[ 9.86506861e-01 -1.59458908e-01 -3.71089029e-02 6.73969805e+01] [ 1.59338878e-01 9.87204548e-01 -6.18887579e-03 5.44709310e+00] [ 3.76209491e-02 1.92477460e-04 9.99292063e-01 2.34546394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.45, Y:5.46, Z:2.35 [[ 9.86537832e-01 -1.59267467e-01 -3.71076764e-02 6.74529270e+01] [ 1.59147026e-01 9.87235449e-01 -6.19622099e-03 5.45702135e+00] [ 3.76208700e-02 2.07230097e-04 9.99292063e-01 2.34590464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:5.47, Z:2.35 [[ 9.86684224e-01 -1.58358215e-01 -3.71068492e-02 6.75106936e+01] [ 1.58236945e-01 9.87381697e-01 -6.20117069e-03 5.46806717e+00] [ 3.76206301e-02 2.46922841e-04 9.99292063e-01 2.35119629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:5.48, Z:2.35 [[ 9.86688741e-01 -1.58330310e-01 -3.71058006e-02 6.75666931e+01] [ 1.58208784e-01 9.87386170e-01 -6.20743885e-03 5.47832473e+00] [ 3.76205801e-02 2.54346416e-04 9.99292063e-01 2.35351601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.62, Y:5.49, Z:2.36 [[ 9.86357808e-01 -1.60379152e-01 -3.71052813e-02 6.76235749e+01] [ 1.60258958e-01 9.87055467e-01 -6.21054197e-03 5.48954872e+00] [ 3.76210122e-02 1.79362843e-04 9.99292063e-01 2.35598985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.68, Y:5.50, Z:2.36 [[ 9.85762208e-01 -1.64000480e-01 -3.71040780e-02 6.76806050e+01] [ 1.63882579e-01 9.86460258e-01 -6.21772245e-03 5.49799979e+00] [ 3.76214078e-02 4.84838238e-05 9.99292063e-01 2.35681754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.74, Y:5.51, Z:2.36 [[ 9.85526201e-01 -1.65413077e-01 -3.71028404e-02 6.77380698e+01] [ 1.65295899e-01 9.86224373e-01 -6.22509897e-03 5.50725831e+00] [ 3.76214383e-02 2.05078482e-06 9.99292063e-01 2.35563278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.80, Y:5.52, Z:2.36 [[ 9.85486906e-01 -1.65647111e-01 -3.71024588e-02 6.77951192e+01] [ 1.65530014e-01 9.86185091e-01 -6.22737203e-03 5.51642873e+00] [ 3.76214380e-02 -4.57691761e-06 9.99292063e-01 2.35738220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.368623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:5.53, Z:2.36 [[ 9.85213435e-01 -1.67266205e-01 -3.71012683e-02 6.78520645e+01] [ 1.67149988e-01 9.85911767e-01 -6.23445677e-03 5.52533172e+00] [ 3.76213910e-02 -5.92059736e-05 9.99292063e-01 2.36467870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:67.91, Y:5.53, Z:2.37 [[ 9.84830245e-01 -1.69508040e-01 -3.71000383e-02 6.79091180e+01] [ 1.69393137e-01 9.85528795e-01 -6.24176777e-03 5.53401139e+00] [ 3.76211859e-02 -1.37410193e-04 9.99292063e-01 2.36912446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.97, Y:5.54, Z:2.37 [[ 9.84246516e-01 -1.72865479e-01 -3.70988157e-02 6.79662227e+01] [ 1.72752685e-01 9.84945409e-01 -6.24902644e-03 5.54109407e+00] [ 3.76205491e-02 -2.58337510e-04 9.99292063e-01 2.36507291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:5.55, Z:2.37 [[ 9.83811042e-01 -1.75326982e-01 -3.70982864e-02 6.80237566e+01] [ 1.75215819e-01 9.84510197e-01 -6.25216710e-03 5.54683719e+00] [ 3.76198148e-02 -3.49255595e-04 9.99292063e-01 2.36907939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:5.55, Z:2.37 [[ 9.83742534e-01 -1.75711220e-01 -3.70970914e-02 6.80808550e+01] [ 1.75600063e-01 9.84441689e-01 -6.25924932e-03 5.55420476e+00] [ 3.76197437e-02 -3.56761784e-04 9.99292063e-01 2.37210308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:5.56, Z:2.38 [[ 9.83919474e-01 -1.74717951e-01 -3.70959067e-02 6.81388043e+01] [ 1.74605824e-01 9.84618474e-01 -6.26626275e-03 5.56059706e+00] [ 3.76201436e-02 -3.11663397e-04 9.99292063e-01 2.37500346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.20, Y:5.57, Z:2.37 [[ 9.84360117e-01 -1.72218121e-01 -3.70955401e-02 6.81965497e+01] [ 1.72104136e-01 9.85058817e-01 -6.26843189e-03 5.56680193e+00] [ 3.76208265e-02 -2.13901546e-04 9.99292063e-01 2.37486629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.25, Y:5.58, Z:2.38 [[ 9.84926106e-01 -1.68951219e-01 -3.70951782e-02 6.82541708e+01] [ 1.68834836e-01 9.85624410e-01 -6.27057294e-03 5.57569911e+00] [ 3.76213341e-02 -8.69073473e-05 9.99292063e-01 2.37536281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.31, Y:5.58, Z:2.38 [[ 9.86055319e-01 -1.62231132e-01 -3.70940310e-02 6.83112254e+01] [ 1.62109735e-01 9.86752770e-01 -6.27735199e-03 5.58427005e+00] [ 3.76210198e-02 1.76512779e-04 9.99292063e-01 2.37697080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.37, Y:5.59, Z:2.38 [[ 9.86960246e-01 -1.56632019e-01 -3.70928919e-02 6.83684105e+01] [ 1.56506413e-01 9.87656951e-01 -6.28407591e-03 5.59426950e+00] [ 3.76193400e-02 3.96857637e-04 9.99292063e-01 2.37986562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:68.42, Y:5.61, Z:2.39 [[ 9.88181554e-01 -1.48732721e-01 -3.70917066e-02 6.84248145e+01] [ 1.48601284e-01 9.88877182e-01 -6.29106447e-03 5.60877111e+00] [ 3.76148294e-02 7.04838663e-04 9.99292063e-01 2.38810657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.48, Y:5.62, Z:2.38 [[ 9.88890801e-01 -1.43941926e-01 -3.70904989e-02 6.84811027e+01] [ 1.43806853e-01 9.89585733e-01 -6.29817665e-03 5.62407726e+00] [ 3.76108002e-02 8.94341044e-04 9.99292063e-01 2.38311912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:5.64, Z:2.38 [[ 9.88956009e-01 -1.43493548e-01 -3.70892789e-02 6.85370069e+01] [ 1.43357891e-01 9.89650826e-01 -6.30535305e-03 5.63520958e+00] [ 3.76102130e-02 9.18675991e-04 9.99292063e-01 2.38485296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.59, Y:5.65, Z:2.39 [[ 9.88720357e-01 -1.45108513e-01 -3.70887538e-02 6.85942154e+01] [ 1.44973875e-01 9.89415372e-01 -6.30843984e-03 5.65055794e+00] [ 3.76115915e-02 8.60382535e-04 9.99292063e-01 2.39047069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.65, Y:5.66, Z:2.39 [[ 9.88248724e-01 -1.48286756e-01 -3.70877009e-02 6.86495153e+01] [ 1.48154121e-01 9.88944125e-01 -6.31462423e-03 5.66432150e+00] [ 3.76140390e-02 7.45723605e-04 9.99292063e-01 2.39321143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.71, Y:5.68, Z:2.39 [[ 9.87110089e-01 -1.55686336e-01 -3.70868860e-02 6.87064720e+01] [ 1.55558735e-01 9.87806431e-01 -6.31940626e-03 5.67816340e+00] [ 3.76185097e-02 4.68760582e-04 9.99292063e-01 2.39279022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.76, Y:5.69, Z:2.39 [[ 9.86079743e-01 -1.62084520e-01 -3.70857022e-02 6.87631539e+01] [ 1.61961176e-01 9.86776852e-01 -6.32634607e-03 5.68908539e+00] [ 3.76207152e-02 2.31837756e-04 9.99292063e-01 2.39393512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.82, Y:5.70, Z:2.39 [[ 9.84453742e-01 -1.71684508e-01 -3.70844902e-02 6.88189006e+01] [ 1.71567695e-01 9.85151975e-01 -6.33344291e-03 5.70209204e+00] [ 3.76212128e-02 -1.27518935e-04 9.99292063e-01 2.39400649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.88, Y:5.71, Z:2.40 [[ 9.82935485e-01 -1.80173900e-01 -3.70836669e-02 6.88765445e+01] [ 1.80062936e-01 9.83634671e-01 -6.33825978e-03 5.71359378e+00] [ 3.76187694e-02 -4.47293479e-04 9.99292063e-01 2.39921809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:5.72, Z:2.40 [[ 9.82055712e-01 -1.84909333e-01 -3.70825733e-02 6.89331461e+01] [ 1.84801499e-01 9.82755387e-01 -6.34465160e-03 5.72344234e+00] [ 3.76162840e-02 -6.22113767e-04 9.99292063e-01 2.40232742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:5.73, Z:2.41 [[ 9.81177147e-01 -1.89516174e-01 -3.70813326e-02 6.89899889e+01] [ 1.89411351e-01 9.81877280e-01 -6.35189456e-03 5.73463375e+00] [ 3.76131047e-02 -7.91291503e-04 9.99292064e-01 2.40879147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:5.75, Z:2.40 [[ 9.80782715e-01 -1.91547040e-01 -3.70809501e-02 6.90474982e+01] [ 1.91443582e-01 9.81483051e-01 -6.35412647e-03 5.74528422e+00] [ 3.76114382e-02 -8.66892485e-04 9.99292064e-01 2.40415129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:5.75, Z:2.40 [[ 9.80379523e-01 -1.93600317e-01 -3.70797608e-02 6.91053243e+01] [ 1.93498064e-01 9.81080036e-01 -6.36105899e-03 5.75284246e+00] [ 3.76097161e-02 -9.38609946e-04 9.99292064e-01 2.40498322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:5.76, Z:2.41 [[ 9.80121407e-01 -1.94903071e-01 -3.70785679e-02 6.91632473e+01] [ 1.94801486e-01 9.80822017e-01 -6.36800480e-03 5.76011919e+00] [ 3.76086195e-02 -9.81542296e-04 9.99292064e-01 2.40964974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:5.77, Z:2.41 [[ 9.80313597e-01 -1.93934291e-01 -3.70775105e-02 6.92201989e+01] [ 1.93831781e-01 9.81014073e-01 -6.37415580e-03 5.76766057e+00] [ 3.76097270e-02 -9.38128299e-04 9.99292064e-01 2.41214771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:5.77, Z:2.42 [[ 9.80674900e-01 -1.92099030e-01 -3.70769856e-02 6.92780520e+01] [ 1.91995094e-01 9.81375165e-01 -6.37720731e-03 5.77444855e+00] [ 3.76114883e-02 -8.64632221e-04 9.99292064e-01 2.41528451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.34, Y:5.78, Z:2.42 [[ 9.81540166e-01 -1.87628065e-01 -3.70757511e-02 6.93358740e+01] [ 1.87520669e-01 9.82239909e-01 -6.38437690e-03 5.78137223e+00] [ 3.76151706e-02 -6.85947269e-04 9.99292064e-01 2.41737776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:5.79, Z:2.42 [[ 9.82207333e-01 -1.84103699e-01 -3.70753701e-02 6.93943246e+01] [ 1.83993708e-01 9.82906673e-01 -6.38658831e-03 5.78692377e+00] [ 3.76174232e-02 -5.48680940e-04 9.99292064e-01 2.42239748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:5.79, Z:2.42 [[ 9.82542920e-01 -1.82304432e-01 -3.70743121e-02 6.94521357e+01] [ 1.82192928e-01 9.83242020e-01 -6.39272399e-03 5.79424801e+00] [ 3.76184435e-02 -4.73551800e-04 9.99292064e-01 2.42423901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:5.80, Z:2.42 [[ 9.83007417e-01 -1.79783213e-01 -3.70731022e-02 6.95104273e+01] [ 1.79669652e-01 9.83706186e-01 -6.39973310e-03 5.79726304e+00] [ 3.76196045e-02 -3.69926283e-04 9.99292064e-01 2.42208870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:69.57, Y:5.80, Z:2.42 [[ 9.83245486e-01 -1.78476684e-01 -3.70727283e-02 6.95682129e+01] [ 1.78362113e-01 9.83944090e-01 -6.40189824e-03 5.80362617e+00] [ 3.76200815e-02 -3.17732617e-04 9.99292064e-01 2.42296200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:69.63, Y:5.81, Z:2.42 [[ 9.83806575e-01 -1.75357708e-01 -3.70715257e-02 6.96254470e+01] [ 1.75240660e-01 9.84504768e-01 -6.40885444e-03 5.80915912e+00] [ 3.76209359e-02 -1.91365511e-04 9.99292064e-01 2.42493807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28862385299999 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:5.82, Z:2.43 [[ 9.84565719e-01 -1.71044102e-01 -3.70710049e-02 6.96824016e+01] [ 1.70923882e-01 9.85263373e-01 -6.41186595e-03 5.81653621e+00] [ 3.76214152e-02 -2.34166441e-05 9.99292064e-01 2.42908029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34862385299999 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:5.82, Z:2.43 [[ 9.85127819e-01 -1.67776520e-01 -3.70704559e-02 6.97398589e+01] [ 1.67653867e-01 9.85825050e-01 -6.41503823e-03 5.82495479e+00] [ 3.76212768e-02 1.04627358e-04 9.99292064e-01 2.43267856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408623853 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:5.83, Z:2.44 [[ 9.85766212e-01 -1.63984287e-01 -3.70692428e-02 6.97970978e+01] [ 1.63858688e-01 9.86462918e-01 -6.42204030e-03 5.83394078e+00] [ 3.76205471e-02 2.56512842e-04 9.99292064e-01 2.43570616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468623853 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:5.84, Z:2.44 [[ 9.86076989e-01 -1.62105321e-01 -3.70679950e-02 6.98547420e+01] [ 1.61978124e-01 9.86773405e-01 -6.42923494e-03 5.84399481e+00] [ 3.76199248e-02 3.35516366e-04 9.99292064e-01 2.43659800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528623853 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:5.85, Z:2.44 [[ 9.85998879e-01 -1.62580011e-01 -3.70668319e-02 6.99103951e+01] [ 1.62452897e-01 9.86695310e-01 -6.43593371e-03 5.85450200e+00] [ 3.76200233e-02 3.24209187e-04 9.99292064e-01 2.43825250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588623853 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:5.86, Z:2.44 [[ 9.85530590e-01 -1.65395186e-01 -3.70659904e-02 6.99671073e+01] [ 1.65269880e-01 9.86227349e-01 -6.44077606e-03 5.86446360e+00] [ 3.76207668e-02 2.21690060e-04 9.99292064e-01 2.44030180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64862385299999 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:5.87, Z:2.45 [[ 9.85184364e-01 -1.67445435e-01 -3.70647470e-02 7.00239666e+01] [ 1.67321309e-01 9.85881334e-01 -6.44792374e-03 5.87346367e+00] [ 3.76211176e-02 1.50671653e-04 9.99292064e-01 2.44536019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70862385299999 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:5.88, Z:2.44 [[ 9.84662290e-01 -1.70488926e-01 -3.70634704e-02 7.00810427e+01] [ 1.70366680e-01 9.85359591e-01 -6.45525326e-03 5.88240639e+00] [ 3.76213953e-02 4.18640736e-05 9.99292064e-01 2.44470066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768623853 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:5.89, Z:2.45 [[ 9.84227770e-01 -1.72979839e-01 -3.70630759e-02 7.01371473e+01] [ 1.72859271e-01 9.84925364e-01 -6.45751740e-03 5.89158667e+00] [ 3.76213839e-02 -5.10283404e-05 9.99292064e-01 2.44665376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828623853 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:70.19, Y:5.90, Z:2.45 [[ 9.83959185e-01 -1.74501264e-01 -3.70625413e-02 7.01940729e+01] [ 1.74381659e-01 9.84656944e-01 -6.46058424e-03 5.90097401e+00] [ 3.76212688e-02 -1.06076257e-04 9.99292064e-01 2.45037567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888623853 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:70.25, Y:5.91, Z:2.45 [[ 9.83637098e-01 -1.76308020e-01 -3.70613093e-02 7.02511064e+01] [ 1.76189431e-01 9.84335031e-01 -6.46764441e-03 5.90964394e+00] [ 3.76210426e-02 -1.67996022e-04 9.99292064e-01 2.45337627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948623853 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:70.31, Y:5.92, Z:2.46 [[ 9.82792433e-01 -1.80957234e-01 -3.70609282e-02 7.03084105e+01] [ 1.80841864e-01 9.83490906e-01 -6.46982713e-03 5.91687531e+00] [ 3.76198479e-02 -3.43670201e-04 9.99292064e-01 2.45667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.008623853 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:70.36, Y:5.92, Z:2.46 [[ 9.82451271e-01 -1.82800665e-01 -3.70596421e-02 7.03641884e+01] [ 1.82686329e-01 9.83149913e-01 -6.47718552e-03 5.92497346e+00] [ 3.76192178e-02 -4.06770830e-04 9.99292064e-01 2.46482240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06862385299999 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:70.42, Y:5.93, Z:2.46 [[ 9.81534070e-01 -1.87663307e-01 -3.70587709e-02 7.04222933e+01] [ 1.87552243e-01 9.82233240e-01 -6.48216653e-03 5.92916341e+00] [ 3.76168214e-02 -5.87988316e-04 9.99292064e-01 2.45703398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128623853 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:70.48, Y:5.94, Z:2.46 [[ 9.81409793e-01 -1.88312225e-01 -3.70583781e-02 7.04803684e+01] [ 1.88201539e-01 9.82109023e-01 -6.48441153e-03 5.93556256e+00] [ 3.76164614e-02 -6.10578807e-04 9.99292064e-01 2.45907956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188623853 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:70.54, Y:5.94, Z:2.46 [[ 9.82179085e-01 -1.84258011e-01 -3.70571152e-02 7.05378504e+01] [ 1.84144166e-01 9.82877808e-01 -6.49162042e-03 5.94294602e+00] [ 3.76187492e-02 -4.47917790e-04 9.99292064e-01 2.46246813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248623853 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:70.59, Y:5.95, Z:2.46 [[ 9.83591727e-01 -1.76562109e-01 -3.70558484e-02 7.05943004e+01] [ 1.76442525e-01 9.84289490e-01 -6.49884370e-03 5.95000743e+00] [ 3.76211317e-02 -1.46018566e-04 9.99292064e-01 2.46419660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308623853 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:5.96, Z:2.47 [[ 9.84904877e-01 -1.69083670e-01 -3.70553006e-02 7.06522760e+01] [ 1.68958670e-01 9.85601690e-01 -6.50196541e-03 5.95803522e+00] [ 3.76211431e-02 1.43003120e-04 9.99292064e-01 2.46867666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.368623853 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:70.71, Y:5.97, Z:2.47 [[ 9.85556287e-01 -1.65244631e-01 -3.70542369e-02 7.07093739e+01] [ 1.65116689e-01 9.86252566e-01 -6.50802215e-03 5.96831551e+00] [ 3.76202519e-02 2.95749238e-04 9.99292064e-01 2.47271704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42862385299999 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:70.77, Y:5.98, Z:2.47 [[ 9.86489790e-01 -1.59577473e-01 -3.70530073e-02 7.07655295e+01] [ 1.59445269e-01 9.87185272e-01 -6.51501485e-03 5.98036320e+00] [ 3.76178327e-02 5.19068908e-04 9.99292064e-01 2.47361046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48862385299999 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:5.99, Z:2.48 [[ 9.86906797e-01 -1.56977985e-01 -3.70524771e-02 7.08223052e+01] [ 1.56843837e-01 9.87601907e-01 -6.51802917e-03 5.99100424e+00] [ 3.76162841e-02 6.21234630e-04 9.99292064e-01 2.47613861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548623853 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:6.00, Z:2.48 [[ 9.87249480e-01 -1.54808489e-01 -3.70512664e-02 7.08798987e+01] [ 1.54672555e-01 9.87944243e-01 -6.52490391e-03 6.00387218e+00] [ 3.76146958e-02 7.10893944e-04 9.99292064e-01 2.48126302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608623853 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:6.02, Z:2.48 [[ 9.87422263e-01 -1.53702829e-01 -3.70501745e-02 7.09356435e+01] [ 1.53565885e-01 9.88116827e-01 -6.53109802e-03 6.01851211e+00] [ 3.76137491e-02 7.59308745e-04 9.99292064e-01 2.48430677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668623853 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:6.03, Z:2.48 [[ 9.87427725e-01 -1.53667829e-01 -3.70497901e-02 7.09914673e+01] [ 1.53530779e-01 9.88122268e-01 -6.53327812e-03 6.03391933e+00] [ 3.76136773e-02 7.62856814e-04 9.99292064e-01 2.48428900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728623853 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:6.05, Z:2.49 [[ 9.87208372e-01 -1.55071059e-01 -3.70485686e-02 7.10473287e+01] [ 1.54934736e-01 9.87903059e-01 -6.54019749e-03 6.04836014e+00] [ 3.76145896e-02 7.16427513e-04 9.99292064e-01 2.48547434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78862385299999 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:71.10, Y:6.06, Z:2.49 [[ 9.86644465e-01 -1.58619661e-01 -3.70473164e-02 7.11033761e+01] [ 1.58485570e-01 9.87339585e-01 -6.54728312e-03 6.06328658e+00] [ 3.76168098e-02 5.88375582e-04 9.99292064e-01 2.48518834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84862385299999 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:71.16, Y:6.08, Z:2.49 [[ 9.86068105e-01 -1.62164171e-01 -3.70469276e-02 7.11597936e+01] [ 1.62032497e-01 9.86763687e-01 -6.54948206e-03 6.07634483e+00] [ 3.76186543e-02 4.55429175e-04 9.99292064e-01 2.48774364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908623853 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:71.22, Y:6.09, Z:2.50 [[ 9.85204087e-01 -1.67333573e-01 -3.70456912e-02 7.12159564e+01] [ 1.67205286e-01 9.85900302e-01 -6.55646823e-03 6.09064904e+00] [ 3.76204754e-02 2.65223901e-04 9.99292064e-01 2.49561776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968623853 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:71.27, Y:6.10, Z:2.49 [[ 9.84434409e-01 -1.71803965e-01 -3.70444535e-02 7.12726167e+01] [ 1.71678576e-01 9.85131152e-01 -6.56345418e-03 6.10288035e+00] [ 3.76212726e-02 1.01551103e-04 9.99292064e-01 2.49118012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:6.12, Z:2.50 [[ 9.83854767e-01 -1.75092929e-01 -3.70440694e-02 7.13287447e+01] [ 1.74969789e-01 9.84551911e-01 -6.56562092e-03 6.11647743e+00] [ 3.76214032e-02 -2.19755690e-05 9.99292064e-01 2.49552025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:6.13, Z:2.50 [[ 9.83546300e-01 -1.76817717e-01 -3.70428228e-02 7.13861236e+01] [ 1.76695534e-01 9.84243612e-01 -6.57264681e-03 6.12822908e+00] [ 3.76213221e-02 -8.07989128e-05 9.99292064e-01 2.49903431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14862385299999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:71.44, Y:6.14, Z:2.50 [[ 9.83283611e-01 -1.78272968e-01 -3.70417344e-02 7.14433050e+01] [ 1.78151586e-01 9.83981063e-01 -6.57877523e-03 6.13985060e+00] [ 3.76211829e-02 -1.30241871e-04 9.99292064e-01 2.50410504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20862385299999 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:71.50, Y:6.15, Z:2.51 [[ 9.83336914e-01 -1.77978948e-01 -3.70406360e-02 7.14994809e+01] [ 1.77857125e-01 9.84034289e-01 -6.58495364e-03 6.15164358e+00] [ 3.76212390e-02 -1.12713029e-04 9.99292064e-01 2.50804513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268623853 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:71.56, Y:6.17, Z:2.50 [[ 9.83570363e-01 -1.76684452e-01 -3.70397849e-02 7.15569384e+01] [ 1.76561531e-01 9.84267545e-01 -6.58973738e-03 6.16606901e+00] [ 3.76213623e-02 -5.83307570e-05 9.99292064e-01 2.50383683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328623853 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:6.18, Z:2.50 [[ 9.83939843e-01 -1.74615359e-01 -3.70386552e-02 7.16147948e+01] [ 1.74490734e-01 9.84636723e-01 -6.59608088e-03 6.17935720e+00] [ 3.76213971e-02 2.72446605e-05 9.99292064e-01 2.50400164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388623853 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:6.19, Z:2.51 [[ 9.84298780e-01 -1.72580805e-01 -3.70375098e-02 7.16702922e+01] [ 1.72454497e-01 9.84995357e-01 -6.60250621e-03 6.19306862e+00] [ 3.76212410e-02 1.11553670e-04 9.99292064e-01 2.50588410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:6.21, Z:2.51 [[ 9.84462777e-01 -1.71642960e-01 -3.70369431e-02 7.17277224e+01] [ 1.71515869e-01 9.85159211e-01 -6.60568387e-03 6.20634199e+00] [ 3.76211048e-02 1.50626407e-04 9.99292064e-01 2.51010024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.508623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:71.78, Y:6.22, Z:2.51 [[ 9.84642023e-01 -1.70611946e-01 -3.70357960e-02 7.17839579e+01] [ 1.70483884e-01 9.85338280e-01 -6.61210891e-03 6.22064444e+00] [ 3.76208923e-02 1.96553948e-04 9.99292064e-01 2.51376624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56862385299999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:6.23, Z:2.52 [[ 9.84588194e-01 -1.70922404e-01 -3.70353919e-02 7.18399120e+01] [ 1.70794477e-01 9.85284475e-01 -6.61437151e-03 6.23433340e+00] [ 3.76209409e-02 1.86991717e-04 9.99292064e-01 2.51555393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:6.25, Z:2.52 [[ 9.84332350e-01 -1.72389964e-01 -3.70341021e-02 7.18955595e+01] [ 1.72262803e-01 9.85028772e-01 -6.62158507e-03 6.24817633e+00] [ 3.76211510e-02 1.38242144e-04 9.99292064e-01 2.51567847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:6.26, Z:2.52 [[ 9.83846989e-01 -1.75138856e-01 -3.70335457e-02 7.19518801e+01] [ 1.75013524e-01 9.84543742e-01 -6.62469550e-03 6.26131387e+00] [ 3.76213873e-02 3.63153741e-05 9.99292064e-01 2.51695849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748623853 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:6.27, Z:2.52 [[ 9.83492271e-01 -1.77120195e-01 -3.70322812e-02 7.20082944e+01] [ 1.76996001e-01 9.84189228e-01 -6.63175656e-03 6.27325900e+00] [ 3.76213903e-02 -3.22843563e-05 9.99292064e-01 2.51845584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808623853 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:72.06, Y:6.29, Z:2.52 [[ 9.83005806e-01 -1.79800697e-01 -3.70310073e-02 7.20642331e+01] [ 1.79678135e-01 9.83703051e-01 -6.63886264e-03 6.28691923e+00] [ 3.76211870e-02 -1.27621814e-04 9.99292064e-01 2.52205629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.868623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:72.12, Y:6.30, Z:2.53 [[ 9.82563084e-01 -1.82204788e-01 -3.70297454e-02 7.21206244e+01] [ 1.82083667e-01 9.83260581e-01 -6.64589358e-03 6.29854847e+00] [ 3.76208026e-02 -2.12502146e-04 9.99292064e-01 2.52554486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92862385299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:72.18, Y:6.31, Z:2.53 [[ 9.82413212e-01 -1.83011225e-01 -3.70293553e-02 7.21773936e+01] [ 1.82890595e-01 9.83110794e-01 -6.64806647e-03 6.30907430e+00] [ 3.76206297e-02 -2.41172479e-04 9.99292064e-01 2.52822785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98862385299999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:6.32, Z:2.53 [[ 9.81902320e-01 -1.85733014e-01 -3.70281270e-02 7.22340814e+01] [ 1.85614061e-01 9.82600190e-01 -6.65490062e-03 6.32041167e+00] [ 3.76198794e-02 -3.38478654e-04 9.99292064e-01 2.53000422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:72.29, Y:6.33, Z:2.53 [[ 9.81526051e-01 -1.87711537e-01 -3.70268934e-02 7.22911944e+01] [ 1.87593731e-01 9.82224116e-01 -6.66175709e-03 6.33003185e+00] [ 3.76191963e-02 -4.07324962e-04 9.99292064e-01 2.53291257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108623853 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:72.35, Y:6.34, Z:2.54 [[ 9.80757537e-01 -1.91686619e-01 -3.70255798e-02 7.23481418e+01] [ 1.91571367e-01 9.81456028e-01 -6.66905033e-03 6.34039662e+00] [ 3.76173462e-02 -5.52319561e-04 9.99292065e-01 2.54145405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:6.35, Z:2.54 [[ 9.80297071e-01 -1.94027976e-01 -3.70242715e-02 7.24048333e+01] [ 1.93914118e-01 9.80995791e-01 -6.67630547e-03 6.34765475e+00] [ 3.76160445e-02 -6.34766268e-04 9.99292065e-01 2.53593125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:6.35, Z:2.53 [[ 9.79565272e-01 -1.97689461e-01 -3.70237076e-02 7.24640498e+01] [ 1.97578097e-01 9.80264393e-01 -6.67943137e-03 6.35272982e+00] [ 3.76134754e-02 -7.72134675e-04 9.99292065e-01 2.53494932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28862385299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:6.36, Z:2.54 [[ 9.79287687e-01 -1.99060180e-01 -3.70225797e-02 7.25211901e+01] [ 1.98949559e-01 9.79986926e-01 -6.68567685e-03 6.35759178e+00] [ 3.76124961e-02 -8.18424881e-04 9.99292065e-01 2.53692175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34862385299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:6.36, Z:2.54 [[ 9.79521763e-01 -1.97905306e-01 -3.70217020e-02 7.25789514e+01] [ 1.97793677e-01 9.80220842e-01 -6.69053345e-03 6.36361482e+00] [ 3.76135360e-02 -7.69135443e-04 9.99292065e-01 2.53935801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:72.64, Y:6.37, Z:2.54 [[ 9.80455505e-01 -1.93226531e-01 -3.70204164e-02 7.26374707e+01] [ 1.93111297e-01 9.81153998e-01 -6.69763988e-03 6.36837357e+00] [ 3.76168913e-02 -5.82322737e-04 9.99292065e-01 2.54214466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:72.69, Y:6.37, Z:2.54 [[ 9.81641912e-01 -1.87106220e-01 -3.70191701e-02 7.26944236e+01] [ 1.86986371e-01 9.82339629e-01 -6.70452102e-03 6.37336718e+00] [ 3.76198554e-02 -3.40641448e-04 9.99292065e-01 2.54379441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528623853 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:72.75, Y:6.38, Z:2.55 [[ 9.82199501e-01 -1.84156964e-01 -3.70182691e-02 7.27519510e+01] [ 1.84034833e-01 9.82896822e-01 -6.70949237e-03 6.38131489e+00] [ 3.76207388e-02 -2.22590899e-04 9.99292065e-01 2.55184555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:72.81, Y:6.39, Z:2.55 [[ 9.82985645e-01 -1.79913764e-01 -3.70170068e-02 7.28106432e+01] [ 1.79788361e-01 9.83682385e-01 -6.71644924e-03 6.38560217e+00] [ 3.76213592e-02 -5.30537833e-05 9.99292065e-01 2.55138127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:72.87, Y:6.39, Z:2.56 [[ 9.83650362e-01 -1.76243551e-01 -3.70159032e-02 7.28684661e+01] [ 1.76115319e-01 9.84346586e-01 -6.72252590e-03 6.39025088e+00] [ 3.76212798e-02 9.35474273e-05 9.99292065e-01 2.55533390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:72.93, Y:6.40, Z:2.56 [[ 9.84258199e-01 -1.72817005e-01 -3.70146109e-02 7.29257756e+01] [ 1.72686082e-01 9.84953922e-01 -6.72963414e-03 6.39819608e+00] [ 3.76206814e-02 2.31789444e-04 9.99292065e-01 2.55544580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:72.98, Y:6.40, Z:2.56 [[ 9.85266341e-01 -1.66973808e-01 -3.70133148e-02 7.29830548e+01] [ 1.66838492e-01 9.85961223e-01 -6.73675519e-03 6.40455254e+00] [ 3.76185548e-02 4.62252522e-04 9.99292065e-01 2.55967977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.04, Y:6.41, Z:2.56 [[ 9.86389146e-01 -1.60207670e-01 -3.70129155e-02 7.30407278e+01] [ 1.60067506e-01 9.87083066e-01 -6.73894813e-03 6.41355570e+00] [ 3.76144533e-02 7.22660210e-04 9.99292065e-01 2.55809861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:6.43, Z:2.56 [[ 9.86984414e-01 -1.56498894e-01 -3.70116610e-02 7.30972363e+01] [ 1.56355864e-01 9.87677750e-01 -6.74583106e-03 6.42544942e+00] [ 3.76113092e-02 8.71039881e-04 9.99292065e-01 2.56204025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:73.15, Y:6.44, Z:2.57 [[ 9.87588713e-01 -1.52639337e-01 -3.70103647e-02 7.31543789e+01] [ 1.52493332e-01 9.88281428e-01 -6.75293557e-03 6.43794236e+00] [ 3.76074197e-02 1.02528912e-03 9.99292065e-01 2.56620347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.008623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:73.21, Y:6.45, Z:2.57 [[ 9.87936591e-01 -1.50371568e-01 -3.70092352e-02 7.32106960e+01] [ 1.50223741e-01 9.88628920e-01 -6.75911999e-03 6.44890630e+00] [ 3.76047797e-02 1.11791618e-03 9.99292065e-01 2.56869323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:73.27, Y:6.46, Z:2.57 [[ 9.88078171e-01 -1.49438571e-01 -3.70086775e-02 7.32662224e+01] [ 1.49289977e-01 9.88770335e-01 -6.76217241e-03 6.46206754e+00] [ 3.76036118e-02 1.15653034e-03 9.99292065e-01 2.56823905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:6.48, Z:2.57 [[ 9.88252510e-01 -1.48281404e-01 -3.70081291e-02 7.33224032e+01] [ 1.48131887e-01 9.88944476e-01 -6.76517248e-03 6.47817501e+00] [ 3.76021341e-02 1.20361468e-03 9.99292065e-01 2.57018329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:6.49, Z:2.57 [[ 9.88280328e-01 -1.48096211e-01 -3.70068444e-02 7.33787524e+01] [ 1.47946301e-01 9.88972209e-01 -6.77219271e-03 6.49355148e+00] [ 3.76016767e-02 1.21779908e-03 9.99292065e-01 2.56921594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:6.51, Z:2.57 [[ 9.88015870e-01 -1.49850473e-01 -3.70064476e-02 7.34350184e+01] [ 1.49701711e-01 9.88707998e-01 -6.77436052e-03 6.51054835e+00] [ 3.76037118e-02 1.15324718e-03 9.99292065e-01 2.57201791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:6.53, Z:2.58 [[ 9.87333902e-01 -1.54280213e-01 -3.70051704e-02 7.34913946e+01] [ 1.54134295e-01 9.88026636e-01 -6.78132996e-03 6.52887576e+00] [ 3.76083190e-02 9.91671114e-04 9.99292065e-01 2.57614062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.368623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:6.55, Z:2.58 [[ 9.86737367e-01 -1.58050840e-01 -3.70040499e-02 7.35476405e+01] [ 1.57907341e-01 9.87430606e-01 -6.78743839e-03 6.54555371e+00] [ 3.76116918e-02 8.54207943e-04 9.99292065e-01 2.57962204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:6.57, Z:2.58 [[ 9.86104156e-01 -1.61954898e-01 -3.70027715e-02 7.36027221e+01] [ 1.61813883e-01 9.86797904e-01 -6.79440113e-03 6.56530446e+00] [ 3.76146439e-02 7.12425051e-04 9.99292065e-01 2.58264322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:6.59, Z:2.58 [[ 9.85705148e-01 -1.64366207e-01 -3.70014971e-02 7.36578414e+01] [ 1.64226629e-01 9.86399187e-01 -6.80133416e-03 6.58756457e+00] [ 3.76161561e-02 6.27478961e-04 9.99292065e-01 2.58471688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:73.71, Y:6.61, Z:2.59 [[ 9.85552462e-01 -1.65279548e-01 -3.70002122e-02 7.37125757e+01] [ 1.65140351e-01 9.86246577e-01 -6.80831689e-03 6.60648559e+00] [ 3.76166082e-02 5.99725430e-04 9.99292065e-01 2.58583434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.77, Y:6.63, Z:2.58 [[ 9.85103797e-01 -1.67933128e-01 -3.69996551e-02 7.37673181e+01] [ 1.67795687e-01 9.85798262e-01 -6.81134323e-03 6.62837783e+00] [ 3.76180458e-02 5.01497512e-04 9.99292065e-01 2.58477991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.82, Y:6.65, Z:2.58 [[ 9.84266908e-01 -1.72770876e-01 -3.69983503e-02 7.38224286e+01] [ 1.72636583e-01 9.84961989e-01 -6.81842358e-03 6.64968562e+00] [ 3.76199937e-02 3.23879951e-04 9.99292065e-01 2.58218715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.88, Y:6.67, Z:2.58 [[ 9.83595108e-01 -1.76555417e-01 -3.69979464e-02 7.38775943e+01] [ 1.76423715e-01 9.84290685e-01 -6.82061427e-03 6.66853984e+00] [ 3.76209504e-02 1.81407663e-04 9.99292065e-01 2.58454864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:6.69, Z:2.59 [[ 9.82946944e-01 -1.80129280e-01 -3.69965976e-02 7.39329704e+01] [ 1.79999832e-01 9.83642943e-01 -6.82792241e-03 6.68792145e+00] [ 3.76213509e-02 5.21041002e-05 9.99292065e-01 2.58664298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84862385299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:6.70, Z:2.59 [[ 9.82487707e-01 -1.82617787e-01 -3.69952538e-02 7.39875352e+01] [ 1.82489829e-01 9.83183982e-01 -6.83519601e-03 6.70477741e+00] [ 3.76213693e-02 -3.57614753e-05 9.99292065e-01 2.59498697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.04, Y:6.72, Z:2.60 [[ 9.81612842e-01 -1.87263509e-01 -3.69946764e-02 7.40436866e+01] [ 1.87138728e-01 9.82309694e-01 -6.83831945e-03 6.72234420e+00] [ 3.76207970e-02 -2.10554481e-04 9.99292065e-01 2.59519384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:6.74, Z:2.60 [[ 9.81095985e-01 -1.89953011e-01 -3.69935246e-02 7.40993714e+01] [ 1.89829906e-01 9.81793135e-01 -6.84454476e-03 6.73891760e+00] [ 3.76201304e-02 -3.07321916e-04 9.99292065e-01 2.59979110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:74.15, Y:6.76, Z:2.60 [[ 9.80312829e-01 -1.93954468e-01 -3.69921967e-02 7.41539893e+01] [ 1.93833937e-01 9.81010427e-01 -6.85171439e-03 6.75709004e+00] [ 3.76186513e-02 -4.53519600e-04 9.99292065e-01 2.59999821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.21, Y:6.77, Z:2.60 [[ 9.79673209e-01 -1.97159891e-01 -3.69916244e-02 7.42107022e+01] [ 1.97041527e-01 9.80371179e-01 -6.85480238e-03 6.76924627e+00] [ 3.76170145e-02 -5.73419916e-04 9.99292065e-01 2.60129475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.27, Y:6.78, Z:2.60 [[ 9.78923196e-01 -2.00850927e-01 -3.69902910e-02 7.42675472e+01] [ 2.00734923e-01 9.79621562e-01 -6.86199037e-03 6.78248170e+00] [ 3.76147238e-02 -7.07881668e-04 9.99292065e-01 2.60152916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:6.80, Z:2.60 [[ 9.78747326e-01 -2.01706272e-01 -3.69898801e-02 7.43240556e+01] [ 2.01590794e-01 9.79445779e-01 -6.86420459e-03 6.79524795e+00] [ 3.76141351e-02 -7.38497426e-04 9.99292065e-01 2.60186104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.38, Y:6.81, Z:2.60 [[ 9.78858012e-01 -2.01168514e-01 -3.69894767e-02 7.43810484e+01] [ 2.01052570e-01 9.79556388e-01 -6.86637784e-03 6.80777830e+00] [ 3.76145772e-02 -7.15620382e-04 9.99292065e-01 2.60266703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.44, Y:6.82, Z:2.60 [[ 9.79204916e-01 -1.99473323e-01 -3.69881799e-02 7.44374814e+01] [ 1.99355907e-01 9.79903046e-01 -6.87335663e-03 6.81917227e+00] [ 3.76158814e-02 -6.43387546e-04 9.99292065e-01 2.60477146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:6.83, Z:2.61 [[ 9.79300111e-01 -1.99005519e-01 -3.69877798e-02 7.44946069e+01] [ 1.98887687e-01 9.79998171e-01 -6.87550854e-03 6.83013733e+00] [ 3.76162207e-02 -6.23227720e-04 9.99292065e-01 2.60739564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:6.84, Z:2.61 [[ 9.79181101e-01 -1.99590509e-01 -3.69864952e-02 7.45517664e+01] [ 1.99472834e-01 9.79879187e-01 -6.88241243e-03 6.84130668e+00] [ 3.76159610e-02 -6.38672828e-04 9.99292065e-01 2.60939318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:6.85, Z:2.61 [[ 9.79086092e-01 -2.00056295e-01 -3.69851856e-02 7.46086061e+01] [ 1.99938687e-01 9.79784189e-01 -6.88944297e-03 6.84894366e+00] [ 3.76157765e-02 -6.49411630e-04 9.99292065e-01 2.61030289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56862385299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:6.86, Z:2.62 [[ 9.79386143e-01 -1.98582278e-01 -3.69846188e-02 7.46661937e+01] [ 1.98463504e-01 9.80084043e-01 -6.89248415e-03 6.85753950e+00] [ 3.76167599e-02 -5.89693586e-04 9.99292065e-01 2.61862145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.72, Y:6.87, Z:2.62 [[ 9.79994224e-01 -1.95559562e-01 -3.69835008e-02 7.47235439e+01] [ 1.95438410e-01 9.80691715e-01 -6.89847767e-03 6.86868737e+00] [ 3.76184761e-02 -4.67528312e-04 9.99292065e-01 2.61604840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:6.88, Z:2.62 [[ 9.81483671e-01 -1.87941809e-01 -3.69821674e-02 7.47796310e+01] [ 1.87814973e-01 9.82180151e-01 -6.90561895e-03 6.88035774e+00] [ 3.76210052e-02 -1.68052524e-04 9.99292065e-01 2.61823315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:6.89, Z:2.62 [[ 9.82544170e-01 -1.82316596e-01 -3.69812563e-02 7.48356660e+01] [ 1.82185589e-01 9.83239877e-01 -6.91049444e-03 6.89115706e+00] [ 3.76213437e-02 5.24140571e-05 9.99292065e-01 2.61778764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:6.90, Z:2.62 [[ 9.82836425e-01 -1.80734586e-01 -3.69806816e-02 7.48927776e+01] [ 1.80602344e-01 9.83531899e-01 -6.91356859e-03 6.90249120e+00] [ 3.76212009e-02 1.16109271e-04 9.99292065e-01 2.62268198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.868623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:6.91, Z:2.63 [[ 9.82926521e-01 -1.80244192e-01 -3.69795374e-02 7.49505427e+01] [ 1.80111373e-01 9.83621884e-01 -6.91968306e-03 6.91410237e+00] [ 3.76211150e-02 1.41104745e-04 9.99292065e-01 2.63188819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.01, Y:6.93, Z:2.63 [[ 9.82691622e-01 -1.81520737e-01 -3.69783402e-02 7.50067817e+01] [ 1.81388581e-01 9.83387112e-01 -6.92607494e-03 6.92612885e+00] [ 3.76212494e-02 9.87471588e-05 9.99292065e-01 2.62995178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:6.94, Z:2.63 [[ 9.82476996e-01 -1.82678917e-01 -3.69779168e-02 7.50633998e+01] [ 1.82547496e-01 9.83172625e-01 -6.92833468e-03 6.93818894e+00] [ 3.76213362e-02 5.67033283e-05 9.99292065e-01 2.63076510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:6.95, Z:2.63 [[ 9.82145822e-01 -1.84451388e-01 -3.69766026e-02 7.51198414e+01] [ 1.84320958e-01 9.82841638e-01 -6.93534167e-03 6.95103693e+00] [ 3.76213781e-02 -4.04596686e-06 9.99292065e-01 2.62961730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:6.96, Z:2.63 [[ 9.81893480e-01 -1.85790084e-01 -3.69761977e-02 7.51767368e+01] [ 1.85660522e-01 9.82589457e-01 -6.93749985e-03 6.96334020e+00] [ 3.76213407e-02 -5.31342954e-05 9.99292065e-01 2.63490346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.23, Y:6.97, Z:2.64 [[ 9.81509865e-01 -1.87806405e-01 -3.69748457e-02 7.52327014e+01] [ 1.87678001e-01 9.82206057e-01 -6.94469818e-03 6.97385135e+00] [ 3.76211762e-02 -1.23075339e-04 9.99292065e-01 2.63645239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:6.98, Z:2.64 [[ 9.81063452e-01 -1.90124716e-01 -3.69742618e-02 7.52907740e+01] [ 1.89997840e-01 9.81759924e-01 -6.94780539e-03 6.98485625e+00] [ 3.76207980e-02 -2.08791944e-04 9.99292065e-01 2.64071397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:6.99, Z:2.64 [[ 9.80797728e-01 -1.91491009e-01 -3.69731013e-02 7.53481735e+01] [ 1.91364871e-01 9.81494334e-01 -6.95397536e-03 6.99486838e+00] [ 3.76205133e-02 -2.54909532e-04 9.99292065e-01 2.64281939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:7.00, Z:2.64 [[ 9.80327233e-01 -1.93885543e-01 -3.69717880e-02 7.54054289e+01] [ 1.93760843e-01 9.81024098e-01 -6.96095106e-03 7.00317014e+00] [ 3.76198427e-02 -3.39674926e-04 9.99292065e-01 2.64353496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.46, Y:7.01, Z:2.65 [[ 9.80074152e-01 -1.95160890e-01 -3.69713824e-02 7.54631018e+01] [ 1.95037016e-01 9.80771165e-01 -6.96310452e-03 7.01119409e+00] [ 3.76193915e-02 -3.86429349e-04 9.99292065e-01 2.64508936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:7.02, Z:2.65 [[ 9.79927661e-01 -1.95895367e-01 -3.69700614e-02 7.55214990e+01] [ 1.95771751e-01 9.80624719e-01 -6.97011143e-03 7.01795217e+00] [ 3.76191686e-02 -4.07488641e-04 9.99292065e-01 2.64987499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.58, Y:7.03, Z:2.65 [[ 9.80298973e-01 -1.94028927e-01 -3.69688942e-02 7.55794375e+01] [ 1.93903750e-01 9.80995753e-01 -6.97629665e-03 7.02564386e+00] [ 3.76199315e-02 -3.29550766e-04 9.99292065e-01 2.64506682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.64, Y:7.03, Z:2.65 [[ 9.80980729e-01 -1.90552239e-01 -3.69682731e-02 7.56368676e+01] [ 1.90424469e-01 9.81677038e-01 -6.97958618e-03 7.03377239e+00] [ 3.76208806e-02 -1.92824227e-04 9.99292065e-01 2.64793379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:7.04, Z:2.65 [[ 9.81331831e-01 -1.88735999e-01 -3.69670178e-02 7.56950069e+01] [ 1.88606690e-01 9.82027856e-01 -6.98622877e-03 7.04450461e+00] [ 3.76211940e-02 -1.16418187e-04 9.99292066e-01 2.65166853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:7.05, Z:2.65 [[ 9.81406360e-01 -1.88348284e-01 -3.69659261e-02 7.57518942e+01] [ 1.88218482e-01 9.82102293e-01 -6.99200013e-03 7.05471823e+00] [ 3.76212520e-02 -9.56771234e-05 9.99292066e-01 2.65405417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:7.06, Z:2.66 [[ 9.81263519e-01 -1.89091298e-01 -3.69646875e-02 7.58092237e+01] [ 1.88961777e-01 9.81959504e-01 -6.99854236e-03 7.06154156e+00] [ 3.76211896e-02 -1.17498741e-04 9.99292066e-01 2.65614058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:7.07, Z:2.66 [[ 9.80580475e-01 -1.92602269e-01 -3.69634548e-02 7.58681799e+01] [ 1.92474995e-01 9.81276875e-01 -7.00504693e-03 7.06780107e+00] [ 3.76205713e-02 -2.45528527e-04 9.99292066e-01 2.66185734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:7.07, Z:2.66 [[ 9.79650353e-01 -1.97278926e-01 -3.69622810e-02 7.59255193e+01] [ 1.97154743e-01 9.80347311e-01 -7.01123479e-03 7.07480127e+00] [ 3.76190417e-02 -4.18730379e-04 9.99292066e-01 2.66399832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.98, Y:7.08, Z:2.67 [[ 9.79114276e-01 -1.99922796e-01 -3.69609347e-02 7.59826303e+01] [ 1.99800227e-01 9.79811519e-01 -7.01832503e-03 7.08207298e+00] [ 3.76178727e-02 -5.13060903e-04 9.99292066e-01 2.66507692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:7.09, Z:2.67 [[ 9.78448965e-01 -2.03154017e-01 -3.69603516e-02 7.60393952e+01] [ 2.03033634e-01 9.79146589e-01 -7.02139450e-03 7.08609522e+00] [ 3.76160267e-02 -6.34118316e-04 9.99292066e-01 2.66618067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:7.09, Z:2.67 [[ 9.77905898e-01 -2.05752348e-01 -3.69597760e-02 7.60980178e+01] [ 2.05633705e-01 9.78603820e-01 -7.02442277e-03 7.08926507e+00] [ 3.76142695e-02 -7.30951222e-04 9.99292066e-01 2.66775377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:7.09, Z:2.67 [[ 9.77671352e-01 -2.06864208e-01 -3.69584621e-02 7.61560923e+01] [ 2.06746097e-01 9.78369364e-01 -7.03132922e-03 7.09344388e+00] [ 3.76135574e-02 -7.66688661e-04 9.99292066e-01 2.66996391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.22, Y:7.09, Z:2.67 [[ 9.77789459e-01 -2.06305459e-01 -3.69571492e-02 7.62150096e+01] [ 2.06186689e-01 9.78487359e-01 -7.03822312e-03 7.09385801e+00] [ 3.76141272e-02 -7.38171862e-04 9.99292066e-01 2.67396769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:76.27, Y:7.09, Z:2.68 [[ 9.78406489e-01 -2.03359309e-01 -3.69558342e-02 7.62741642e+01] [ 2.03238177e-01 9.79103983e-01 -7.04512128e-03 7.09460563e+00] [ 3.76162954e-02 -6.17843992e-04 9.99292066e-01 2.67658630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:7.10, Z:2.68 [[ 9.79504535e-01 -1.98002936e-01 -3.69554273e-02 7.63324290e+01] [ 1.97877909e-01 9.80201341e-01 -7.04725484e-03 7.09789295e+00] [ 3.76191366e-02 -4.09844607e-04 9.99292066e-01 2.67875556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.39, Y:7.10, Z:2.68 [[ 9.80557017e-01 -1.92723469e-01 -3.69540301e-02 7.63907378e+01] [ 1.92594414e-01 9.81253089e-01 -7.05457400e-03 7.10273541e+00] [ 3.76208381e-02 -1.99727723e-04 9.99292066e-01 2.67803154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:7.11, Z:2.68 [[ 9.82561334e-01 -1.82229679e-01 -3.69535990e-02 7.64485244e+01] [ 1.82093105e-01 9.83255970e-01 -7.05683161e-03 7.10715687e+00] [ 3.76208109e-02 2.04774292e-04 9.99292066e-01 2.67616102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:7.12, Z:2.68 [[ 9.83923659e-01 -1.74724629e-01 -3.69531863e-02 7.65063727e+01] [ 1.74582676e-01 9.84617215e-01 -7.05899169e-03 7.11562867e+00] [ 3.76181231e-02 4.94122782e-04 9.99292066e-01 2.68136448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:76.56, Y:7.13, Z:2.69 [[ 9.85623659e-01 -1.64865252e-01 -3.69520052e-02 7.65644343e+01] [ 1.64716131e-01 9.86315710e-01 -7.06516938e-03 7.12580829e+00] [ 3.76111441e-02 8.77006779e-04 9.99292066e-01 2.68699718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.62, Y:7.14, Z:2.69 [[ 9.86386413e-01 -1.60238829e-01 -3.69508045e-02 7.66208267e+01] [ 1.60086228e-01 9.87077704e-01 -7.07144316e-03 7.13792594e+00] [ 3.76064351e-02 1.05986054e-03 9.99292066e-01 2.68806311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.68, Y:7.15, Z:2.69 [[ 9.86547002e-01 -1.59247235e-01 -3.69503830e-02 7.66770140e+01] [ 1.59093856e-01 9.87238121e-01 -7.07364496e-03 7.15004564e+00] [ 3.76052851e-02 1.09990430e-03 9.99292066e-01 2.68878665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.73, Y:7.16, Z:2.69 [[ 9.86233999e-01 -1.61174471e-01 -3.69498125e-02 7.67330671e+01] [ 1.61022331e-01 9.86925392e-01 -7.07662368e-03 7.16247663e+00] [ 3.76072793e-02 1.02946192e-03 9.99292066e-01 2.69364967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78862385299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:76.79, Y:7.18, Z:2.70 [[ 9.85496559e-01 -1.65624103e-01 -3.69484712e-02 7.67896603e+01] [ 1.65474824e-01 9.86188575e-01 -7.08362018e-03 7.17596732e+00] [ 3.76113784e-02 8.66841538e-04 9.99292066e-01 2.70219444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.85, Y:7.19, Z:2.70 [[ 9.84523841e-01 -1.71311758e-01 -3.69471115e-02 7.68455520e+01] [ 1.71166211e-01 9.85216651e-01 -7.09070486e-03 7.18984546e+00] [ 3.76156306e-02 6.56870889e-04 9.99292066e-01 2.69855186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:7.20, Z:2.70 [[ 9.83523883e-01 -1.76962481e-01 -3.69466060e-02 7.69011911e+01] [ 1.76820816e-01 9.84217498e-01 -7.09333817e-03 7.20106613e+00] [ 3.76187508e-02 4.43538496e-04 9.99292066e-01 2.70063574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:76.96, Y:7.21, Z:2.71 [[ 9.81873896e-01 -1.85899550e-01 -3.69460290e-02 7.69579382e+01] [ 1.85764086e-01 9.82568749e-01 -7.09634218e-03 7.21381214e+00] [ 3.76212203e-02 1.04467858e-04 9.99292066e-01 2.70698356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.02, Y:7.22, Z:2.70 [[ 9.80730949e-01 -1.91838200e-01 -3.69446894e-02 7.70159033e+01] [ 1.91706680e-01 9.81426559e-01 -7.10330931e-03 7.22448144e+00] [ 3.76211855e-02 -1.16108483e-04 9.99292066e-01 2.70060825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:7.24, Z:2.70 [[ 9.80358468e-01 -1.93732935e-01 -3.69435254e-02 7.70724294e+01] [ 1.93602533e-01 9.81054288e-01 -7.10935784e-03 7.23567701e+00] [ 3.76209208e-02 -1.82640929e-04 9.99292066e-01 2.70354643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:7.25, Z:2.70 [[ 9.80520611e-01 -1.92910872e-01 -3.69422051e-02 7.71277308e+01] [ 1.92779628e-01 9.81216273e-01 -7.11621235e-03 7.24807338e+00] [ 3.76210875e-02 -1.44111666e-04 9.99292066e-01 2.70458070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:7.26, Z:2.71 [[ 9.80998878e-01 -1.90464014e-01 -3.69413066e-02 7.71845362e+01] [ 1.90330859e-01 9.81694177e-01 -7.12087321e-03 7.26080921e+00] [ 3.76213357e-02 -4.55019852e-05 9.99292066e-01 2.70715528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:7.27, Z:2.71 [[ 9.81260382e-01 -1.89112395e-01 -3.69400083e-02 7.72408500e+01] [ 1.88978028e-01 9.81955448e-01 -7.12760220e-03 7.27416591e+00] [ 3.76213603e-02 1.31837350e-05 9.99292066e-01 2.70823876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:7.29, Z:2.71 [[ 9.81580830e-01 -1.87442274e-01 -3.69387157e-02 7.72968053e+01] [ 1.87306473e-01 9.82275617e-01 -7.13429451e-03 7.28804632e+00] [ 3.76212681e-02 8.40261620e-05 9.99292066e-01 2.70733386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:7.30, Z:2.71 [[ 9.82054202e-01 -1.84946263e-01 -3.69381185e-02 7.73529115e+01] [ 1.84808581e-01 9.82748618e-01 -7.13738547e-03 7.30227666e+00] [ 3.76209176e-02 1.82818146e-04 9.99292066e-01 2.71165375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448623853 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:7.32, Z:2.72 [[ 9.82456844e-01 -1.82795428e-01 -3.69375303e-02 7.74095411e+01] [ 1.82656111e-01 9.83150934e-01 -7.14042799e-03 7.31801139e+00] [ 3.76204050e-02 2.68296722e-04 9.99292066e-01 2.72353171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50862385299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:77.47, Y:7.33, Z:2.72 [[ 9.82619189e-01 -1.81920948e-01 -3.69363954e-02 7.74658287e+01] [ 1.81780792e-01 9.83313111e-01 -7.14629379e-03 7.33233816e+00] [ 3.76201024e-02 3.07758188e-04 9.99292066e-01 2.72049304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56862385299999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:7.35, Z:2.73 [[ 9.82452028e-01 -1.82821623e-01 -3.69359945e-02 7.75215907e+01] [ 1.82682025e-01 9.83146062e-01 -7.14836540e-03 7.34841551e+00] [ 3.76203533e-02 2.75383798e-04 9.99292066e-01 2.72957691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:7.36, Z:2.73 [[ 9.81970921e-01 -1.85388612e-01 -3.69347020e-02 7.75776106e+01] [ 1.85250578e-01 9.82665268e-01 -7.15503756e-03 7.36081871e+00] [ 3.76209113e-02 1.83863933e-04 9.99292066e-01 2.72899081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:77.63, Y:7.37, Z:2.72 [[ 9.81306661e-01 -1.88873316e-01 -3.69338224e-02 7.76347989e+01] [ 1.88737577e-01 9.82001460e-01 -7.15957467e-03 7.37386757e+00] [ 3.76213202e-02 5.49381752e-05 9.99292066e-01 2.72408670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:77.69, Y:7.39, Z:2.73 [[ 9.80143337e-01 -1.94820491e-01 -3.69325658e-02 7.76913051e+01] [ 1.94688724e-01 9.80838900e-01 -7.16605106e-03 7.38738546e+00] [ 3.76209908e-02 -1.66596918e-04 9.99292066e-01 2.72870296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:77.75, Y:7.40, Z:2.73 [[ 9.79252194e-01 -1.99251488e-01 -3.69321772e-02 7.77480317e+01] [ 1.99122792e-01 9.79948332e-01 -7.16805321e-03 7.39873460e+00] [ 3.76198707e-02 -3.34706416e-04 9.99292066e-01 2.72891394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.868623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:7.41, Z:2.73 [[ 9.78823909e-01 -2.01345156e-01 -3.69307861e-02 7.78048666e+01] [ 2.01217680e-01 9.79520271e-01 -7.17521338e-03 7.40921193e+00] [ 3.76191481e-02 -4.07856690e-04 9.99292066e-01 2.73264886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92862385299999 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:7.42, Z:2.74 [[ 9.78298129e-01 -2.03884613e-01 -3.69301403e-02 7.78616507e+01] [ 2.03758819e-01 9.78994797e-01 -7.17853562e-03 7.42009679e+00] [ 3.76180082e-02 -5.02093814e-04 9.99292066e-01 2.74238871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98862385299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:7.43, Z:2.74 [[ 9.78536743e-01 -2.02736548e-01 -3.69287879e-02 7.79187810e+01] [ 2.02609674e-01 9.79233215e-01 -7.18548609e-03 7.43050031e+00] [ 3.76186564e-02 -4.50867535e-04 9.99292066e-01 2.74024455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048623853 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:7.44, Z:2.74 [[ 9.78968784e-01 -2.00640201e-01 -3.69273601e-02 7.79757520e+01] [ 2.00511559e-01 9.79664931e-01 -7.19281637e-03 7.44183663e+00] [ 3.76196078e-02 -3.62819862e-04 9.99292066e-01 2.74208527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108623853 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:78.03, Y:7.45, Z:2.74 [[ 9.79811419e-01 -1.96484243e-01 -3.69259416e-02 7.80319823e+01] [ 1.96352374e-01 9.80506963e-01 -7.20009125e-03 7.45448519e+00] [ 3.76208473e-02 -1.95764681e-04 9.99292066e-01 2.74058287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168623853 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:7.47, Z:2.75 [[ 9.80606644e-01 -1.92476276e-01 -3.69255035e-02 7.80886307e+01] [ 1.92341480e-01 9.81301626e-01 -7.20233730e-03 7.46642908e+00] [ 3.76213357e-02 -3.96461740e-05 9.99292066e-01 2.74871438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228623853 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:78.14, Y:7.48, Z:2.75 [[ 9.81123277e-01 -1.89825513e-01 -3.69241057e-02 7.81446724e+01] [ 1.89688570e-01 9.81817839e-01 -7.20949617e-03 7.47856200e+00] [ 3.76212920e-02 6.93237105e-05 9.99292066e-01 2.74995649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:7.49, Z:2.75 [[ 9.81953589e-01 -1.85482625e-01 -3.69234996e-02 7.82007145e+01] [ 1.85342493e-01 9.82647515e-01 -7.21259932e-03 7.49329004e+00] [ 3.76205969e-02 2.38944323e-04 9.99292066e-01 2.74715122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:78.26, Y:7.51, Z:2.75 [[ 9.82643901e-01 -1.81790124e-01 -3.69230933e-02 7.82572836e+01] [ 1.81647307e-01 9.83337279e-01 -7.21467856e-03 7.50866538e+00] [ 3.76194114e-02 3.82479437e-04 9.99292066e-01 2.74888501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408623853 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:78.31, Y:7.52, Z:2.75 [[ 9.82970806e-01 -1.80014353e-01 -3.69219090e-02 7.83123816e+01] [ 1.79870056e-01 9.83663878e-01 -7.22073437e-03 7.52334794e+00] [ 3.76185840e-02 4.56625264e-04 9.99292066e-01 2.74928495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468623853 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:78.37, Y:7.54, Z:2.76 [[ 9.83205391e-01 -1.78728776e-01 -3.69213225e-02 7.83685652e+01] [ 1.78583459e-01 9.83898250e-01 -7.22373188e-03 7.54226050e+00] [ 3.76179133e-02 5.08874640e-04 9.99292066e-01 2.75895803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:78.42, Y:7.56, Z:2.76 [[ 9.83237189e-01 -1.78554010e-01 -3.69201249e-02 7.84247371e+01] [ 1.78408340e-01 9.83929974e-01 -7.22984756e-03 7.55979903e+00] [ 3.76177358e-02 5.21796779e-04 9.99292066e-01 2.76283395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588623853 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:78.48, Y:7.58, Z:2.76 [[ 9.82926359e-01 -1.80257497e-01 -3.69189263e-02 7.84793782e+01] [ 1.80112799e-01 9.83619347e-01 -7.23596304e-03 7.57836764e+00] [ 3.76185068e-02 4.62847666e-04 9.99292066e-01 2.76492768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64862385299999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:78.54, Y:7.60, Z:2.76 [[ 9.82095099e-01 -1.84732922e-01 -3.69183342e-02 7.85355012e+01] [ 1.84591268e-01 9.82788716e-01 -7.23898252e-03 7.59662092e+00] [ 3.76202007e-02 2.94567123e-04 9.99292066e-01 2.76362207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70862385299999 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:7.62, Z:2.77 [[ 9.81018012e-01 -1.90370136e-01 -3.69171022e-02 7.85900978e+01] [ 1.90232232e-01 9.81712384e-01 -7.24526025e-03 7.61703666e+00] [ 3.76212575e-02 8.49080729e-05 9.99292066e-01 2.76783416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:7.63, Z:2.77 [[ 9.80264105e-01 -1.94215131e-01 -3.69156882e-02 7.86470695e+01] [ 1.94079680e-01 9.80958959e-01 -7.25245743e-03 7.63297904e+00] [ 3.76213121e-02 -5.52612624e-05 9.99292066e-01 2.76836708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:78.70, Y:7.65, Z:2.77 [[ 9.78973658e-01 -2.00618789e-01 -3.69144641e-02 7.87040801e+01] [ 2.00487648e-01 9.79669339e-01 -7.25868275e-03 7.64865124e+00] [ 3.76201968e-02 -2.94834879e-04 9.99292066e-01 2.77380565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:78.76, Y:7.67, Z:2.78 [[ 9.77695203e-01 -2.06759525e-01 -3.69132518e-02 7.87586346e+01] [ 2.06632520e-01 9.78391651e-01 -7.26484273e-03 7.66524906e+00] [ 3.76176928e-02 -5.24676352e-04 9.99292066e-01 2.77712810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948623853 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:7.68, Z:2.78 [[ 9.76891490e-01 -2.10524281e-01 -3.69126557e-02 7.88148374e+01] [ 2.10399846e-01 9.77588402e-01 -7.26787005e-03 7.67845334e+00] [ 3.76154472e-02 -6.66496673e-04 9.99292066e-01 2.77545749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00862385299999 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:78.87, Y:7.69, Z:2.78 [[ 9.76103836e-01 -2.14146823e-01 -3.69112418e-02 7.88711040e+01] [ 2.14024703e-01 9.76801157e-01 -7.27504390e-03 7.69168159e+00] [ 3.76128712e-02 -7.98719316e-04 9.99292066e-01 2.77507008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06862385299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:78.93, Y:7.71, Z:2.78 [[ 9.75972278e-01 -2.14745676e-01 -3.69108085e-02 7.89274219e+01] [ 2.14623901e-01 9.76669659e-01 -7.27724149e-03 7.70605441e+00] [ 3.76124229e-02 -8.19555748e-04 9.99292066e-01 2.77729881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:78.98, Y:7.72, Z:2.78 [[ 9.76092264e-01 -2.14199877e-01 -3.69094246e-02 7.89844496e+01] [ 2.14077447e-01 9.76789530e-01 -7.28425361e-03 7.71725408e+00] [ 3.76130258e-02 -7.91371807e-04 9.99292066e-01 2.77846301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188623853 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:7.73, Z:2.78 [[ 9.76242509e-01 -2.13514142e-01 -3.69089964e-02 7.90412415e+01] [ 2.13391140e-01 9.76939675e-01 -7.28642273e-03 7.73055218e+00] [ 3.76136173e-02 -7.62737197e-04 9.99292066e-01 2.78303752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248623853 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:7.74, Z:2.79 [[ 9.76342046e-01 -2.13058731e-01 -3.69078074e-02 7.90975519e+01] [ 2.12935176e-01 9.77039114e-01 -7.29244033e-03 7.74195235e+00] [ 3.76140896e-02 -7.39054363e-04 9.99292066e-01 2.78520764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:7.75, Z:2.79 [[ 9.76604056e-01 -2.11854745e-01 -3.69064286e-02 7.91543306e+01] [ 2.11730068e-01 9.77300924e-01 -7.29941164e-03 7.75320249e+00] [ 3.76151018e-02 -6.85565619e-04 9.99292066e-01 2.78871233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.368623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:7.77, Z:2.79 [[ 9.76904821e-01 -2.10463742e-01 -3.69050680e-02 7.92108922e+01] [ 2.10337813e-01 9.77601464e-01 -7.30628455e-03 7.76627549e+00] [ 3.76161565e-02 -6.24986675e-04 9.99292066e-01 2.79284223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42862385299999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:7.78, Z:2.80 [[ 9.77308536e-01 -2.08581259e-01 -3.69037130e-02 7.92675152e+01] [ 2.08453729e-01 9.78004888e-01 -7.31312203e-03 7.77640497e+00] [ 3.76173919e-02 -5.45540014e-04 9.99292067e-01 2.79522657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48862385299999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:79.32, Y:7.79, Z:2.80 [[ 9.77319729e-01 -2.08528883e-01 -3.69032931e-02 7.93245622e+01] [ 2.08401237e-01 9.78016059e-01 -7.31524008e-03 7.78758032e+00] [ 3.76174522e-02 -5.41363472e-04 9.99292067e-01 2.79934658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548623853 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:79.38, Y:7.80, Z:2.80 [[ 9.77066986e-01 -2.09710158e-01 -3.69019608e-02 7.93815369e+01] [ 2.09583100e-01 9.77763424e-01 -7.32195476e-03 7.79772518e+00] [ 3.76168759e-02 -5.79987095e-04 9.99292067e-01 2.80136487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608623853 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:7.81, Z:2.80 [[ 9.76843416e-01 -2.10749351e-01 -3.69005758e-02 7.94374180e+01] [ 2.10622771e-01 9.77539941e-01 -7.32892842e-03 7.80654933e+00] [ 3.76163536e-02 -6.12886034e-04 9.99292067e-01 2.80273181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:79.49, Y:7.82, Z:2.80 [[ 9.76900905e-01 -2.10482810e-01 -3.68999782e-02 7.94949155e+01] [ 2.10355926e-01 9.77597375e-01 -7.33193587e-03 7.81592052e+00] [ 3.76165683e-02 -5.99554281e-04 9.99292067e-01 2.80452318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:79.55, Y:7.83, Z:2.81 [[ 9.77274379e-01 -2.08742126e-01 -3.68986870e-02 7.95523801e+01] [ 2.08613756e-01 9.77970576e-01 -7.33842804e-03 7.82545753e+00] [ 3.76176693e-02 -5.25916001e-04 9.99292067e-01 2.80630698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:79.61, Y:7.84, Z:2.81 [[ 9.77905310e-01 -2.05766341e-01 -3.68974038e-02 7.96089014e+01] [ 2.05635609e-01 9.78601067e-01 -7.34487471e-03 7.83614745e+00] [ 3.76191667e-02 -4.04828119e-04 9.99292067e-01 2.80819890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84862385299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:79.67, Y:7.85, Z:2.81 [[ 9.78416075e-01 -2.03324044e-01 -3.68960266e-02 7.96656493e+01] [ 2.03191315e-01 9.79111455e-01 -7.35178633e-03 7.84651857e+00] [ 3.76201172e-02 -3.03846228e-04 9.99292067e-01 2.81142327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:79.72, Y:7.86, Z:2.81 [[ 9.79225322e-01 -1.99390458e-01 -3.68946234e-02 7.97220068e+01] [ 1.99254671e-01 9.79920111e-01 -7.35882114e-03 7.85631453e+00] [ 3.76210622e-02 -1.45482034e-04 9.99292067e-01 2.81325654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:79.78, Y:7.87, Z:2.82 [[ 9.79805430e-01 -1.96520166e-01 -3.68936716e-02 7.97791825e+01] [ 1.96382163e-01 9.80499783e-01 -7.36358989e-03 7.86826638e+00] [ 3.76213309e-02 -3.03736770e-05 9.99292067e-01 2.81505544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028623853 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:79.84, Y:7.88, Z:2.82 [[ 9.80105241e-01 -1.95019681e-01 -3.68922951e-02 7.98352209e+01] [ 1.94880356e-01 9.80799329e-01 -7.37048008e-03 7.87777745e+00] [ 3.76213269e-02 3.42625436e-05 9.99292067e-01 2.81695675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:79.89, Y:7.89, Z:2.82 [[ 9.79999335e-01 -1.95551288e-01 -3.68916984e-02 7.98923277e+01] [ 1.95412227e-01 9.80693476e-01 -7.37346562e-03 7.88979748e+00] [ 3.76213386e-02 1.69024647e-05 9.99292067e-01 2.81885096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14862385299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:7.90, Z:2.82 [[ 9.79597460e-01 -1.97554856e-01 -3.68903237e-02 7.99493187e+01] [ 1.97416956e-01 9.80291832e-01 -7.38033707e-03 7.90074553e+00] [ 3.76213044e-02 -5.30159698e-05 9.99292067e-01 2.82073876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:7.91, Z:2.82 [[ 9.79107360e-01 -1.99969959e-01 -3.68889378e-02 8.00050535e+01] [ 1.99833512e-01 9.79802019e-01 -7.38725746e-03 7.91027562e+00] [ 3.76210853e-02 -1.38727832e-04 9.99292067e-01 2.82286737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:80.06, Y:7.92, Z:2.83 [[ 9.78210273e-01 -2.04313271e-01 -3.68883405e-02 8.00624275e+01] [ 2.04179795e-01 9.78905509e-01 -7.39023910e-03 7.91867091e+00] [ 3.76201236e-02 -3.02645995e-04 9.99292067e-01 2.82597562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:7.93, Z:2.83 [[ 9.77758013e-01 -2.06466995e-01 -3.68869734e-02 8.01202194e+01] [ 2.06334793e-01 9.78453492e-01 -7.39705650e-03 7.92730026e+00] [ 3.76194359e-02 -3.78534753e-04 9.99292067e-01 2.82987178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:7.93, Z:2.83 [[ 9.77908121e-01 -2.05755114e-01 -3.68854966e-02 8.01769436e+01] [ 2.05622128e-01 9.78603451e-01 -7.40441331e-03 7.93422948e+00] [ 3.76197701e-02 -3.43638394e-04 9.99292067e-01 2.83098151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:80.23, Y:7.94, Z:2.83 [[ 9.78223837e-01 -2.04248946e-01 -3.68848568e-02 8.02340967e+01] [ 2.04114769e-01 9.78918939e-01 -7.40759879e-03 7.94323204e+00] [ 3.76202791e-02 -2.82454324e-04 9.99292067e-01 2.83325780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50862385299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:80.29, Y:7.95, Z:2.83 [[ 9.78924073e-01 -2.00866302e-01 -3.68834287e-02 8.02910872e+01] [ 2.00729456e-01 9.79618654e-01 -7.41470257e-03 7.95354910e+00] [ 3.76210587e-02 -1.45159761e-04 9.99292067e-01 2.83413744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56862385299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:80.35, Y:7.96, Z:2.84 [[ 9.79293196e-01 -1.99059177e-01 -3.68819822e-02 8.03481981e+01] [ 1.98920779e-01 9.79987469e-01 -7.42189073e-03 7.96176913e+00] [ 3.76212759e-02 -6.83855404e-05 9.99292067e-01 2.83638962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:7.97, Z:2.84 [[ 9.79388374e-01 -1.98590631e-01 -3.68805400e-02 8.04045638e+01] [ 1.98451631e-01 9.80082527e-01 -7.42905075e-03 7.97149277e+00] [ 3.76213127e-02 -4.30773560e-05 9.99292067e-01 2.83958099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:7.98, Z:2.85 [[ 9.79544819e-01 -1.97817642e-01 -3.68799188e-02 8.04615959e+01] [ 1.97677978e-01 9.80238838e-01 -7.43213308e-03 7.98151387e+00] [ 3.76213358e-02 -1.02403423e-05 9.99292067e-01 2.84731332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:7.99, Z:2.84 [[ 9.79953663e-01 -1.95782523e-01 -3.68784897e-02 8.05190711e+01] [ 1.95641151e-01 9.80647336e-01 -7.43921757e-03 7.99066465e+00] [ 3.76212615e-02 7.51383327e-05 9.99292067e-01 2.84241546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:80.58, Y:8.00, Z:2.84 [[ 9.80187627e-01 -1.94608065e-01 -3.68770553e-02 8.05758256e+01] [ 1.94465595e-01 9.80881076e-01 -7.44632131e-03 8.00106161e+00] [ 3.76211198e-02 1.27473524e-04 9.99292067e-01 2.84446508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.868623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:8.01, Z:2.84 [[ 9.80523906e-01 -1.92906867e-01 -3.68756118e-02 8.06317284e+01] [ 1.92762925e-01 9.81217051e-01 -7.45346296e-03 8.01286638e+00] [ 3.76208032e-02 2.00047829e-04 9.99292067e-01 2.84459886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:8.02, Z:2.85 [[ 9.80730144e-01 -1.91855795e-01 -3.68746326e-02 8.06887050e+01] [ 1.91710928e-01 9.81423096e-01 -7.45830427e-03 8.02482123e+00] [ 3.76205350e-02 2.45313791e-04 9.99292067e-01 2.84617281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:8.04, Z:2.85 [[ 9.80738854e-01 -1.91811544e-01 -3.68731803e-02 8.07445982e+01] [ 1.91666376e-01 9.81431743e-01 -7.46547737e-03 8.03559841e+00] [ 3.76204744e-02 2.54334891e-04 9.99292067e-01 2.84734252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:8.05, Z:2.85 [[ 9.80562361e-01 -1.92711951e-01 -3.68721979e-02 8.08015394e+01] [ 1.92567238e-01 9.81255346e-01 -7.47032639e-03 8.04665102e+00] [ 3.76206624e-02 2.24743596e-04 9.99292067e-01 2.84901487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:80.86, Y:8.06, Z:2.85 [[ 9.80118900e-01 -1.94955088e-01 -3.68707999e-02 8.08588015e+01] [ 1.94811701e-01 9.80812160e-01 -7.47721983e-03 8.05652163e+00] [ 3.76210509e-02 1.45701227e-04 9.99292067e-01 2.84984701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.92, Y:8.07, Z:2.85 [[ 9.79753488e-01 -1.96783515e-01 -3.68693908e-02 8.09162711e+01] [ 1.96641160e-01 9.80446960e-01 -7.48416142e-03 8.06706844e+00] [ 3.76212418e-02 8.25934641e-05 9.99292067e-01 2.85023219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:8.08, Z:2.85 [[ 9.79737316e-01 -1.96864284e-01 -3.68679357e-02 8.09735437e+01] [ 1.96721717e-01 9.80430745e-01 -7.49132265e-03 8.07746629e+00] [ 3.76212316e-02 8.68047087e-05 9.99292067e-01 2.85059836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:8.09, Z:2.85 [[ 9.79904295e-01 -1.96031529e-01 -3.68674844e-02 8.10303803e+01] [ 1.95888289e-01 9.80597586e-01 -7.49354312e-03 8.08926949e+00] [ 3.76211369e-02 1.21046647e-04 9.99292067e-01 2.85329420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:81.09, Y:8.10, Z:2.85 [[ 9.80089465e-01 -1.95103916e-01 -3.68660136e-02 8.10863646e+01] [ 1.94959748e-01 9.80782563e-01 -7.50077221e-03 8.10164616e+00] [ 3.76209733e-02 1.64039117e-04 9.99292067e-01 2.85468572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:81.14, Y:8.11, Z:2.86 [[ 9.80222922e-01 -1.94432493e-01 -3.68650149e-02 8.11428445e+01] [ 1.94287666e-01 9.80915882e-01 -7.50567726e-03 8.11464484e+00] [ 3.76208262e-02 1.94819204e-04 9.99292067e-01 2.85790279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:81.20, Y:8.13, Z:2.86 [[ 9.80067717e-01 -1.95213591e-01 -3.68635926e-02 8.11998542e+01] [ 1.95069053e-01 9.80760738e-01 -7.51265652e-03 8.12678315e+00] [ 3.76209369e-02 1.71966029e-04 9.99292067e-01 2.86212323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:8.14, Z:2.86 [[ 9.79614398e-01 -1.97476110e-01 -3.68621407e-02 8.12561167e+01] [ 1.97332905e-01 9.80307695e-01 -7.51977342e-03 8.13738081e+00] [ 3.76212158e-02 9.23649980e-05 9.99292067e-01 2.86347922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:81.31, Y:8.15, Z:2.87 [[ 9.79267851e-01 -1.99187612e-01 -3.68615135e-02 8.13129643e+01] [ 1.99045503e-01 9.79961374e-01 -7.52284688e-03 8.14921184e+00] [ 3.76213173e-02 2.97635964e-05 9.99292067e-01 2.86663967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:81.37, Y:8.16, Z:2.87 [[ 9.78911299e-01 -2.00932828e-01 -3.68600950e-02 8.13699015e+01] [ 2.00791695e-01 9.79605021e-01 -7.52979066e-03 8.15994051e+00] [ 3.76213163e-02 -3.02037882e-05 9.99292067e-01 2.86727255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:8.17, Z:2.87 [[ 9.78695536e-01 -2.01981398e-01 -3.68586887e-02 8.14266830e+01] [ 2.01840749e-01 9.79389356e-01 -7.53666844e-03 8.17045495e+00] [ 3.76212742e-02 -6.34815757e-05 9.99292067e-01 2.86893618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:8.18, Z:2.87 [[ 9.78393311e-01 -2.03440580e-01 -3.68572806e-02 8.14832336e+01] [ 2.03300707e-01 9.79087288e-01 -7.54354821e-03 8.17948430e+00] [ 3.76211587e-02 -1.12554081e-04 9.99292067e-01 2.87028512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:8.19, Z:2.88 [[ 9.78219560e-01 -2.04274576e-01 -3.68563305e-02 8.15405904e+01] [ 2.04135119e-01 9.78913621e-01 -7.54818728e-03 8.18888510e+00] [ 3.76210667e-02 -1.39886996e-04 9.99292067e-01 2.87782466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:8.20, Z:2.88 [[ 9.78265653e-01 -2.04053976e-01 -3.68549549e-02 8.15986763e+01] [ 2.03914109e-01 9.78959631e-01 -7.55489815e-03 8.19718785e+00] [ 3.76211200e-02 -1.24547930e-04 9.99292067e-01 2.87524802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.66, Y:8.21, Z:2.87 [[ 9.78917140e-01 -2.00905563e-01 -3.68535893e-02 8.16557197e+01] [ 2.00763215e-01 9.79610614e-01 -7.56155355e-03 8.20713767e+00] [ 3.76213254e-02 3.28931837e-06 9.99292067e-01 2.87344494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:8.22, Z:2.88 [[ 9.80255748e-01 -1.94269351e-01 -3.68522338e-02 8.17128298e+01] [ 1.94122060e-01 9.80948189e-01 -7.56815392e-03 8.21619396e+00] [ 3.76203924e-02 2.64894841e-04 9.99292067e-01 2.87637466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.77, Y:8.23, Z:2.88 [[ 9.81636440e-01 -1.87168156e-01 -3.68507942e-02 8.17697328e+01] [ 1.87015592e-01 9.82327738e-01 -7.57515723e-03 8.22886394e+00] [ 3.76173855e-02 5.44377262e-04 9.99292067e-01 2.87747416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:81.82, Y:8.24, Z:2.89 [[ 9.82227853e-01 -1.84039586e-01 -3.68493644e-02 8.18245179e+01] [ 1.83884561e-01 9.82918603e-01 -7.58210638e-03 8.24163553e+00] [ 3.76153335e-02 6.71326894e-04 9.99292067e-01 2.88586639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:8.25, Z:2.88 [[ 9.82433692e-01 -1.82937723e-01 -3.68487469e-02 8.18816114e+01] [ 1.82781811e-01 9.83124242e-01 -7.58510597e-03 8.25462315e+00] [ 3.76144984e-02 7.16582985e-04 9.99292067e-01 2.88176931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.94, Y:8.27, Z:2.88 [[ 9.81856988e-01 -1.86008410e-01 -3.68473376e-02 8.19369642e+01] [ 1.85854400e-01 9.82547965e-01 -7.59194595e-03 8.26701745e+00] [ 3.76164424e-02 6.05965350e-04 9.99292067e-01 2.88231931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:81.99, Y:8.28, Z:2.88 [[ 9.81315302e-01 -1.88845428e-01 -3.68467295e-02 8.19928760e+01] [ 1.88693306e-01 9.82006697e-01 -7.59489641e-03 8.28086135e+00] [ 3.76179966e-02 5.00256879e-04 9.99292067e-01 2.88356416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.368623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:8.29, Z:2.89 [[ 9.80044079e-01 -1.95335653e-01 -3.68454408e-02 8.20488692e+01] [ 1.95187875e-01 9.80736415e-01 -7.60114322e-03 8.29221372e+00] [ 3.76204398e-02 2.57672116e-04 9.99292067e-01 2.89096166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:8.30, Z:2.89 [[ 9.78354331e-01 -2.03630197e-01 -3.68448813e-02 8.21063641e+01] [ 2.03488186e-01 9.79047874e-01 -7.60385439e-03 8.30134230e+00] [ 3.76212770e-02 -5.82341632e-05 9.99292067e-01 2.88659470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:8.31, Z:2.89 [[ 9.77441299e-01 -2.07968881e-01 -3.68436048e-02 8.21635062e+01] [ 2.07829716e-01 9.78135418e-01 -7.61003406e-03 8.30995217e+00] [ 3.76206851e-02 -2.18834344e-04 9.99292067e-01 2.88855275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:8.32, Z:2.89 [[ 9.76880395e-01 -2.10588076e-01 -3.68423270e-02 8.22209874e+01] [ 2.10450539e-01 9.77574838e-01 -7.61621533e-03 8.31753554e+00] [ 3.76200160e-02 -3.13356137e-04 9.99292068e-01 2.88996982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.28, Y:8.32, Z:2.89 [[ 9.77517456e-01 -2.07611095e-01 -3.68409678e-02 8.22790469e+01] [ 2.07471195e-01 9.78211427e-01 -7.62278458e-03 8.32496020e+00] [ 3.76208303e-02 -1.92034623e-04 9.99292068e-01 2.89165509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:8.33, Z:2.89 [[ 9.79005048e-01 -2.00479324e-01 -3.68396145e-02 8.23349386e+01] [ 2.00334123e-01 9.79697929e-01 -7.62931920e-03 8.33459954e+00] [ 3.76212148e-02 8.89101463e-05 9.99292068e-01 2.89254401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.39, Y:8.35, Z:2.90 [[ 9.80087320e-01 -1.95119848e-01 -3.68386966e-02 8.23910172e+01] [ 1.94970691e-01 9.80779361e-01 -7.63374850e-03 8.34703644e+00] [ 3.76201292e-02 2.99273970e-04 9.99292068e-01 2.89546125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.45, Y:8.36, Z:2.90 [[ 9.81549351e-01 -1.87626981e-01 -3.68373121e-02 8.24466849e+01] [ 1.87472292e-01 9.82240176e-01 -7.64042397e-03 8.36296762e+00] [ 3.76166376e-02 5.93477870e-04 9.99292068e-01 2.89782507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.50, Y:8.38, Z:2.90 [[ 9.82532360e-01 -1.82409650e-01 -3.68358733e-02 8.25017513e+01] [ 1.82251033e-01 9.83222294e-01 -7.64735416e-03 8.37777746e+00] [ 3.76128031e-02 8.00396954e-04 9.99292068e-01 2.89662652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.56, Y:8.39, Z:2.90 [[ 9.82961590e-01 -1.80082416e-01 -3.68352506e-02 8.25577880e+01] [ 1.79922054e-01 9.83651120e-01 -7.65035265e-03 8.39218150e+00] [ 3.76107295e-02 8.92528875e-04 9.99292068e-01 2.89894591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.61, Y:8.41, Z:2.90 [[ 9.83335197e-01 -1.78031316e-01 -3.68339504e-02 8.26127615e+01] [ 1.77869281e-01 9.84024337e-01 -7.65660762e-03 8.41223445e+00] [ 3.76086195e-02 9.77383497e-04 9.99292068e-01 2.89878637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.67, Y:8.43, Z:2.90 [[ 9.83182935e-01 -1.78870358e-01 -3.68335488e-02 8.26673272e+01] [ 1.78708839e-01 9.83872196e-01 -7.65853900e-03 8.43191816e+00] [ 3.76093901e-02 9.47264106e-04 9.99292068e-01 2.90295552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.72, Y:8.45, Z:2.90 [[ 9.82773640e-01 -1.81105945e-01 -3.68321693e-02 8.27228762e+01] [ 1.80945746e-01 9.83463208e-01 -7.66516768e-03 8.44747388e+00] [ 3.76112908e-02 8.68500411e-04 9.99292068e-01 2.90441298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.78, Y:8.47, Z:2.91 [[ 9.81674514e-01 -1.86972303e-01 -3.68307905e-02 8.27781815e+01] [ 1.86815976e-01 9.82364970e-01 -7.67178684e-03 8.46737711e+00] [ 3.76156901e-02 6.50617527e-04 9.99292068e-01 2.90917348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.83, Y:8.49, Z:2.91 [[ 9.80403119e-01 -1.93528422e-01 -3.68303417e-02 8.28324550e+01] [ 1.93376632e-01 9.81094587e-01 -7.67394107e-03 8.48657166e+00] [ 3.76191746e-02 4.01428330e-04 9.99292068e-01 2.90944836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:8.50, Z:2.91 [[ 9.79349791e-01 -1.98790240e-01 -3.68297171e-02 8.28874395e+01] [ 1.98642053e-01 9.80042040e-01 -7.67693747e-03 8.50454390e+00] [ 3.76207713e-02 2.02476475e-04 9.99292068e-01 2.91350698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:8.52, Z:2.92 [[ 9.79041212e-01 -2.00304721e-01 -3.68283008e-02 8.29431703e+01] [ 2.00157349e-01 9.79733635e-01 -7.68372607e-03 8.51861026e+00] [ 3.76210116e-02 1.51229421e-04 9.99292068e-01 2.91666106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:8.54, Z:2.92 [[ 9.77934659e-01 -2.05639457e-01 -3.68268528e-02 8.29999860e+01] [ 2.05495601e-01 9.78627821e-01 -7.69065964e-03 8.53532372e+00] [ 3.76212858e-02 -4.67936510e-05 9.99292068e-01 2.92101317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:8.55, Z:2.93 [[ 9.77058365e-01 -2.09763743e-01 -3.68255900e-02 8.30566875e+01] [ 2.09622586e-01 9.77752081e-01 -7.69670144e-03 8.54996309e+00] [ 3.76207862e-02 -1.99348873e-04 9.99292068e-01 2.92543523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:8.56, Z:2.93 [[ 9.75620313e-01 -2.16353813e-01 -3.68243416e-02 8.31126289e+01] [ 2.16217116e-01 9.76314922e-01 -7.70267005e-03 8.56330545e+00] [ 3.76186562e-02 -4.47171572e-04 9.99292068e-01 2.92675203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:8.58, Z:2.93 [[ 9.74614022e-01 -2.20842888e-01 -3.68229098e-02 8.31704647e+01] [ 2.20709131e-01 9.75309204e-01 -7.70950847e-03 8.57577549e+00] [ 3.76163130e-02 -6.13357384e-04 9.99292068e-01 2.92694025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:8.59, Z:2.93 [[ 9.74323732e-01 -2.22120313e-01 -3.68216177e-02 8.32272580e+01] [ 2.21987235e-01 9.75019044e-01 -7.71567468e-03 8.58669935e+00] [ 3.76155866e-02 -6.56364177e-04 9.99292068e-01 2.92706392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:8.60, Z:2.93 [[ 9.74347554e-01 -2.22016036e-01 -3.68201537e-02 8.32845947e+01] [ 2.21882620e-01 9.75042801e-01 -7.72265486e-03 8.59729138e+00] [ 3.76157790e-02 -6.45202322e-04 9.99292068e-01 2.92888939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.34, Y:8.61, Z:2.93 [[ 9.74653168e-01 -2.20670771e-01 -3.68186500e-02 8.33415537e+01] [ 2.20536125e-01 9.75348177e-01 -7.72981736e-03 8.60648221e+00] [ 3.76167479e-02 -5.85951443e-04 9.99292068e-01 2.92936159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.40, Y:8.62, Z:2.93 [[ 9.75360671e-01 -2.17522374e-01 -3.68181844e-02 8.33984310e+01] [ 2.17385401e-01 9.76055225e-01 -7.73203424e-03 8.61678245e+00] [ 3.76184718e-02 -4.62213681e-04 9.99292068e-01 2.93102854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.45, Y:8.63, Z:2.93 [[ 9.75667344e-01 -2.16142924e-01 -3.68167203e-02 8.34549516e+01] [ 2.16004706e-01 9.76361652e-01 -7.73899949e-03 8.62906518e+00] [ 3.76191639e-02 -4.01895787e-04 9.99292068e-01 2.93323018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:8.64, Z:2.94 [[ 9.75957009e-01 -2.14831455e-01 -3.68152565e-02 8.35109372e+01] [ 2.14692041e-01 9.76651078e-01 -7.74595703e-03 8.63883496e+00] [ 3.76197351e-02 -3.44221507e-04 9.99292068e-01 2.93527000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.57, Y:8.65, Z:2.94 [[ 9.76409558e-01 -2.12765266e-01 -3.68146249e-02 8.35682043e+01] [ 2.12624270e-01 9.77103307e-01 -7.74895732e-03 8.64965328e+00] [ 3.76204008e-02 -2.61526772e-04 9.99292068e-01 2.93832472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:8.66, Z:2.94 [[ 9.77116200e-01 -2.09496357e-01 -3.68131488e-02 8.36243062e+01] [ 2.09352776e-01 9.77809419e-01 -7.75596385e-03 8.66223814e+00] [ 3.76210898e-02 -1.28456975e-04 9.99292068e-01 2.94174667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.68, Y:8.67, Z:2.94 [[ 9.77554037e-01 -2.07443984e-01 -3.68116561e-02 8.36798984e+01] [ 2.07298682e-01 9.78246897e-01 -7.76304199e-03 8.67350201e+00] [ 3.76212847e-02 -4.22147551e-05 9.99292068e-01 2.94268538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:8.69, Z:2.94 [[ 9.78018880e-01 -2.05241369e-01 -3.68110080e-02 8.37353256e+01] [ 2.05094391e-01 9.78711387e-01 -7.76611403e-03 8.68679660e+00] [ 3.76212805e-02 4.56748867e-05 9.99292068e-01 2.94473162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.79, Y:8.70, Z:2.95 [[ 9.78078634e-01 -2.04956537e-01 -3.68103685e-02 8.37919219e+01] [ 2.04809243e-01 9.78771074e-01 -7.76914380e-03 8.69999436e+00] [ 3.76212607e-02 5.97298469e-05 9.99292068e-01 2.94679336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.85, Y:8.71, Z:2.95 [[ 9.78217032e-01 -2.04295243e-01 -3.68088622e-02 8.38478336e+01] [ 2.04147213e-01 9.78909314e-01 -7.77627373e-03 8.71356705e+00] [ 3.76211938e-02 9.24567681e-05 9.99292068e-01 2.94755036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.90, Y:8.73, Z:2.95 [[ 9.78350681e-01 -2.03654332e-01 -3.68083962e-02 8.39039402e+01] [ 2.03505765e-01 9.79042848e-01 -7.77847925e-03 8.72717636e+00] [ 3.76211180e-02 1.19359664e-04 9.99292068e-01 2.94932031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:8.74, Z:2.95 [[ 9.78544914e-01 -2.02719273e-01 -3.68068994e-02 8.39601388e+01] [ 2.02569778e-01 9.79236881e-01 -7.78555528e-03 8.74226954e+00] [ 3.76209555e-02 1.62550068e-04 9.99292068e-01 2.94624398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:8.76, Z:2.95 [[ 9.78617588e-01 -2.02368237e-01 -3.68064373e-02 8.40175838e+01] [ 2.02218412e-01 9.79309484e-01 -7.78773933e-03 8.75584606e+00] [ 3.76208842e-02 1.78279380e-04 9.99292068e-01 2.95022517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.07, Y:8.77, Z:2.96 [[ 9.78233942e-01 -2.04214920e-01 -3.68051690e-02 8.40743455e+01] [ 2.04066176e-01 9.78926072e-01 -7.79372866e-03 8.77074299e+00] [ 3.76211352e-02 1.13399802e-04 9.99292068e-01 2.95618547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:8.78, Z:2.96 [[ 9.77701900e-01 -2.06747361e-01 -3.68038410e-02 8.41302443e+01] [ 2.06600174e-01 9.78394362e-01 -7.79999489e-03 8.78455723e+00] [ 3.76212989e-02 2.23898677e-05 9.99292068e-01 2.95831411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:8.80, Z:2.96 [[ 9.76725072e-01 -2.11314280e-01 -3.68022905e-02 8.41858565e+01] [ 2.11170055e-01 9.77418157e-01 -7.80730346e-03 8.79617162e+00] [ 3.76210217e-02 -1.45952699e-04 9.99292068e-01 2.95934275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.24, Y:8.81, Z:2.96 [[ 9.76215081e-01 -2.13658034e-01 -3.68016225e-02 8.42430249e+01] [ 2.13515355e-01 9.76908486e-01 -7.81045097e-03 8.80650582e+00] [ 3.76205830e-02 -2.33031467e-04 9.99292068e-01 2.96199442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:84.30, Y:8.82, Z:2.97 [[ 9.76312147e-01 -2.13214131e-01 -3.68011624e-02 8.42999718e+01] [ 2.13071054e-01 9.77005470e-01 -7.81261839e-03 8.81937357e+00] [ 3.76206976e-02 -2.13708250e-04 9.99292068e-01 2.96549032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.36, Y:8.83, Z:2.97 [[ 9.76917444e-01 -2.10423603e-01 -3.67996496e-02 8.43563438e+01] [ 2.10278278e-01 9.77610299e-01 -7.81973754e-03 8.83025434e+00] [ 3.76211738e-02 -9.89289421e-05 9.99292068e-01 2.96956554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.41, Y:8.84, Z:2.98 [[ 9.77198668e-01 -2.09113807e-01 -3.67991828e-02 8.44142800e+01] [ 2.08967470e-01 9.77891310e-01 -7.82193371e-03 8.84036334e+00] [ 3.76212754e-02 -4.62489444e-05 9.99292068e-01 2.97580456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:8.85, Z:2.98 [[ 9.77382066e-01 -2.08255169e-01 -3.67978483e-02 8.44716997e+01] [ 2.08107988e-01 9.78074529e-01 -7.82820667e-03 8.84996333e+00] [ 3.76213027e-02 -6.77737484e-06 9.99292068e-01 2.97927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.53, Y:8.86, Z:2.98 [[ 9.77861655e-01 -2.05991782e-01 -3.67963205e-02 8.45297200e+01] [ 2.05842729e-01 9.78553717e-01 -7.83538181e-03 8.86073448e+00] [ 3.76212005e-02 8.76644170e-05 9.99292068e-01 2.97933870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.59, Y:8.87, Z:2.98 [[ 9.78715065e-01 -2.01898365e-01 -3.67949887e-02 8.45862018e+01] [ 2.01746182e-01 9.79406446e-01 -7.84163105e-03 8.87265045e+00] [ 3.76204616e-02 2.51473987e-04 9.99292068e-01 2.97949490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.64, Y:8.88, Z:2.98 [[ 9.79366151e-01 -1.98716142e-01 -3.67945185e-02 8.46427364e+01] [ 1.98561630e-01 9.80057015e-01 -7.84383637e-03 8.88429902e+00] [ 3.76194229e-02 3.76008279e-04 9.99292068e-01 2.98041635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.70, Y:8.90, Z:2.98 [[ 9.80290822e-01 -1.94103328e-01 -3.67940577e-02 8.46994727e+01] [ 1.93945483e-01 9.80980932e-01 -7.84599739e-03 8.89760638e+00] [ 3.76172032e-02 5.55317929e-04 9.99292068e-01 2.98378795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.76, Y:8.91, Z:2.99 [[ 9.80558071e-01 -1.92748994e-01 -3.67925768e-02 8.47559000e+01] [ 1.92589937e-01 9.81247903e-01 -7.85293584e-03 8.91054916e+00] [ 3.76162843e-02 6.14379591e-04 9.99292068e-01 2.98511817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.81, Y:8.93, Z:2.99 [[ 9.81112894e-01 -1.89904988e-01 -3.67910999e-02 8.48122731e+01] [ 1.89743672e-01 9.81802201e-01 -7.85984912e-03 8.92746866e+00] [ 3.76142074e-02 7.30520948e-04 9.99292068e-01 2.98577598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.87, Y:8.94, Z:2.99 [[ 9.80768024e-01 -1.91678372e-01 -3.67897478e-02 8.48675892e+01] [ 1.91518065e-01 9.81457566e-01 -7.86617264e-03 8.94296451e+00] [ 3.76153515e-02 6.68989300e-04 9.99292068e-01 2.98583484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.92, Y:8.96, Z:2.99 [[ 9.80081414e-01 -1.95158944e-01 -3.67886988e-02 8.49227815e+01] [ 1.95000902e-01 9.80771479e-01 -7.87107578e-03 8.95940927e+00] [ 3.76174173e-02 5.40465635e-04 9.99292068e-01 2.98909261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.98, Y:8.97, Z:2.99 [[ 9.79519104e-01 -1.97961993e-01 -3.67882306e-02 8.49784202e+01] [ 1.97805844e-01 9.80209600e-01 -7.87326332e-03 8.97464701e+00] [ 3.76187837e-02 4.35084837e-04 9.99292068e-01 2.99117838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.04, Y:8.99, Z:2.99 [[ 9.78229435e-01 -2.04239828e-01 -3.67867520e-02 8.50356745e+01] [ 2.04087850e-01 9.78920861e-01 -7.88016568e-03 8.99018174e+00] [ 3.76207627e-02 2.00880879e-04 9.99292068e-01 2.99192115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.09, Y:9.01, Z:3.00 [[ 9.76691471e-01 -2.11472460e-01 -3.67854510e-02 8.50917149e+01] [ 2.11325374e-01 9.77383954e-01 -7.88623437e-03 9.00662560e+00] [ 3.76212309e-02 -7.12813528e-05 9.99292068e-01 2.99630012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:9.02, Z:3.00 [[ 9.74476127e-01 -2.21457008e-01 -3.67841200e-02 8.51491354e+01] [ 2.21316782e-01 9.75170032e-01 -7.89243771e-03 9.01983331e+00] [ 3.76186071e-02 -4.49950951e-04 9.99292068e-01 3.00301139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:9.03, Z:3.01 [[ 9.72794791e-01 -2.28729798e-01 -3.67827993e-02 8.52064869e+01] [ 2.28594527e-01 9.73489679e-01 -7.89858805e-03 9.03066567e+00] [ 3.76143179e-02 -7.24641305e-04 9.99292068e-01 3.00643803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:85.26, Y:9.04, Z:3.01 [[ 9.70704278e-01 -2.37445420e-01 -3.67814836e-02 8.52639985e+01] [ 2.37316155e-01 9.71400308e-01 -7.90471025e-03 9.03730970e+00] [ 3.76064817e-02 -1.05570421e-03 9.99292068e-01 3.00656400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84862385299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:85.32, Y:9.04, Z:3.01 [[ 9.69415144e-01 -2.42655129e-01 -3.67799868e-02 8.53215281e+01] [ 2.42529340e-01 9.70111810e-01 -7.91166855e-03 9.04330525e+00] [ 3.76005065e-02 -1.25053463e-03 9.99292068e-01 3.01362400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:85.38, Y:9.05, Z:3.01 [[ 9.69113904e-01 -2.43855662e-01 -3.67784802e-02 8.53794337e+01] [ 2.43730471e-01 9.69810679e-01 -7.91866615e-03 9.04653916e+00] [ 3.75991744e-02 -1.28994683e-03 9.99292068e-01 3.01003249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.44, Y:9.05, Z:3.01 [[ 9.69378414e-01 -2.42802145e-01 -3.67778288e-02 8.54375949e+01] [ 2.42676082e-01 9.70075031e-01 -7.92169033e-03 9.05282249e+00] [ 3.76006568e-02 -1.24598379e-03 9.99292068e-01 3.01448422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:85.49, Y:9.06, Z:3.02 [[ 9.70222702e-01 -2.39406372e-01 -3.67763048e-02 8.54943792e+01] [ 2.39277603e-01 9.70918824e-01 -7.92875928e-03 9.05670536e+00] [ 3.76050021e-02 -1.10708381e-03 9.99292069e-01 3.02065352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.55, Y:9.06, Z:3.02 [[ 9.71848634e-01 -2.32718252e-01 -3.67756424e-02 8.55532093e+01] [ 2.32584575e-01 9.72543830e-01 -7.93183010e-03 9.06012799e+00] [ 3.76118058e-02 -8.44908932e-04 9.99292069e-01 3.02060939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.61, Y:9.06, Z:3.02 [[ 9.74147909e-01 -2.22898002e-01 -3.67740821e-02 8.56112108e+01] [ 2.22757043e-01 9.74841665e-01 -7.93905772e-03 9.06452559e+00] [ 3.76185075e-02 -4.57869311e-04 9.99292069e-01 3.02104392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:85.67, Y:9.07, Z:3.02 [[ 9.76838125e-01 -2.10796062e-01 -3.67736001e-02 8.56688121e+01] [ 2.10646424e-01 9.77530061e-01 -7.94128975e-03 9.07099203e+00] [ 3.76212921e-02 1.11272440e-05 9.99292069e-01 3.02172250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.73, Y:9.08, Z:3.03 [[ 9.78596315e-01 -2.02477134e-01 -3.67731371e-02 8.57258498e+01] [ 2.02321533e-01 9.79286934e-01 -7.94343299e-03 9.08244756e+00] [ 3.76198162e-02 3.33416778e-04 9.99292069e-01 3.02510192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.78, Y:9.09, Z:3.03 [[ 9.80806441e-01 -1.91485172e-01 -3.67716392e-02 8.57829034e+01] [ 1.91321573e-01 9.81495210e-01 -7.95036125e-03 9.09370311e+00] [ 3.76135640e-02 7.62557666e-04 9.99292069e-01 3.02783920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:9.11, Z:3.03 [[ 9.82207580e-01 -1.84163586e-01 -3.67701450e-02 8.58401388e+01] [ 1.83994596e-01 9.82895046e-01 -7.95726554e-03 9.10617449e+00] [ 3.76066319e-02 1.05017856e-03 9.99292069e-01 3.02887650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:9.12, Z:3.03 [[ 9.82824423e-01 -1.80843045e-01 -3.67688346e-02 8.58964013e+01] [ 1.80671506e-01 9.83511257e-01 -7.96331606e-03 9.11880666e+00] [ 3.76026731e-02 1.18346080e-03 9.99292069e-01 3.02848213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:9.13, Z:3.03 [[ 9.83302021e-01 -1.78228007e-01 -3.67683731e-02 8.59527439e+01] [ 1.78054562e-01 9.83988376e-01 -7.96544633e-03 9.13355591e+00] [ 3.75993174e-02 1.28566290e-03 9.99292069e-01 3.03460596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:9.15, Z:3.04 [[ 9.83244154e-01 -1.78547235e-01 -3.67670773e-02 8.60080876e+01] [ 1.78373790e-01 9.83930510e-01 -7.97142328e-03 9.14857888e+00] [ 3.75995247e-02 1.27957244e-03 9.99292069e-01 3.03596291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:9.16, Z:3.04 [[ 9.82760810e-01 -1.81188907e-01 -3.67664385e-02 8.60637847e+01] [ 1.81017196e-01 9.83447601e-01 -7.97436830e-03 9.16302066e+00] [ 3.76027328e-02 1.18153902e-03 9.99292069e-01 3.03728483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.12, Y:9.18, Z:3.04 [[ 9.81409938e-01 -1.88368971e-01 -3.67649988e-02 8.61201963e+01] [ 1.88202038e-01 9.82097906e-01 -7.98100046e-03 9.17710122e+00] [ 3.76102012e-02 9.13385473e-04 9.99292069e-01 3.03893731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.18, Y:9.19, Z:3.04 [[ 9.79430842e-01 -1.98402787e-01 -3.67635694e-02 8.61758317e+01] [ 1.98242657e-01 9.80120425e-01 -7.98757933e-03 9.19259302e+00] [ 3.76174833e-02 5.35173866e-04 9.99292069e-01 3.04175826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:86.23, Y:9.21, Z:3.04 [[ 9.77846535e-01 -2.06069657e-01 -3.67620913e-02 8.62332192e+01] [ 2.05914678e-01 9.78537294e-01 -7.99437635e-03 9.20590712e+00] [ 3.76204758e-02 2.47418997e-04 9.99292069e-01 3.04297287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.868623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:86.29, Y:9.22, Z:3.05 [[ 9.75343289e-01 -2.17610008e-01 -3.67607649e-02 8.62900912e+01] [ 2.17462973e-01 9.76035782e-01 -8.00047114e-03 9.21709566e+00] [ 3.76208045e-02 -1.90899387e-04 9.99292069e-01 3.04504738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:86.35, Y:9.23, Z:3.05 [[ 9.73103163e-01 -2.27418101e-01 -3.67592455e-02 8.63474148e+01] [ 2.27277782e-01 9.73797048e-01 -8.00744608e-03 9.22792396e+00] [ 3.76170829e-02 -5.62488667e-04 9.99292069e-01 3.05002402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:9.24, Z:3.05 [[ 9.71639040e-01 -2.33594595e-01 -3.67578704e-02 8.64037219e+01] [ 2.33458448e-01 9.72333756e-01 -8.01375328e-03 9.23854767e+00] [ 3.76128877e-02 -7.94959829e-04 9.99292069e-01 3.05266996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:9.25, Z:3.05 [[ 9.71542680e-01 -2.33995134e-01 -3.67572923e-02 8.64601146e+01] [ 2.33859172e-01 9.72237432e-01 -8.01640435e-03 9.24938694e+00] [ 3.76126151e-02 -8.07750975e-04 9.99292069e-01 3.05448125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:86.52, Y:9.26, Z:3.06 [[ 9.72147535e-01 -2.31469477e-01 -3.67566608e-02 8.65166394e+01] [ 2.31331600e-01 9.72841910e-01 -8.01929879e-03 9.25997940e+00] [ 3.76146430e-02 -7.07035620e-04 9.99292069e-01 3.05903973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.57, Y:9.27, Z:3.06 [[ 9.72747455e-01 -2.28935471e-01 -3.67551180e-02 8.65732654e+01] [ 2.28795519e-01 9.73441415e-01 -8.02636367e-03 9.27229317e+00] [ 3.76164734e-02 -6.01781443e-04 9.99292069e-01 3.06101439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.63, Y:9.28, Z:3.06 [[ 9.73591334e-01 -2.25319972e-01 -3.67535804e-02 8.66286454e+01] [ 2.25177177e-01 9.74284714e-01 -8.03339837e-03 9.28334104e+00] [ 3.76185366e-02 -4.54820443e-04 9.99292069e-01 3.06353940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.69, Y:9.30, Z:3.06 [[ 9.74135962e-01 -2.22953696e-01 -3.67529148e-02 8.66855172e+01] [ 2.22809102e-01 9.74828969e-01 -8.03644233e-03 9.29606888e+00] [ 3.76195606e-02 -3.60296447e-04 9.99292069e-01 3.06445744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34862385299999 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:9.31, Z:3.07 [[ 9.75120578e-01 -2.18607395e-01 -3.67514107e-02 8.67431079e+01] [ 2.18459453e-01 9.75812878e-01 -8.04331458e-03 9.30759797e+00] [ 3.76208279e-02 -1.85491519e-04 9.99292069e-01 3.07455018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:9.32, Z:3.07 [[ 9.76518016e-01 -2.12278116e-01 -3.67500472e-02 8.67998049e+01] [ 2.12125453e-01 9.77209290e-01 -8.04953985e-03 9.32094860e+00] [ 3.76212287e-02 6.49002870e-05 9.99292069e-01 3.07247362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:9.33, Z:3.08 [[ 9.77330224e-01 -2.08506843e-01 -3.67495645e-02 8.68557748e+01] [ 2.08351429e-01 9.78020885e-01 -8.05174310e-03 9.33440894e+00] [ 3.76206851e-02 2.12387594e-04 9.99292069e-01 3.07596599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:9.35, Z:3.07 [[ 9.78285148e-01 -2.03979781e-01 -3.67480385e-02 8.69125812e+01] [ 2.03820910e-01 9.78975022e-01 -8.05870163e-03 9.35082917e+00] [ 3.76192240e-02 3.93689477e-04 9.99292069e-01 3.07402024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:9.37, Z:3.07 [[ 9.78833034e-01 -2.01334474e-01 -3.67467094e-02 8.69687836e+01] [ 2.01173511e-01 9.79522423e-01 -8.06475758e-03 9.36662998e+00] [ 3.76179396e-02 5.01586575e-04 9.99292069e-01 3.07061544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:9.38, Z:3.07 [[ 9.78745028e-01 -2.01761948e-01 -3.67462397e-02 8.70250423e+01] [ 2.01601206e-01 9.79434469e-01 -8.06689734e-03 9.38237142e+00] [ 3.76181266e-02 4.87349427e-04 9.99292069e-01 3.07304777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.08, Y:9.40, Z:3.08 [[ 9.78002321e-01 -2.05332128e-01 -3.67447453e-02 8.70818384e+01] [ 2.05173648e-01 9.78692285e-01 -8.07369825e-03 9.39767485e+00] [ 3.76195884e-02 3.57042189e-04 9.99292069e-01 3.07613875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:9.41, Z:3.08 [[ 9.76645197e-01 -2.11693360e-01 -3.67434455e-02 8.71376006e+01] [ 2.11539152e-01 9.77336128e-01 -8.07960935e-03 9.41202740e+00] [ 3.76210964e-02 1.18234360e-04 9.99292069e-01 3.07950059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.19, Y:9.43, Z:3.08 [[ 9.75584634e-01 -2.16528463e-01 -3.67429861e-02 8.71937813e+01] [ 2.16377600e-01 9.76276303e-01 -8.08169807e-03 9.42596637e+00] [ 3.76212243e-02 -6.59787028e-05 9.99292069e-01 3.08087402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.25, Y:9.44, Z:3.08 [[ 9.73716624e-01 -2.24779885e-01 -3.67415348e-02 8.72504613e+01] [ 2.24634634e-01 9.74409493e-01 -8.08829091e-03 9.43717167e+00] [ 3.76193854e-02 -3.77717906e-04 9.99292069e-01 3.08171555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.31, Y:9.45, Z:3.08 [[ 9.71934300e-01 -2.32365836e-01 -3.67400897e-02 8.73068812e+01] [ 2.32225744e-01 9.72628232e-01 -8.09484980e-03 9.44773666e+00] [ 3.76154150e-02 -6.64332494e-04 9.99292069e-01 3.08430932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.36, Y:9.46, Z:3.09 [[ 9.70593735e-01 -2.37903370e-01 -3.67394673e-02 8.73645473e+01] [ 2.37767130e-01 9.71288433e-01 -8.09767331e-03 9.45587960e+00] [ 3.76110834e-02 -8.75886741e-04 9.99292069e-01 3.08753698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:9.46, Z:3.09 [[ 9.70031206e-01 -2.40186809e-01 -3.67390315e-02 8.74222211e+01] [ 2.40052130e-01 9.70726208e-01 -8.09965038e-03 9.46482685e+00] [ 3.76089699e-02 -9.62369112e-04 9.99292069e-01 3.08971151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:9.47, Z:3.09 [[ 9.69680522e-01 -2.41598903e-01 -3.67376441e-02 8.74798970e+01] [ 2.41464998e-01 9.70375674e-01 -8.10593808e-03 9.47199875e+00] [ 3.76077019e-02 -1.01068489e-03 9.99292069e-01 3.09464558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:9.48, Z:3.10 [[ 9.69908226e-01 -2.40683214e-01 -3.67372157e-02 8.75374702e+01] [ 2.40548579e-01 9.70603237e-01 -8.10787936e-03 9.47825296e+00] [ 3.76086909e-02 -9.73186138e-04 9.99292069e-01 3.09752404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.59, Y:9.48, Z:3.10 [[ 9.70893236e-01 -2.36678703e-01 -3.67357607e-02 8.75949534e+01] [ 2.36540952e-01 9.71587636e-01 -8.11446656e-03 9.48446540e+00] [ 3.76125323e-02 -8.11231095e-04 9.99292069e-01 3.09678250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.65, Y:9.49, Z:3.10 [[ 9.71711838e-01 -2.33295137e-01 -3.67353112e-02 8.76536745e+01] [ 2.33154891e-01 9.72405738e-01 -8.11650078e-03 9.49319055e+00] [ 3.76151676e-02 -6.78117582e-04 9.99292069e-01 3.09746008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.368623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.71, Y:9.50, Z:3.11 [[ 9.72933711e-01 -2.28146002e-01 -3.67341280e-02 8.77114374e+01] [ 2.28001881e-01 9.73626817e-01 -8.12185245e-03 9.49993480e+00] [ 3.76183002e-02 -4.73426226e-04 9.99292069e-01 3.10612562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42862385299999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:9.51, Z:3.12 [[ 9.74122781e-01 -2.23014633e-01 -3.67325592e-02 8.77685659e+01] [ 2.22866594e-01 9.74815060e-01 -8.12894139e-03 9.50780380e+00] [ 3.76203248e-02 -2.67873356e-04 9.99292069e-01 3.11654650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.83, Y:9.52, Z:3.11 [[ 9.75032353e-01 -2.19003991e-01 -3.67309385e-02 8.78264514e+01] [ 2.18852828e-01 9.75723957e-01 -8.13625786e-03 9.51675417e+00] [ 3.76211296e-02 -1.05555129e-04 9.99292069e-01 3.10786246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:9.53, Z:3.11 [[ 9.76036899e-01 -2.14482741e-01 -3.67304361e-02 8.78844283e+01] [ 2.14328290e-01 9.76727776e-01 -8.13852509e-03 9.52523096e+00] [ 3.76212104e-02 7.11292342e-05 9.99292069e-01 3.11498112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:9.53, Z:3.12 [[ 9.76711733e-01 -2.11388655e-01 -3.67291011e-02 8.79423512e+01] [ 2.11231788e-01 9.77402066e-01 -8.14454567e-03 9.53392080e+00] [ 3.76207638e-02 1.96519606e-04 9.99292069e-01 3.11611256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:9.54, Z:3.12 [[ 9.77615587e-01 -2.07168625e-01 -3.67277112e-02 8.79997299e+01] [ 2.07008543e-01 9.78305181e-01 -8.15080861e-03 9.54384519e+00] [ 3.76195020e-02 3.65407561e-04 9.99292069e-01 3.11527524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:9.56, Z:3.12 [[ 9.78980200e-01 -2.00621231e-01 -3.67272222e-02 8.80572685e+01] [ 2.00456455e-01 9.79668688e-01 -8.15301129e-03 9.55657178e+00] [ 3.76161768e-02 6.19427858e-04 9.99292069e-01 3.12138535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.11, Y:9.57, Z:3.12 [[ 9.79906566e-01 -1.96046764e-01 -3.67258403e-02 8.81136462e+01] [ 1.95878541e-01 9.80594220e-01 -8.15923151e-03 9.57019549e+00] [ 3.76127377e-02 8.01480494e-04 9.99292069e-01 3.12409723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:9.59, Z:3.13 [[ 9.80980142e-01 -1.90602438e-01 -3.67242749e-02 8.81698314e+01] [ 1.90430136e-01 9.81666784e-01 -8.16627109e-03 9.58642311e+00] [ 3.76075121e-02 1.01754108e-03 9.99292069e-01 3.12743442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.23, Y:9.60, Z:3.13 [[ 9.81628074e-01 -1.87237194e-01 -3.67227070e-02 8.82253045e+01] [ 1.87062276e-01 9.82314055e-01 -8.17331564e-03 9.60360596e+00] [ 3.76035799e-02 1.15372294e-03 9.99292069e-01 3.13000108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:9.62, Z:3.13 [[ 9.81739063e-01 -1.86654518e-01 -3.67219764e-02 8.82801398e+01] [ 1.86479070e-01 9.82424908e-01 -8.17659713e-03 9.62008125e+00] [ 3.76027831e-02 1.17940482e-03 9.99292069e-01 3.13155715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:9.64, Z:3.14 [[ 9.81744734e-01 -1.86624817e-01 -3.67213243e-02 8.83365657e+01] [ 1.86449238e-01 9.82430546e-01 -8.17952477e-03 9.63701632e+00] [ 3.76026529e-02 1.18354243e-03 9.99292069e-01 3.13566313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.39, Y:9.66, Z:3.14 [[ 9.81565685e-01 -1.87564520e-01 -3.67199781e-02 8.83929351e+01] [ 1.87389372e-01 9.82251607e-01 -8.18556365e-03 9.65660249e+00] [ 3.76035788e-02 1.15373475e-03 9.99292069e-01 3.13633587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14862385299999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:88.45, Y:9.67, Z:3.14 [[ 9.81567755e-01 -1.87553962e-01 -3.67185779e-02 8.84484041e+01] [ 1.87378572e-01 9.82253615e-01 -8.19183964e-03 9.67435511e+00] [ 3.76033679e-02 1.16057094e-03 9.99292069e-01 3.14277755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.50, Y:9.69, Z:3.14 [[ 9.81163858e-01 -1.89655653e-01 -3.67180827e-02 8.85038665e+01] [ 1.89481650e-01 9.81850071e-01 -8.19405866e-03 9.69389723e+00] [ 3.76057017e-02 1.08231131e-03 9.99292069e-01 3.13990846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.56, Y:9.72, Z:3.14 [[ 9.80440950e-01 -1.93358114e-01 -3.67176107e-02 8.85581083e+01] [ 1.93186623e-01 9.81127796e-01 -8.19617347e-03 9.71553025e+00] [ 3.76094650e-02 9.42512877e-04 9.99292069e-01 3.13931450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:9.73, Z:3.14 [[ 9.79784258e-01 -1.96658738e-01 -3.67171489e-02 8.86135348e+01] [ 1.96489483e-01 9.80471658e-01 -8.19824166e-03 9.73233883e+00] [ 3.76123797e-02 8.17974512e-04 9.99292069e-01 3.14256654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.67, Y:9.75, Z:3.14 [[ 9.79096831e-01 -2.00053393e-01 -3.67155982e-02 8.86670808e+01] [ 1.99886262e-01 9.79784751e-01 -8.20518036e-03 9.75264703e+00] [ 3.76148574e-02 6.94722421e-04 9.99292069e-01 3.14481546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:9.77, Z:3.14 [[ 9.78752188e-01 -2.01732916e-01 -3.67149283e-02 8.87219444e+01] [ 2.01566853e-01 9.79440366e-01 -8.20817704e-03 9.77300581e+00] [ 3.76159422e-02 6.33258700e-04 9.99292069e-01 3.14494532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:9.79, Z:3.15 [[ 9.78404268e-01 -2.03413708e-01 -3.67144647e-02 8.87768313e+01] [ 2.03248749e-01 9.79092712e-01 -8.21024987e-03 9.79071789e+00] [ 3.76169422e-02 5.70774484e-04 9.99292069e-01 3.14868480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.83, Y:9.81, Z:3.15 [[ 9.77576778e-01 -2.07354297e-01 -3.67129268e-02 8.88318093e+01] [ 2.07191856e-01 9.78265820e-01 -8.21712105e-03 9.81057978e+00] [ 3.76188568e-02 4.26247280e-04 9.99292069e-01 3.15077071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.89, Y:9.83, Z:3.15 [[ 9.76302183e-01 -2.13275230e-01 -3.67113630e-02 8.88866685e+01] [ 2.13116705e-01 9.76992136e-01 -8.22410187e-03 9.83176129e+00] [ 3.76207101e-02 2.05403888e-04 9.99292069e-01 3.15333557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:9.85, Z:3.16 [[ 9.74607277e-01 -2.20891484e-01 -3.67097788e-02 8.89433673e+01] [ 2.20738085e-01 9.75298388e-01 -8.23116690e-03 9.84738938e+00] [ 3.76211828e-02 -8.10911124e-05 9.99292069e-01 3.15733282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:89.00, Y:9.86, Z:3.16 [[ 9.73575768e-01 -2.25394584e-01 -3.67083839e-02 8.89989493e+01] [ 2.25244147e-01 9.74267530e-01 -8.23738321e-03 9.86309078e+00] [ 3.76204481e-02 -2.48631944e-04 9.99292069e-01 3.15973180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:89.06, Y:9.88, Z:3.16 [[ 9.72173541e-01 -2.31367967e-01 -3.67078950e-02 8.90550462e+01] [ 2.31221698e-01 9.72866196e-01 -8.23956140e-03 9.87912005e+00] [ 3.76182407e-02 -4.77378232e-04 9.99292069e-01 3.16253547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.11, Y:9.89, Z:3.17 [[ 9.71291216e-01 -2.35044714e-01 -3.67063553e-02 8.91114888e+01] [ 2.34900808e-01 9.71984366e-01 -8.24641462e-03 9.89304642e+00] [ 3.76162797e-02 -6.12682427e-04 9.99292069e-01 3.16550523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92862385299999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:89.17, Y:9.91, Z:3.17 [[ 9.70646026e-01 -2.37695296e-01 -3.67047515e-02 8.91680480e+01] [ 2.37553013e-01 9.71339511e-01 -8.25354713e-03 9.90592946e+00] [ 3.76146047e-02 -7.08051596e-04 9.99292070e-01 3.16613307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:9.92, Z:3.17 [[ 9.70242195e-01 -2.39338425e-01 -3.67042570e-02 8.92247198e+01] [ 2.39197233e-01 9.70935902e-01 -8.25574564e-03 9.91809347e+00] [ 3.76133980e-02 -7.69483940e-04 9.99292070e-01 3.16796376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:9.93, Z:3.17 [[ 9.69985716e-01 -2.40375837e-01 -3.67037761e-02 8.92820706e+01] [ 2.40235306e-01 9.70679558e-01 -8.25788293e-03 9.93037839e+00] [ 3.76126007e-02 -8.07514414e-04 9.99292070e-01 3.17309277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:9.94, Z:3.18 [[ 9.69499588e-01 -2.42329282e-01 -3.67024162e-02 8.93390071e+01] [ 2.42189921e-01 9.70193666e-01 -8.26392252e-03 9.94125333e+00] [ 3.76110422e-02 -8.77085796e-04 9.99292070e-01 3.17554900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:9.95, Z:3.18 [[ 9.69100329e-01 -2.43921134e-01 -3.67019362e-02 8.93954727e+01] [ 2.43782832e-01 9.69794619e-01 -8.26605402e-03 9.95110633e+00] [ 3.76096055e-02 -9.36666269e-04 9.99292070e-01 3.18469258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.45, Y:9.96, Z:3.18 [[ 9.68725430e-01 -2.45406032e-01 -3.67004133e-02 8.94544299e+01] [ 2.45268539e-01 9.69419880e-01 -8.27280983e-03 9.95846372e+00] [ 3.76083077e-02 -9.87375487e-04 9.99292070e-01 3.18082052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:9.97, Z:3.18 [[ 9.68695826e-01 -2.45523064e-01 -3.66990719e-02 8.95125033e+01] [ 2.45385430e-01 9.69390248e-01 -8.27875639e-03 9.96894250e+00] [ 3.76083480e-02 -9.85820761e-04 9.99292070e-01 3.18131763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.57, Y:9.98, Z:3.18 [[ 9.68754663e-01 -2.45291007e-01 -3.66977445e-02 8.95705327e+01] [ 2.45152984e-01 9.69449008e-01 -8.28463605e-03 9.97669931e+00] [ 3.76087388e-02 -9.70781756e-04 9.99292070e-01 3.18279242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:89.63, Y:9.98, Z:3.18 [[ 9.68937532e-01 -2.44567877e-01 -3.66962064e-02 8.96275730e+01] [ 2.44429078e-01 9.69631723e-01 -8.29144331e-03 9.98165224e+00] [ 3.76096266e-02 -9.35729287e-04 9.99292070e-01 3.18361061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:9.99, Z:3.19 [[ 9.69153705e-01 -2.43709936e-01 -3.66955405e-02 8.96853475e+01] [ 2.43570410e-01 9.69847750e-01 -8.29438938e-03 9.98532038e+00] [ 3.76105125e-02 -8.99409654e-04 9.99292070e-01 3.18601011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:9.99, Z:3.19 [[ 9.69503363e-01 -2.42315372e-01 -3.66945412e-02 8.97429560e+01] [ 2.42174681e-01 9.70197173e-01 -8.29880806e-03 9.99291766e+00] [ 3.76118689e-02 -8.40766477e-04 9.99292070e-01 3.18782156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:10.00, Z:3.19 [[ 9.70874031e-01 -2.36764089e-01 -3.66930836e-02 8.98009066e+01] [ 2.36619187e-01 9.71566973e-01 -8.30524784e-03 9.99861448e+00] [ 3.76161726e-02 -6.18938172e-04 9.99292070e-01 3.19099931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:10.01, Z:3.19 [[ 9.73034785e-01 -2.27721405e-01 -3.66915370e-02 8.98580788e+01] [ 2.27569806e-01 9.73726293e-01 -8.31207508e-03 1.00064701e+01] [ 3.76203517e-02 -2.61947754e-04 9.99292070e-01 3.19427076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70862385299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:89.92, Y:10.02, Z:3.20 [[ 9.74667675e-01 -2.20628122e-01 -3.66899808e-02 8.99152175e+01] [ 2.20471231e-01 9.75358002e-01 -8.31893860e-03 1.00174283e+01] [ 3.76212581e-02 1.91153079e-05 9.99292070e-01 3.19627447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.97, Y:10.03, Z:3.20 [[ 9.76912014e-01 -2.10468232e-01 -3.66884221e-02 8.99713568e+01] [ 2.10303905e-01 9.77600608e-01 -8.32580682e-03 1.00275929e+01] [ 3.76189416e-02 4.17862277e-04 9.99292070e-01 3.19802864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:10.04, Z:3.21 [[ 9.78690647e-01 -2.02036203e-01 -3.66877457e-02 9.00283342e+01] [ 2.01865832e-01 9.79377770e-01 -8.32878638e-03 1.00419878e+01] [ 3.76138790e-02 7.45303028e-04 9.99292070e-01 3.20779296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:10.06, Z:3.21 [[ 9.79900614e-01 -1.96083895e-01 -3.66864068e-02 9.00846990e+01] [ 1.95909130e-01 9.80586634e-01 -8.33467967e-03 1.00578364e+01] [ 3.76084966e-02 9.79955686e-04 9.99292070e-01 3.20729230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:10.07, Z:3.21 [[ 9.80218409e-01 -1.94489275e-01 -3.66850392e-02 9.01406506e+01] [ 1.94313169e-01 9.80904086e-01 -8.34069481e-03 1.00724468e+01] [ 3.76066806e-02 1.04731636e-03 9.99292070e-01 3.20743340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:10.09, Z:3.21 [[ 9.80773850e-01 -1.91668720e-01 -3.66845587e-02 9.01959996e+01] [ 1.91490563e-01 9.81458996e-01 -8.34280772e-03 1.00897623e+01] [ 3.76034455e-02 1.15766084e-03 9.99292070e-01 3.20967698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:10.11, Z:3.21 [[ 9.80858447e-01 -1.91235620e-01 -3.66830161e-02 9.02501814e+01] [ 1.91056908e-01 9.81543449e-01 -8.34958524e-03 1.01099265e+01] [ 3.76027122e-02 1.18121758e-03 9.99292070e-01 3.21319868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:10.13, Z:3.22 [[ 9.80549620e-01 -1.92812950e-01 -3.66825400e-02 9.03044398e+01] [ 1.92635261e-01 9.81234888e-01 -8.35167609e-03 1.01324835e+01] [ 3.76044994e-02 1.12288214e-03 9.99292070e-01 3.21604075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:10.15, Z:3.22 [[ 9.80118371e-01 -1.94993346e-01 -3.66820684e-02 9.03609043e+01] [ 1.94817105e-01 9.80804012e-01 -8.35374710e-03 1.01519127e+01] [ 3.76068450e-02 1.04136663e-03 9.99292070e-01 3.21564958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:10.17, Z:3.22 [[ 9.79159429e-01 -1.99753161e-01 -3.66808929e-02 9.04163601e+01] [ 1.99580060e-01 9.79845870e-01 -8.35890565e-03 1.01735865e+01] [ 3.76113392e-02 8.63926477e-04 9.99292070e-01 3.21883989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:10.20, Z:3.22 [[ 9.77837148e-01 -2.06128912e-01 -3.66794798e-02 9.04706111e+01] [ 2.05960055e-01 9.78524645e-01 -8.36510180e-03 1.01975346e+01] [ 3.76160642e-02 6.25199609e-04 9.99292070e-01 3.22000334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.368623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:10.21, Z:3.22 [[ 9.76417982e-01 -2.12750035e-01 -3.66789784e-02 9.05262482e+01] [ 2.12585758e-01 9.77106588e-01 -8.36729957e-03 1.02145135e+01] [ 3.76194147e-02 3.72553320e-04 9.99292070e-01 3.22245328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.58, Y:10.24, Z:3.23 [[ 9.72997119e-01 -2.27884565e-01 -3.66773872e-02 9.05816441e+01] [ 2.27730737e-01 9.73688134e-01 -8.37426876e-03 1.02370401e+01] [ 3.76207033e-02 -2.04429030e-04 9.99292070e-01 3.22891233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:10.25, Z:3.23 [[ 9.71250731e-01 -2.35216683e-01 -3.66759952e-02 9.06377496e+01] [ 2.35067841e-01 9.71942838e-01 -8.38036051e-03 1.02509666e+01] [ 3.76181715e-02 -4.81915730e-04 9.99292070e-01 3.22968921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:10.26, Z:3.23 [[ 9.68596849e-01 -2.45916756e-01 -3.66755064e-02 9.06957285e+01] [ 2.45775477e-01 9.69290539e-01 -8.38249923e-03 1.02622422e+01] [ 3.76106184e-02 -8.94677732e-04 9.99292070e-01 3.23389919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.75, Y:10.27, Z:3.23 [[ 9.66375205e-01 -2.54507310e-01 -3.66741438e-02 9.07527625e+01] [ 2.54371970e-01 9.67070077e-01 -8.38845667e-03 1.02729216e+01] [ 3.76013906e-02 -1.22247766e-03 9.99292070e-01 3.23485436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.81, Y:10.28, Z:3.24 [[ 9.65329276e-01 -2.58446187e-01 -3.66736630e-02 9.08111168e+01] [ 2.58313602e-01 9.66024680e-01 -8.39055799e-03 1.02834983e+01] [ 3.75961713e-02 -1.37365471e-03 9.99292070e-01 3.23826766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:10.29, Z:3.24 [[ 9.64769321e-01 -2.60528797e-01 -3.66729296e-02 9.08698549e+01] [ 2.60397592e-01 9.65464986e-01 -8.39376218e-03 1.02903003e+01] [ 3.75932463e-02 -1.45149832e-03 9.99292070e-01 3.23897718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.93, Y:10.30, Z:3.24 [[ 9.65278452e-01 -2.58636237e-01 -3.66716018e-02 9.09267689e+01] [ 2.58503447e-01 9.65973817e-01 -8.39955916e-03 1.02967840e+01] [ 3.75962376e-02 -1.37182203e-03 9.99292070e-01 3.24195816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84862385299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:10.30, Z:3.25 [[ 9.66509813e-01 -2.53996110e-01 -3.66709466e-02 9.09858587e+01] [ 2.53859873e-01 9.67204510e-01 -8.40241907e-03 1.03035655e+01] [ 3.76024867e-02 -1.18826135e-03 9.99292070e-01 3.24680991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:10.31, Z:3.25 [[ 9.67599437e-01 -2.49813275e-01 -3.66695575e-02 9.10433991e+01] [ 2.49673805e-01 9.68293493e-01 -8.40847683e-03 1.03113612e+01] [ 3.76074430e-02 -1.01939049e-03 9.99292070e-01 3.24833027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:10.32, Z:3.25 [[ 9.69313806e-01 -2.43076377e-01 -3.66690626e-02 9.11011896e+01] [ 2.42932001e-01 9.70006858e-01 -8.41063453e-03 1.03169794e+01] [ 3.76136687e-02 -7.55544572e-04 9.99292070e-01 3.25094581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:10.32, Z:3.25 [[ 9.70967920e-01 -2.36382736e-01 -3.66674318e-02 9.11587048e+01] [ 2.36233314e-01 9.71659901e-01 -8.41773827e-03 1.03228362e+01] [ 3.76180811e-02 -4.88715102e-04 9.99292070e-01 3.25194463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:10.33, Z:3.25 [[ 9.72330350e-01 -2.30714696e-01 -3.66663186e-02 9.12162002e+01] [ 2.30561057e-01 9.73021407e-01 -8.42258434e-03 1.03295988e+01] [ 3.76203269e-02 -2.64290780e-04 9.99292070e-01 3.25297873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:10.34, Z:3.26 [[ 9.72966904e-01 -2.28015573e-01 -3.66647310e-02 9.12738763e+01] [ 2.27859757e-01 9.73657473e-01 -8.42948967e-03 1.03388912e+01] [ 3.76209443e-02 -1.52802219e-04 9.99292070e-01 3.25596145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:10.35, Z:3.26 [[ 9.73734309e-01 -2.24716066e-01 -3.66631285e-02 9.13319263e+01] [ 2.24557647e-01 9.74424286e-01 -8.43645384e-03 1.03466828e+01] [ 3.76212495e-02 -1.81213213e-05 9.99292070e-01 3.25902786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:10.36, Z:3.26 [[ 9.74165604e-01 -2.22839206e-01 -3.66614859e-02 9.13887260e+01] [ 2.22679190e-01 9.74855212e-01 -8.44358576e-03 1.03556707e+01] [ 3.76212026e-02 6.17008316e-05 9.99292070e-01 3.25980712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:10.36, Z:3.26 [[ 9.74080094e-01 -2.23212774e-01 -3.66609791e-02 9.14458153e+01] [ 2.23052939e-01 9.74769745e-01 -8.44578571e-03 1.03649815e+01] [ 3.76212205e-02 4.95325994e-05 9.99292070e-01 3.26192194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:91.50, Y:10.38, Z:3.26 [[ 9.74094559e-01 -2.23149908e-01 -3.66593499e-02 9.15032824e+01] [ 2.22989763e-01 9.74784138e-01 -8.45285163e-03 1.03752099e+01] [ 3.76212058e-02 5.92170573e-05 9.99292070e-01 3.26499496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:10.38, Z:3.27 [[ 9.74021371e-01 -2.23469425e-01 -3.66576625e-02 9.15600635e+01] [ 2.23309230e-01 9.74710938e-01 -8.46016300e-03 1.03842510e+01] [ 3.76212124e-02 5.43851617e-05 9.99292070e-01 3.26750350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:10.40, Z:3.27 [[ 9.73649263e-01 -2.25085243e-01 -3.66571412e-02 9.16173475e+01] [ 2.24926108e-01 9.74339075e-01 -8.46242129e-03 1.03953076e+01] [ 3.76212512e-02 -5.71783750e-06 9.99292070e-01 3.26973204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:10.41, Z:3.27 [[ 9.73011452e-01 -2.27826881e-01 -3.66555192e-02 9.16748747e+01] [ 2.27669426e-01 9.73701649e-01 -8.46944128e-03 1.04056721e+01] [ 3.76211058e-02 -1.04477642e-04 9.99292070e-01 3.27165723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.73, Y:10.41, Z:3.27 [[ 9.72259372e-01 -2.31015597e-01 -3.66538724e-02 9.17317931e+01] [ 2.30860137e-01 9.72950022e-01 -8.47656214e-03 1.04148069e+01] [ 3.76206040e-02 -2.20501009e-04 9.99292070e-01 3.27359651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:10.42, Z:3.28 [[ 9.72060022e-01 -2.31853248e-01 -3.66522125e-02 9.17882539e+01] [ 2.31698112e-01 9.72750745e-01 -8.48373342e-03 1.04249730e+01] [ 3.76204481e-02 -2.45550348e-04 9.99292070e-01 3.27534563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.84, Y:10.44, Z:3.28 [[ 9.72246596e-01 -2.31069739e-01 -3.66514929e-02 9.18448729e+01] [ 2.30913929e-01 9.72937167e-01 -8.48684111e-03 1.04363529e+01] [ 3.76206518e-02 -2.12037843e-04 9.99292070e-01 3.27777064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.90, Y:10.45, Z:3.28 [[ 9.72450602e-01 -2.30209935e-01 -3.66498692e-02 9.19023029e+01] [ 2.30053250e-01 9.73140975e-01 -8.49384721e-03 1.04459819e+01] [ 3.76208574e-02 -1.71574702e-04 9.99292070e-01 3.28017217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:10.46, Z:3.28 [[ 9.72475604e-01 -2.30104553e-01 -3.66482588e-02 9.19582487e+01] [ 2.29947532e-01 9.73165900e-01 -8.50078967e-03 1.04575563e+01] [ 3.76209062e-02 -1.60366111e-04 9.99292070e-01 3.28204339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:92.02, Y:10.47, Z:3.28 [[ 9.72903528e-01 -2.28288593e-01 -3.66475616e-02 9.20166411e+01] [ 2.28130171e-01 9.73593504e-01 -8.50379422e-03 1.04682714e+01] [ 3.76211472e-02 -8.70431045e-05 9.99292070e-01 3.28330337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:10.48, Z:3.28 [[ 9.73604590e-01 -2.25280164e-01 -3.66462738e-02 9.20741569e+01] [ 2.25119401e-01 9.74294025e-01 -8.50934042e-03 1.04789980e+01] [ 3.76212312e-02 3.49457057e-05 9.99292070e-01 3.28359574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:10.49, Z:3.29 [[ 9.74610836e-01 -2.20886554e-01 -3.66448912e-02 9.21305587e+01] [ 2.20722460e-01 9.75299485e-01 -8.51529046e-03 1.04913450e+01] [ 3.76206567e-02 2.10743842e-04 9.99292070e-01 3.28704868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:10.51, Z:3.29 [[ 9.75817778e-01 -2.15492116e-01 -3.66444016e-02 9.21863032e+01] [ 2.15324136e-01 9.76505489e-01 -8.51739677e-03 1.05057055e+01] [ 3.76188912e-02 4.21003086e-04 9.99292070e-01 3.28856643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:10.52, Z:3.29 [[ 9.76682569e-01 -2.11538136e-01 -3.66439215e-02 9.22417788e+01] [ 2.11367293e-01 9.77369575e-01 -8.51946194e-03 1.05214815e+01] [ 3.76168450e-02 5.75483467e-04 9.99292070e-01 3.29346367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:10.54, Z:3.29 [[ 9.77848265e-01 -2.06082799e-01 -3.66422017e-02 9.22971905e+01] [ 2.05907848e-01 9.78534236e-01 -8.52685204e-03 1.05376662e+01] [ 3.76128864e-02 7.93050576e-04 9.99292070e-01 3.28903335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.35, Y:10.56, Z:3.30 [[ 9.78357353e-01 -2.03652346e-01 -3.66416700e-02 9.23524080e+01] [ 2.03475605e-01 9.79042865e-01 -8.52913665e-03 1.05592022e+01] [ 3.76107442e-02 8.88857585e-04 9.99292070e-01 3.29640913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.41, Y:10.58, Z:3.30 [[ 9.78339033e-01 -2.03740598e-01 -3.66402230e-02 9.24066935e+01] [ 2.03563687e-01 9.79024501e-01 -8.53534810e-03 1.05792532e+01] [ 3.76106730e-02 8.91845337e-04 9.99292070e-01 3.30014271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.46, Y:10.60, Z:3.30 [[ 9.78160960e-01 -2.04593908e-01 -3.66397121e-02 9.24615529e+01] [ 2.04417512e-01 9.78846562e-01 -8.53754075e-03 1.05985681e+01] [ 3.76113850e-02 8.61290262e-04 9.99292070e-01 3.30215407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.52, Y:10.62, Z:3.31 [[ 9.77461143e-01 -2.07911764e-01 -3.66389512e-02 9.25171207e+01] [ 2.07737574e-01 9.78147307e-01 -8.54080477e-03 1.06206033e+01] [ 3.76140253e-02 7.37017954e-04 9.99292070e-01 3.30582691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.57, Y:10.64, Z:3.31 [[ 9.76052229e-01 -2.14428861e-01 -3.66375494e-02 9.25721766e+01] [ 2.14259027e-01 9.76739485e-01 -8.54681393e-03 1.06411999e+01] [ 3.76180247e-02 4.92211093e-04 9.99292070e-01 3.30880940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.63, Y:10.66, Z:3.31 [[ 9.74095180e-01 -2.23151053e-01 -3.66358760e-02 9.26259250e+01] [ 2.22987104e-01 9.74783864e-01 -8.55398079e-03 1.06612835e+01] [ 3.76208906e-02 1.63063576e-04 9.99292070e-01 3.31097592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.68, Y:10.68, Z:3.31 [[ 9.71821754e-01 -2.32852625e-01 -3.66351475e-02 9.26814527e+01] [ 2.32695433e-01 9.72512011e-01 -8.55709973e-03 1.06791381e+01] [ 3.76206641e-02 -2.08855837e-04 9.99292070e-01 3.31325616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.74, Y:10.69, Z:3.32 [[ 9.70293927e-01 -2.39139462e-01 -3.66334941e-02 9.27373977e+01] [ 2.38986475e-01 9.70985128e-01 -8.56417248e-03 1.06942910e+01] [ 3.76186095e-02 -4.45145070e-04 9.99292070e-01 3.31640043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:10.71, Z:3.32 [[ 9.68472091e-01 -2.46414114e-01 -3.66318550e-02 9.27940772e+01] [ 2.46266054e-01 9.69164365e-01 -8.57117748e-03 1.07085750e+01] [ 3.76143476e-02 -7.20236185e-04 9.99292070e-01 3.31582715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:10.72, Z:3.32 [[ 9.67692227e-01 -2.49459344e-01 -3.66304413e-02 9.28502378e+01] [ 2.49313234e-01 9.68384915e-01 -8.57721517e-03 1.07210496e+01] [ 3.76120332e-02 -8.32349306e-04 9.99292070e-01 3.31544188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:10.74, Z:3.32 [[ 9.68393631e-01 -2.46722600e-01 -3.66296922e-02 9.29077978e+01] [ 2.46574411e-01 9.69085877e-01 -8.58041289e-03 1.07354082e+01] [ 3.76142992e-02 -7.22727605e-04 9.99292070e-01 3.31691199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:10.75, Z:3.32 [[ 9.70100057e-01 -2.39925408e-01 -3.66289330e-02 9.29633326e+01] [ 2.39772245e-01 9.70791219e-01 -8.58365260e-03 1.07497218e+01] [ 3.76184829e-02 -4.55599643e-04 9.99292071e-01 3.31855213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.02, Y:10.77, Z:3.32 [[ 9.71322868e-01 -2.34926038e-01 -3.66284421e-02 9.30195854e+01] [ 2.34769239e-01 9.72013214e-01 -8.58574697e-03 1.07652260e+01] [ 3.76203453e-02 -2.59699122e-04 9.99292071e-01 3.32156609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:10.78, Z:3.32 [[ 9.73055510e-01 -2.27643245e-01 -3.66268668e-02 9.30744045e+01] [ 2.27481027e-01 9.73744603e-01 -8.59246192e-03 1.07836315e+01] [ 3.76212298e-02 2.90251409e-05 9.99292071e-01 3.32433426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:10.80, Z:3.32 [[ 9.74331259e-01 -2.22119575e-01 -3.66263799e-02 9.31298385e+01] [ 2.21953372e-01 9.75019402e-01 -8.59453693e-03 1.07998383e+01] [ 3.76204459e-02 2.44577475e-04 9.99292071e-01 3.32332043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:10.82, Z:3.33 [[ 9.74993267e-01 -2.19195555e-01 -3.66256604e-02 9.31861726e+01] [ 2.19027173e-01 9.75680880e-01 -8.59760175e-03 1.08184578e+01] [ 3.76195127e-02 3.60588955e-04 9.99292071e-01 3.32608711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:10.84, Z:3.33 [[ 9.74447510e-01 -2.21609371e-01 -3.66242680e-02 9.32425458e+01] [ 2.21442470e-01 9.75135484e-01 -8.60352921e-03 1.08356773e+01] [ 3.76202460e-02 2.73519250e-04 9.99292071e-01 3.33312621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:10.85, Z:3.34 [[ 9.73161711e-01 -2.27189464e-01 -3.66228378e-02 9.32991441e+01] [ 2.27026278e-01 9.73850576e-01 -8.60961305e-03 1.08499272e+01] [ 3.76211850e-02 6.41991990e-05 9.99292071e-01 3.33661624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:10.86, Z:3.34 [[ 9.71436920e-01 -2.34455079e-01 -3.66214026e-02 9.33549585e+01] [ 2.34296815e-01 9.72126932e-01 -8.61571322e-03 1.08631789e+01] [ 3.76206495e-02 -2.10656094e-04 9.99292071e-01 3.33987297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:10.87, Z:3.34 [[ 9.70277691e-01 -2.39207258e-01 -3.66208978e-02 9.34115214e+01] [ 2.39052293e-01 9.70968451e-01 -8.61785831e-03 1.08745347e+01] [ 3.76191907e-02 -3.92593938e-04 9.99292071e-01 3.34296920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:10.89, Z:3.34 [[ 9.69030406e-01 -2.44211187e-01 -3.66192342e-02 9.34688566e+01] [ 2.44059523e-01 9.69721898e-01 -8.62492180e-03 1.08851884e+01] [ 3.76167757e-02 -5.79461332e-04 9.99292071e-01 3.34354432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:10.90, Z:3.34 [[ 9.68453046e-01 -2.46490906e-01 -3.66187206e-02 9.35264323e+01] [ 2.46340787e-01 9.69144876e-01 -8.62710185e-03 1.08952138e+01] [ 3.76153475e-02 -6.65741356e-04 9.99292071e-01 3.34451923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:10.90, Z:3.35 [[ 9.68842954e-01 -2.44954114e-01 -3.66170999e-02 9.35838284e+01] [ 2.44802637e-01 9.69534488e-01 -8.63397514e-03 1.09042966e+01] [ 3.76164689e-02 -5.98996629e-04 9.99292071e-01 3.34648141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:10.92, Z:3.35 [[ 9.69818002e-01 -2.41065028e-01 -3.66154958e-02 9.36410743e+01] [ 2.40910522e-01 9.70508865e-01 -8.64077235e-03 1.09157219e+01] [ 3.76186514e-02 -4.41081624e-04 9.99292071e-01 3.35432491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:10.93, Z:3.35 [[ 9.71984603e-01 -2.32175232e-01 -3.66140983e-02 9.36976345e+01] [ 2.32014184e-01 9.72673971e-01 -8.64669031e-03 1.09296513e+01] [ 3.76211277e-02 -9.05402708e-05 9.99292071e-01 3.34997481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.75, Y:10.94, Z:3.35 [[ 9.73395764e-01 -2.26186230e-01 -3.66125088e-02 9.37543395e+01] [ 2.26020687e-01 9.74084066e-01 -8.65341547e-03 1.09435966e+01] [ 3.76209448e-02 1.48013570e-04 9.99292071e-01 3.35378809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:10.96, Z:3.36 [[ 9.74557451e-01 -2.21127571e-01 -3.66110876e-02 9.38100952e+01] [ 2.20958230e-01 9.75244828e-01 -8.65942386e-03 1.09588367e+01] [ 3.76196112e-02 3.49584933e-04 9.99292071e-01 3.35588447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.87, Y:10.98, Z:3.36 [[ 9.75755915e-01 -2.15777801e-01 -3.66105837e-02 9.38656503e+01] [ 2.15604611e-01 9.76442333e-01 -8.66155383e-03 1.09766522e+01] [ 3.76170948e-02 5.58151718e-04 9.99292071e-01 3.36064379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:10.99, Z:3.36 [[ 9.76137162e-01 -2.14046798e-01 -3.66088746e-02 9.39217606e+01] [ 2.13872121e-01 9.76823202e-01 -8.66877178e-03 1.09943111e+01] [ 3.76159209e-02 6.32292643e-04 9.99292071e-01 3.36444608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:11.01, Z:3.36 [[ 9.76008290e-01 -2.14633913e-01 -3.66073876e-02 9.39772803e+01] [ 2.14459413e-01 9.76694376e-01 -8.67504631e-03 1.10128956e+01] [ 3.76161888e-02 6.16118264e-04 9.99292071e-01 3.36381747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:11.03, Z:3.36 [[ 9.75327629e-01 -2.17706118e-01 -3.66068629e-02 9.40337286e+01] [ 2.17533696e-01 9.76014240e-01 -8.67726001e-03 1.10307612e+01] [ 3.76179121e-02 4.99945255e-04 9.99292071e-01 3.36491127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.09, Y:11.05, Z:3.37 [[ 9.74687869e-01 -2.20552952e-01 -3.66053822e-02 9.40887855e+01] [ 2.20382301e-01 9.75374922e-01 -8.68350209e-03 1.10477891e+01] [ 3.76191438e-02 3.96525795e-04 9.99292071e-01 3.36680091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.14, Y:11.06, Z:3.37 [[ 9.73729980e-01 -2.24744515e-01 -3.66036815e-02 9.41441943e+01] [ 2.24576553e-01 9.74417695e-01 -8.69066510e-03 1.10638031e+01] [ 3.76204543e-02 2.42032547e-04 9.99292071e-01 3.36926838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.20, Y:11.08, Z:3.37 [[ 9.72806782e-01 -2.28707615e-01 -3.66031563e-02 9.42004707e+01] [ 2.28542371e-01 9.73495156e-01 -8.69287639e-03 1.10808825e+01] [ 3.76211224e-02 9.11169910e-05 9.99292071e-01 3.37393776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:11.10, Z:3.38 [[ 9.72217590e-01 -2.31199636e-01 -3.66017236e-02 9.42555213e+01] [ 2.31035929e-01 9.72906331e-01 -8.69890482e-03 1.10981326e+01] [ 3.76212322e-02 9.15066203e-07 9.99292071e-01 3.37668473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:11.12, Z:3.38 [[ 9.72354179e-01 -2.30624631e-01 -3.66009639e-02 9.43106526e+01] [ 2.30460397e-01 9.73042794e-01 -8.70210002e-03 1.11167542e+01] [ 3.76212228e-02 2.64506395e-05 9.99292071e-01 3.38183486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:11.14, Z:3.38 [[ 9.73083790e-01 -2.27526761e-01 -3.65993126e-02 9.43649824e+01] [ 2.27360074e-01 9.73771816e-01 -8.70903949e-03 1.11385112e+01] [ 3.76209187e-02 1.53402727e-04 9.99292071e-01 3.38082015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:11.16, Z:3.38 [[ 9.73814322e-01 -2.24379576e-01 -3.65988030e-02 9.44206505e+01] [ 2.24210585e-01 9.74501785e-01 -8.71118077e-03 1.11586494e+01] [ 3.76202099e-02 2.77233581e-04 9.99292071e-01 3.38158657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:11.18, Z:3.38 [[ 9.73750058e-01 -2.24658537e-01 -3.65973389e-02 9.44763443e+01] [ 2.24489512e-01 9.74437513e-01 -8.71732718e-03 1.11765714e+01] [ 3.76202419e-02 2.72779099e-04 9.99292071e-01 3.38395093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:11.20, Z:3.39 [[ 9.72783582e-01 -2.28807472e-01 -3.65956757e-02 9.45305740e+01] [ 2.28641116e-01 9.73471688e-01 -8.72430383e-03 1.11986478e+01] [ 3.76210401e-02 1.19583406e-04 9.99292071e-01 3.38628868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.59, Y:11.22, Z:3.39 [[ 9.70855557e-01 -2.36854980e-01 -3.65951613e-02 9.45864764e+01] [ 2.36694247e-01 9.71544998e-01 -8.72646091e-03 1.12183050e+01] [ 3.76207516e-02 -1.89731078e-04 9.99292071e-01 3.39147989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:11.23, Z:3.39 [[ 9.68465641e-01 -2.46445126e-01 -3.65937320e-02 9.46436261e+01] [ 2.46290993e-01 9.69156588e-01 -8.73245037e-03 1.12332802e+01] [ 3.76171263e-02 -5.55628445e-04 9.99292071e-01 3.39245990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:11.25, Z:3.40 [[ 9.66247387e-01 -2.55003906e-01 -3.65922775e-02 9.47005747e+01] [ 2.54855661e-01 9.66939621e-01 -8.73854108e-03 1.12491388e+01] [ 3.76108851e-02 -8.82156606e-04 9.99292071e-01 3.39638695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:11.26, Z:3.40 [[ 9.64980183e-01 -2.59758268e-01 -3.65908368e-02 9.47569829e+01] [ 2.59613205e-01 9.65673090e-01 -8.74456954e-03 1.12620450e+01] [ 3.76062607e-02 -1.06112811e-03 9.99292071e-01 3.39646236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:11.27, Z:3.40 [[ 9.63484405e-01 -2.65252779e-01 -3.65891403e-02 9.48142176e+01] [ 2.65111398e-01 9.64178072e-01 -8.75166227e-03 1.12733688e+01] [ 3.75998495e-02 -1.26810802e-03 9.99292071e-01 3.40060851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:11.28, Z:3.40 [[ 9.63133614e-01 -2.66523893e-01 -3.65876621e-02 9.48707023e+01] [ 2.66383193e-01 9.63827420e-01 -8.75783815e-03 1.12839339e+01] [ 3.75983650e-02 -1.31136992e-03 9.99292071e-01 3.40428408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.93, Y:11.30, Z:3.41 [[ 9.63888789e-01 -2.63779803e-01 -3.65871413e-02 9.49279791e+01] [ 2.63637045e-01 9.64582174e-01 -8.76001313e-03 1.12951408e+01] [ 3.76020188e-02 -1.20204737e-03 9.99292071e-01 3.40658035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.99, Y:11.31, Z:3.40 [[ 9.65361454e-01 -2.58338468e-01 -3.65854934e-02 9.49850069e+01] [ 2.58191541e-01 9.66053968e-01 -8.76689004e-03 1.13061634e+01] [ 3.76083860e-02 -9.82847194e-04 9.99292071e-01 3.40455905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.04, Y:11.32, Z:3.40 [[ 9.66557690e-01 -2.53826262e-01 -3.65849837e-02 9.50425455e+01] [ 2.53676021e-01 9.67249493e-01 -8.76901663e-03 1.13183912e+01] [ 3.76126136e-02 -8.04972620e-04 9.99292071e-01 3.40434190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.10, Y:11.33, Z:3.41 [[ 9.68450663e-01 -2.46505489e-01 -3.65835668e-02 9.50995078e+01] [ 2.46349795e-01 9.69141259e-01 -8.77492359e-03 1.13310953e+01] [ 3.76177109e-02 -5.14273609e-04 9.99292071e-01 3.40735323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.16, Y:11.34, Z:3.41 [[ 9.70147482e-01 -2.39740712e-01 -3.65821526e-02 9.51576453e+01] [ 2.39579980e-01 9.70836923e-01 -8.78081562e-03 1.13420660e+01] [ 3.76204234e-02 -2.45665218e-04 9.99292071e-01 3.41020322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:11.35, Z:3.42 [[ 9.71636103e-01 -2.33634615e-01 -3.65807436e-02 9.52142485e+01] [ 2.33469329e-01 9.72324466e-01 -8.78668166e-03 1.13535719e+01] [ 3.76212249e-02 -3.02453388e-06 9.99292071e-01 3.41677027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.27, Y:11.37, Z:3.42 [[ 9.72722484e-01 -2.29069581e-01 -3.65799983e-02 9.52711345e+01] [ 2.28900947e-01 9.73410035e-01 -8.78978316e-03 1.13654224e+01] [ 3.76208094e-02 1.76823450e-04 9.99292071e-01 3.41535512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.33, Y:11.38, Z:3.42 [[ 9.73560487e-01 -2.25481704e-01 -3.65784136e-02 9.53272079e+01] [ 2.25310289e-01 9.74247349e-01 -8.79637288e-03 1.13788729e+01] [ 3.76198436e-02 3.22308108e-04 9.99292071e-01 3.41750257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.38, Y:11.39, Z:3.42 [[ 9.74061676e-01 -2.23306948e-01 -3.65767582e-02 9.53838711e+01] [ 2.23133742e-01 9.74748089e-01 -8.80325092e-03 1.13927413e+01] [ 3.76189522e-02 4.13400429e-04 9.99292071e-01 3.41886055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.44, Y:11.41, Z:3.42 [[ 9.74566156e-01 -2.21095131e-01 -3.65752794e-02 9.54393728e+01] [ 2.20920136e-01 9.75252115e-01 -8.80939081e-03 1.14081228e+01] [ 3.76178320e-02 5.05118422e-04 9.99292071e-01 3.41937652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.50, Y:11.42, Z:3.42 [[ 9.74589741e-01 -2.20991230e-01 -3.65747562e-02 9.54953824e+01] [ 2.20816080e-01 9.75275661e-01 -8.81156247e-03 1.14233320e+01] [ 3.76177475e-02 5.11364079e-04 9.99292071e-01 3.42177802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.55, Y:11.44, Z:3.43 [[ 9.74229244e-01 -2.22575341e-01 -3.65731934e-02 9.55526760e+01] [ 2.22401064e-01 9.74915385e-01 -8.81804435e-03 1.14378667e+01] [ 3.76184481e-02 4.56879551e-04 9.99292071e-01 3.42502578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.61, Y:11.45, Z:3.43 [[ 9.73335492e-01 -2.26452045e-01 -3.65717136e-02 9.56084982e+01] [ 2.26280271e-01 9.74022265e-01 -8.82417709e-03 1.14542911e+01] [ 3.76199163e-02 3.13427492e-04 9.99292071e-01 3.42668662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.67, Y:11.47, Z:3.43 [[ 9.72087989e-01 -2.31748766e-01 -3.65711900e-02 9.56652105e+01] [ 2.31580652e-01 9.72775667e-01 -8.82634657e-03 1.14689148e+01] [ 3.76210587e-02 1.10805463e-04 9.99292071e-01 3.43358180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.72, Y:11.48, Z:3.44 [[ 9.70745023e-01 -2.37311504e-01 -3.65698148e-02 9.57219264e+01] [ 2.37147116e-01 9.71433601e-01 -8.83204073e-03 1.14824553e+01] [ 3.76210918e-02 -9.87665367e-05 9.99292071e-01 3.43756873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.78, Y:11.49, Z:3.44 [[ 9.69511072e-01 -2.42303638e-01 -3.65681456e-02 9.57783350e+01] [ 2.42142535e-01 9.70200426e-01 -8.83894649e-03 1.14948402e+01] [ 3.76201393e-02 -2.85246990e-04 9.99292071e-01 3.43778532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:95.84, Y:11.51, Z:3.44 [[ 9.68472055e-01 -2.46423794e-01 -3.65676334e-02 9.58353697e+01] [ 2.46265544e-01 9.69162070e-01 -8.84106513e-03 1.15069327e+01] [ 3.76186121e-02 -4.43023617e-04 9.99292071e-01 3.44126653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:11.52, Z:3.44 [[ 9.68015601e-01 -2.48211019e-01 -3.65661982e-02 9.58918880e+01] [ 2.48053819e-01 9.68705855e-01 -8.84699714e-03 1.15176121e+01] [ 3.76178124e-02 -5.06353854e-04 9.99292071e-01 3.44011248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:11.53, Z:3.44 [[ 9.68239497e-01 -2.47336291e-01 -3.65654891e-02 9.59484099e+01] [ 2.47178356e-01 9.68929584e-01 -8.84992684e-03 1.15299732e+01] [ 3.76182922e-02 -4.69348781e-04 9.99292071e-01 3.44059343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:11.54, Z:3.44 [[ 9.69236679e-01 -2.43399419e-01 -3.65647795e-02 9.60051594e+01] [ 2.43238571e-01 9.69926092e-01 -8.85285789e-03 1.15418704e+01] [ 3.76199141e-02 -3.13450122e-04 9.99292071e-01 3.44309236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:11.55, Z:3.45 [[ 9.70223534e-01 -2.39435643e-01 -3.65631938e-02 9.60615123e+01] [ 2.39271731e-01 9.70912225e-01 -8.85940193e-03 1.15542534e+01] [ 3.76209085e-02 -1.52938439e-04 9.99292071e-01 3.44508941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:11.57, Z:3.45 [[ 9.70650104e-01 -2.37700704e-01 -3.65616034e-02 9.61175198e+01] [ 2.37535315e-01 9.71338442e-01 -8.86596042e-03 1.15666686e+01] [ 3.76211359e-02 -7.89265596e-05 9.99292071e-01 3.45088235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:11.58, Z:3.45 [[ 9.71097317e-01 -2.35867284e-01 -3.65598821e-02 9.61744190e+01] [ 2.35700328e-01 9.71785277e-01 -8.87305283e-03 1.15792160e+01] [ 3.76212180e-02 -5.78401214e-07 9.99292071e-01 3.45256443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:11.59, Z:3.46 [[ 9.71488026e-01 -2.34252917e-01 -3.65593503e-02 9.62311772e+01] [ 2.34084735e-01 9.72175687e-01 -8.87524343e-03 1.15897698e+01] [ 3.76211632e-02 6.42068981e-05 9.99292071e-01 3.45530058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:11.60, Z:3.46 [[ 9.71963030e-01 -2.32274412e-01 -3.65577136e-02 9.62872887e+01] [ 2.32104577e-01 9.72650284e-01 -8.88197998e-03 1.16025541e+01] [ 3.76209272e-02 1.47743520e-04 9.99292071e-01 3.45770838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:11.61, Z:3.46 [[ 9.72457831e-01 -2.30194325e-01 -3.65559757e-02 9.63443466e+01] [ 2.30022752e-01 9.73144654e-01 -8.88912698e-03 1.16144604e+01] [ 3.76204789e-02 2.35595016e-04 9.99292071e-01 3.45782791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:11.63, Z:3.46 [[ 9.73093205e-01 -2.27493549e-01 -3.65554361e-02 9.64013589e+01] [ 2.27319985e-01 9.73779528e-01 -8.89134562e-03 1.16267687e+01] [ 3.76196590e-02 3.42326814e-04 9.99292071e-01 3.46163290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:11.64, Z:3.46 [[ 9.73482515e-01 -2.25822056e-01 -3.65539569e-02 9.64572279e+01] [ 2.25647086e-01 9.74168480e-01 -8.89742261e-03 1.16402414e+01] [ 3.76189469e-02 4.13191466e-04 9.99292071e-01 3.46405366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:96.51, Y:11.65, Z:3.47 [[ 9.73998042e-01 -2.23588341e-01 -3.65522526e-02 9.65136580e+01] [ 2.23411536e-01 9.74683537e-01 -8.90441877e-03 1.16541173e+01] [ 3.76178030e-02 5.06691570e-04 9.99292071e-01 3.46795575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.57, Y:11.67, Z:3.47 [[ 9.73904857e-01 -2.23994170e-01 -3.65505187e-02 9.65691748e+01] [ 2.23817384e-01 9.74590357e-01 -8.91153032e-03 1.16694065e+01] [ 3.76179139e-02 4.98341194e-04 9.99292072e-01 3.46600226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:11.69, Z:3.47 [[ 9.73717030e-01 -2.24809388e-01 -3.65497688e-02 9.66257882e+01] [ 2.24633060e-01 9.74402647e-01 -8.91460488e-03 1.16867691e+01] [ 3.76182783e-02 4.70016187e-04 9.99292072e-01 3.47001252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:11.70, Z:3.48 [[ 9.73498380e-01 -2.25754574e-01 -3.65482797e-02 9.66821348e+01] [ 2.25578683e-01 9.74184109e-01 -8.92070579e-03 1.17027697e+01] [ 3.76186434e-02 4.39779853e-04 9.99292072e-01 3.47555106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.74, Y:11.72, Z:3.48 [[ 9.73239570e-01 -2.26867969e-01 -3.65467286e-02 9.67365804e+01] [ 2.26692623e-01 9.73925440e-01 -8.92705598e-03 1.17195764e+01] [ 3.76190517e-02 4.03290353e-04 9.99292072e-01 3.47677623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.79, Y:11.74, Z:3.48 [[ 9.72031302e-01 -2.31990460e-01 -3.65455250e-02 9.67919608e+01] [ 2.31818544e-01 9.72718039e-01 -8.93198054e-03 1.17369215e+01] [ 3.76206256e-02 2.10234286e-04 9.99292072e-01 3.47914265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.85, Y:11.75, Z:3.48 [[ 9.71211546e-01 -2.35398989e-01 -3.65438046e-02 9.68469546e+01] [ 2.35229219e-01 9.71898816e-01 -8.93901362e-03 1.17532828e+01] [ 3.76211152e-02 8.55026372e-05 9.99292072e-01 3.47876833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.90, Y:11.77, Z:3.48 [[ 9.70156804e-01 -2.39708949e-01 -3.65430635e-02 9.69024814e+01] [ 2.39542118e-01 9.70844794e-01 -8.94204210e-03 1.17692672e+01] [ 3.76211305e-02 -7.84198465e-05 9.99292072e-01 3.48303553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.96, Y:11.78, Z:3.49 [[ 9.69431394e-01 -2.42626257e-01 -3.65413572e-02 9.69588317e+01] [ 2.42461234e-01 9.70119820e-01 -8.94900956e-03 1.17847466e+01] [ 3.76207596e-02 -1.84411740e-04 9.99292072e-01 3.48730535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:97.01, Y:11.80, Z:3.49 [[ 9.68881862e-01 -2.44811713e-01 -3.65398827e-02 9.70144487e+01] [ 2.44648015e-01 9.69570604e-01 -8.95502601e-03 1.18011353e+01] [ 3.76202914e-02 -2.63047511e-04 9.99292072e-01 3.49302685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.07, Y:11.82, Z:3.49 [[ 9.68153746e-01 -2.47675761e-01 -3.65382203e-02 9.70710795e+01] [ 2.47513845e-01 9.68842909e-01 -8.96180397e-03 1.18162633e+01] [ 3.76194172e-02 -3.67311304e-04 9.99292072e-01 3.48963100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.13, Y:11.83, Z:3.49 [[ 9.66921943e-01 -2.52442149e-01 -3.65365357e-02 9.71278911e+01] [ 2.52283371e-01 9.67611835e-01 -8.96866665e-03 1.18291987e+01] [ 3.76172538e-02 -5.45559801e-04 9.99292072e-01 3.49001274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:11.84, Z:3.50 [[ 9.65322829e-01 -2.58489758e-01 -3.65360176e-02 9.71840009e+01] [ 2.58335222e-01 9.66013684e-01 -8.97077657e-03 1.18384464e+01] [ 3.76131469e-02 -7.78844809e-04 9.99292072e-01 3.49683213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:97.24, Y:11.85, Z:3.49 [[ 9.63906433e-01 -2.63722562e-01 -3.65348906e-02 9.72415837e+01] [ 2.63571602e-01 9.64598079e-01 -8.97536425e-03 1.18474772e+01] [ 3.76084913e-02 -9.78148306e-04 9.99292072e-01 3.49469740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.30, Y:11.86, Z:3.50 [[ 9.63278855e-01 -2.66005799e-01 -3.65343919e-02 9.72995391e+01] [ 2.65856401e-01 9.63970840e-01 -8.97739367e-03 1.18561855e+01] [ 3.76061272e-02 -1.06516845e-03 9.99292072e-01 3.49866051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.36, Y:11.87, Z:3.50 [[ 9.63263945e-01 -2.66060018e-01 -3.65327199e-02 9.73561763e+01] [ 2.65910401e-01 9.63955882e-01 -8.98419247e-03 1.18651803e+01] [ 3.76062647e-02 -1.06028153e-03 9.99292072e-01 3.49993121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.41, Y:11.87, Z:3.51 [[ 9.64252581e-01 -2.62454518e-01 -3.65319907e-02 9.74138926e+01] [ 2.62302202e-01 9.64943929e-01 -8.98715656e-03 1.18733984e+01] [ 3.76100425e-02 -9.16532714e-04 9.99292072e-01 3.50571677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.47, Y:11.88, Z:3.51 [[ 9.66108136e-01 -2.55539844e-01 -3.65302356e-02 9.74714155e+01] [ 2.55382309e-01 9.66798313e-01 -8.99428523e-03 1.18819386e+01] [ 3.76157684e-02 -6.39723783e-04 9.99292072e-01 3.51007716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.53, Y:11.89, Z:3.51 [[ 9.68237156e-01 -2.47350746e-01 -3.65296912e-02 9.75290553e+01] [ 2.47187290e-01 9.68925955e-01 -8.99649553e-03 1.18902008e+01] [ 3.76198558e-02 -3.18934126e-04 9.99292072e-01 3.50978017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.59, Y:11.90, Z:3.51 [[ 9.69854058e-01 -2.40933035e-01 -3.65291550e-02 9.75862935e+01] [ 2.40764939e-01 9.70541739e-01 -8.99867222e-03 1.19012585e+01] [ 3.76211470e-02 -6.75410141e-05 9.99292072e-01 3.51020309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:11.91, Z:3.51 [[ 9.70671441e-01 -2.37618809e-01 -3.65274695e-02 9.76430621e+01] [ 2.37448108e-01 9.71358480e-01 -9.00550870e-03 1.19140674e+01] [ 3.76211455e-02 6.80115736e-05 9.99292072e-01 3.51261828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.70, Y:11.93, Z:3.52 [[ 9.72299764e-01 -2.30865843e-01 -3.65257706e-02 9.77003106e+01] [ 2.30690111e-01 9.72985534e-01 -9.01239404e-03 1.19260106e+01] [ 3.76197004e-02 3.36614505e-04 9.99292072e-01 3.51959831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.76, Y:11.94, Z:3.52 [[ 9.73095362e-01 -2.27489333e-01 -3.65242301e-02 9.77554088e+01] [ 2.27310988e-01 9.73780457e-01 -9.01863293e-03 1.19404673e+01] [ 3.76182243e-02 4.73631037e-04 9.99292072e-01 3.52171642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:11.96, Z:3.52 [[ 9.73889462e-01 -2.24065510e-01 -3.65234673e-02 9.78108066e+01] [ 2.23884641e-01 9.74573895e-01 -9.02172119e-03 1.19560032e+01] [ 3.76162743e-02 6.09115840e-04 9.99292072e-01 3.52355260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:11.97, Z:3.53 [[ 9.74000807e-01 -2.23581285e-01 -3.65217429e-02 9.78669432e+01] [ 2.23399814e-01 9.74685080e-01 -9.02869643e-03 1.19716119e+01] [ 3.76158455e-02 6.35007032e-04 9.99292072e-01 3.52515930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:11.99, Z:3.53 [[ 9.73665809e-01 -2.25035949e-01 -3.65200366e-02 9.79228097e+01] [ 2.24855242e-01 9.74350285e-01 -9.03559311e-03 1.19867025e+01] [ 3.76166413e-02 5.85926409e-04 9.99292072e-01 3.52616571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:12.00, Z:3.53 [[ 9.73447572e-01 -2.25978399e-01 -3.65183341e-02 9.79790967e+01] [ 2.25798096e-01 9.74132154e-01 -9.04246860e-03 1.20044201e+01] [ 3.76170860e-02 5.56598777e-04 9.99292072e-01 3.52913511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:12.02, Z:3.53 [[ 9.73412991e-01 -2.26127545e-01 -3.65168636e-02 9.80343951e+01] [ 2.25947125e-01 9.74097543e-01 -9.04840310e-03 1.20212266e+01] [ 3.76170803e-02 5.56952778e-04 9.99292072e-01 3.53028408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:12.04, Z:3.53 [[ 9.73068550e-01 -2.27605446e-01 -3.65151886e-02 9.80904475e+01] [ 2.27425812e-01 9.73753308e-01 -9.05515775e-03 1.20400030e+01] [ 3.76177889e-02 5.06792815e-04 9.99292072e-01 3.53139144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.14, Y:12.06, Z:3.53 [[ 9.72330178e-01 -2.30739634e-01 -3.65136367e-02 9.81442580e+01] [ 2.30561973e-01 9.73015451e-01 -9.06141133e-03 1.20598660e+01] [ 3.76191594e-02 3.92027596e-04 9.99292072e-01 3.53153568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.20, Y:12.08, Z:3.54 [[ 9.71136484e-01 -2.35713257e-01 -3.65128690e-02 9.82004742e+01] [ 2.35538990e-01 9.71822627e-01 -9.06450352e-03 1.20778521e+01] [ 3.76206559e-02 2.02665811e-04 9.99292072e-01 3.53899247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:12.10, Z:3.54 [[ 9.70047560e-01 -2.40155486e-01 -3.65112803e-02 9.82548726e+01] [ 2.39984119e-01 9.70734434e-01 -9.07089806e-03 1.20957137e+01] [ 3.76211830e-02 3.70750781e-05 9.99292072e-01 3.54063360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.31, Y:12.11, Z:3.54 [[ 9.69247338e-01 -2.43365117e-01 -3.65105023e-02 9.83095520e+01] [ 2.43195907e-01 9.69934747e-01 -9.07402853e-03 1.21149935e+01] [ 3.76211068e-02 -8.42267408e-05 9.99292072e-01 3.54151700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.37, Y:12.13, Z:3.54 [[ 9.68506059e-01 -2.46298845e-01 -3.65087941e-02 9.83650507e+01] [ 2.46131458e-01 9.69193914e-01 -9.08089605e-03 1.21327993e+01] [ 3.76207153e-02 -1.91059895e-04 9.99292072e-01 3.54347214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.42, Y:12.15, Z:3.55 [[ 9.67702285e-01 -2.49438408e-01 -3.65071014e-02 9.84206168e+01] [ 2.49272997e-01 9.68390617e-01 -9.08769612e-03 1.21507373e+01] [ 3.76199549e-02 -3.06050278e-04 9.99292072e-01 3.54851018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.48, Y:12.17, Z:3.55 [[ 9.67144656e-01 -2.51592047e-01 -3.65055602e-02 9.84769072e+01] [ 2.51427935e-01 9.67833299e-01 -9.09388284e-03 1.21662410e+01] [ 3.76192454e-02 -3.83417434e-04 9.99292072e-01 3.55012726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.53, Y:12.18, Z:3.55 [[ 9.66786169e-01 -2.52966357e-01 -3.65037848e-02 9.85327695e+01] [ 2.52802955e-01 9.67474981e-01 -9.10100392e-03 1.21833523e+01] [ 3.76187463e-02 -4.29539946e-04 9.99292072e-01 3.55358172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.59, Y:12.20, Z:3.56 [[ 9.66941260e-01 -2.52373139e-01 -3.65020287e-02 9.85886990e+01] [ 2.52209049e-01 9.67629908e-01 -9.10804189e-03 1.21990148e+01] [ 3.76190798e-02 -3.99200448e-04 9.99292072e-01 3.55628571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:12.21, Z:3.56 [[ 9.67361389e-01 -2.50758197e-01 -3.65002753e-02 9.86436231e+01] [ 2.50592692e-01 9.68049698e-01 -9.11506305e-03 1.22146739e+01] [ 3.76197573e-02 -3.29142196e-04 9.99292072e-01 3.55832684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:12.23, Z:3.56 [[ 9.68116846e-01 -2.47825659e-01 -3.64995154e-02 9.86975079e+01] [ 2.47657954e-01 9.68804623e-01 -9.11810526e-03 1.22323434e+01] [ 3.76205997e-02 -2.12003976e-04 9.99292072e-01 3.55931615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.75, Y:12.25, Z:3.56 [[ 9.68932830e-01 -2.44616047e-01 -3.64987644e-02 9.87522544e+01] [ 2.44445951e-01 9.69620020e-01 -9.12111022e-03 1.22508946e+01] [ 3.76211026e-02 -8.42320263e-05 9.99292072e-01 3.56205868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:12.27, Z:3.56 [[ 9.69307575e-01 -2.43127110e-01 -3.64970255e-02 9.88071164e+01] [ 2.42955697e-01 9.69994437e-01 -9.12806290e-03 1.22694061e+01] [ 3.76211913e-02 -1.92597451e-05 9.99292072e-01 3.56320959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:12.29, Z:3.56 [[ 9.69339278e-01 -2.43000940e-01 -3.64952966e-02 9.88614815e+01] [ 2.42829177e-01 9.70026053e-01 -9.13497014e-03 1.22866742e+01] [ 3.76211948e-02 -7.23747184e-06 9.99292072e-01 3.56486232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:12.31, Z:3.57 [[ 9.69020641e-01 -2.44268657e-01 -3.64941257e-02 9.89162795e+01] [ 2.44097617e-01 9.69707595e-01 -9.13964530e-03 1.23057806e+01] [ 3.76211598e-02 -5.16241703e-05 9.99292072e-01 3.56754415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.97, Y:12.32, Z:3.57 [[ 9.68127934e-01 -2.47783213e-01 -3.64936026e-02 9.89711141e+01] [ 2.47614587e-01 9.68815485e-01 -9.14173379e-03 1.23223140e+01] [ 3.76207355e-02 -1.85980504e-04 9.99292072e-01 3.57240259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:12.34, Z:3.58 [[ 9.66281268e-01 -2.54889750e-01 -3.64928294e-02 9.90281150e+01] [ 2.54726065e-01 9.66970012e-01 -9.14481902e-03 1.23356594e+01] [ 3.76183924e-02 -4.59207506e-04 9.99292072e-01 3.57788316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.08, Y:12.35, Z:3.58 [[ 9.64666492e-01 -2.60934757e-01 -3.64912484e-02 9.90838663e+01] [ 2.60775148e-01 9.65356193e-01 -9.15112372e-03 1.23490558e+01] [ 3.76148988e-02 -6.88228268e-04 9.99292072e-01 3.58030132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.14, Y:12.36, Z:3.58 [[ 9.63189450e-01 -2.66335431e-01 -3.64900219e-02 9.91394893e+01] [ 2.66179504e-01 9.63879992e-01 -9.15601171e-03 1.23616310e+01] [ 3.76105723e-02 -8.93922031e-04 9.99292072e-01 3.58193894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.20, Y:12.37, Z:3.58 [[ 9.61459547e-01 -2.72514355e-01 -3.64892526e-02 9.91974442e+01] [ 2.72362748e-01 9.62151051e-01 -9.15907642e-03 1.23708590e+01] [ 3.76041526e-02 -1.13223166e-03 9.99292072e-01 3.58282442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.26, Y:12.38, Z:3.58 [[ 9.60397840e-01 -2.76232963e-01 -3.64875141e-02 9.92553274e+01] [ 2.76083771e-01 9.61089869e-01 -9.16599699e-03 1.23776086e+01] [ 3.75997307e-02 -1.27060678e-03 9.99292072e-01 3.58438286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.31, Y:12.39, Z:3.59 [[ 9.60149123e-01 -2.77096465e-01 -3.64857704e-02 9.93126464e+01] [ 2.76947632e-01 9.60841229e-01 -9.17293260e-03 1.23850518e+01] [ 3.75988197e-02 -1.29726453e-03 9.99292072e-01 3.58757180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.37, Y:12.39, Z:3.59 [[ 9.60822590e-01 -2.74752211e-01 -3.64852323e-02 9.93709412e+01] [ 2.74601609e-01 9.61514313e-01 -9.17507238e-03 1.23908480e+01] [ 3.76019445e-02 -1.20328669e-03 9.99292072e-01 3.59013939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.43, Y:12.40, Z:3.59 [[ 9.62155656e-01 -2.70047123e-01 -3.64834983e-02 9.94297386e+01] [ 2.69892876e-01 9.62846575e-01 -9.18196215e-03 1.23953337e+01] [ 3.76075739e-02 -1.01215947e-03 9.99292072e-01 3.59195081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.49, Y:12.40, Z:3.59 [[ 9.63374936e-01 -2.65664856e-01 -3.64817412e-02 9.94873675e+01] [ 2.65507202e-01 9.64065086e-01 -9.18893845e-03 1.24044388e+01] [ 3.76119509e-02 -8.33772032e-04 9.99292072e-01 3.59409275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.54, Y:12.41, Z:3.60 [[ 9.65711850e-01 -2.57040534e-01 -3.64799382e-02 9.95438036e+01] [ 2.56876446e-01 9.66400499e-01 -9.19609060e-03 1.24123974e+01] [ 3.76179985e-02 -4.90063196e-04 9.99292072e-01 3.59560795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.60, Y:12.42, Z:3.60 [[ 9.67916744e-01 -2.48609092e-01 -3.64787160e-02 9.96023555e+01] [ 2.48438821e-01 9.68603890e-01 -9.20093612e-03 1.24193398e+01] [ 3.76208626e-02 -1.56989088e-04 9.99292072e-01 3.59695706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:12.43, Z:3.60 [[ 9.69878395e-01 -2.40842941e-01 -3.64770839e-02 9.96593256e+01] [ 2.40666925e-01 9.70564091e-01 -9.20740236e-03 1.24277745e+01] [ 3.76208856e-02 1.51233011e-04 9.99292072e-01 3.59892039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:12.44, Z:3.60 [[ 9.71629105e-01 -2.33680038e-01 -3.64763276e-02 9.97167680e+01] [ 2.33498855e-01 9.72313454e-01 -9.21039740e-03 1.24377653e+01] [ 3.76187101e-02 4.31909440e-04 9.99292072e-01 3.60159417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:12.45, Z:3.60 [[ 9.72926718e-01 -2.28217262e-01 -3.64757920e-02 9.97734928e+01] [ 2.28032158e-01 9.73610017e-01 -9.21251822e-03 1.24478046e+01] [ 3.76156521e-02 6.45451570e-04 9.99292072e-01 3.60350901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:12.46, Z:3.60 [[ 9.73804932e-01 -2.24440633e-01 -3.64740583e-02 9.98305156e+01] [ 2.24252622e-01 9.74487437e-01 -9.21937695e-03 1.24602439e+01] [ 3.76127144e-02 7.98471547e-04 9.99292072e-01 3.60334461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:12.47, Z:3.60 [[ 9.74083999e-01 -2.23226644e-01 -3.64722865e-02 9.98854819e+01] [ 2.23037521e-01 9.74766197e-01 -9.22638105e-03 1.24737893e+01] [ 3.76115261e-02 8.52581804e-04 9.99292073e-01 3.60387666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.94, Y:12.49, Z:3.60 [[ 9.73790092e-01 -2.24505421e-01 -3.64715227e-02 9.99416046e+01] [ 2.24317080e-01 9.74472506e-01 -9.22939918e-03 1.24868723e+01] [ 3.76125463e-02 8.06312001e-04 9.99292073e-01 3.60434235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.00, Y:12.50, Z:3.61 [[ 9.73693325e-01 -2.24925020e-01 -3.64697632e-02 9.99976127e+01] [ 2.24736713e-01 9.74375749e-01 -9.23634667e-03 1.25011419e+01] [ 3.76127383e-02 7.97274381e-04 9.99292073e-01 3.60809276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:12.52, Z:3.61 [[ 9.73606450e-01 -2.25300858e-01 -3.64692206e-02 1.00053246e+02] [ 2.25112734e-01 9.74288924e-01 -9.23848861e-03 1.25183436e+01] [ 3.76129971e-02 7.84966130e-04 9.99292073e-01 3.61057374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.11, Y:12.54, Z:3.61 [[ 9.73120066e-01 -2.27392743e-01 -3.64674872e-02 1.00107607e+02] [ 2.27205830e-01 9.73802873e-01 -9.24532607e-03 1.25350827e+01] [ 3.76144638e-02 7.11186633e-04 9.99292073e-01 3.61140111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.16, Y:12.55, Z:3.61 [[ 9.72263463e-01 -2.31028066e-01 -3.64663060e-02 1.00163216e+02] [ 2.30843531e-01 9.72946916e-01 -9.24998262e-03 1.25532457e+01] [ 3.76167855e-02 5.75409280e-04 9.99292073e-01 3.61221501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:12.57, Z:3.62 [[ 9.71654056e-01 -2.33578104e-01 -3.64645787e-02 1.00218854e+02] [ 2.33395109e-01 9.72337922e-01 -9.25678686e-03 1.25705034e+01] [ 3.76180754e-02 4.83740192e-04 9.99292073e-01 3.61608387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.27, Y:12.59, Z:3.62 [[ 9.70728696e-01 -2.37394739e-01 -3.64628251e-02 1.00273946e+02] [ 2.37214173e-01 9.71413208e-01 -9.26368910e-03 1.25900564e+01] [ 3.76196210e-02 3.43029941e-04 9.99292073e-01 3.61979950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.33, Y:12.61, Z:3.62 [[ 9.70079986e-01 -2.40032104e-01 -3.64610705e-02 1.00329263e+02] [ 2.39853140e-01 9.70764919e-01 -9.27058987e-03 1.26059754e+01] [ 3.76203674e-02 2.47911442e-04 9.99292073e-01 3.62175316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:12.62, Z:3.62 [[ 9.68870104e-01 -2.44870259e-01 -3.64592654e-02 1.00384881e+02] [ 2.44694448e-01 9.69555853e-01 -9.27768366e-03 1.26238950e+01] [ 3.76211229e-02 6.74905116e-05 9.99292073e-01 3.62445420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.44, Y:12.64, Z:3.62 [[ 9.67502569e-01 -2.50219172e-01 -3.64574430e-02 1.00440309e+02] [ 2.50046883e-01 9.68189211e-01 -9.28483933e-03 1.26413016e+01] [ 3.76209478e-02 -1.32964076e-04 9.99292073e-01 3.62474565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.50, Y:12.66, Z:3.63 [[ 9.66620922e-01 -2.53603844e-01 -3.64565971e-02 1.00496172e+02] [ 2.53433833e-01 9.67308132e-01 -9.28815945e-03 1.26573426e+01] [ 3.76202758e-02 -2.61205906e-04 9.99292073e-01 3.62668653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:12.67, Z:3.63 [[ 9.66293101e-01 -2.54850331e-01 -3.64547852e-02 1.00552603e+02] [ 2.54680939e-01 9.66980464e-01 -9.29526557e-03 1.26729914e+01] [ 3.76199666e-02 -3.02387942e-04 9.99292073e-01 3.63069388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.61, Y:12.69, Z:3.63 [[ 9.66102709e-01 -2.55571357e-01 -3.64532262e-02 1.00608213e+02] [ 2.55402248e-01 9.66790141e-01 -9.30137566e-03 1.26900586e+01] [ 3.76197849e-02 -3.24151680e-04 9.99292073e-01 3.63444032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:12.71, Z:3.64 [[ 9.65402484e-01 -2.58204062e-01 -3.64514117e-02 1.00663461e+02] [ 2.58036559e-01 9.66090310e-01 -9.30848112e-03 1.27057704e+01] [ 3.76188432e-02 -4.19366045e-04 9.99292073e-01 3.63701285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:12.72, Z:3.64 [[ 9.64035912e-01 -2.63260603e-01 -3.64501818e-02 1.00718340e+02] [ 2.63096526e-01 9.64724562e-01 -9.31329460e-03 1.27189666e+01] [ 3.76162092e-02 -6.11565735e-04 9.99292073e-01 3.63942702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:12.73, Z:3.64 [[ 9.62542052e-01 -2.68671306e-01 -3.64489675e-02 1.00775821e+02] [ 2.68510919e-01 9.63231571e-01 -9.31804460e-03 1.27316234e+01] [ 3.76122874e-02 -8.17935987e-04 9.99292073e-01 3.63851900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.83, Y:12.74, Z:3.64 [[ 9.61821843e-01 -2.71238503e-01 -3.64474377e-02 1.00832393e+02] [ 2.71079730e-01 9.62511736e-01 -9.32402436e-03 1.27427605e+01] [ 3.76101210e-02 -9.12111295e-04 9.99292073e-01 3.63867675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.89, Y:12.75, Z:3.64 [[ 9.61715660e-01 -2.71614824e-01 -3.64468996e-02 1.00888904e+02] [ 2.71456241e-01 9.62405597e-01 -9.32612741e-03 1.27545830e+01] [ 3.76098146e-02 -9.24655588e-04 9.99292073e-01 3.64244823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.95, Y:12.77, Z:3.65 [[ 9.61542954e-01 -2.72225818e-01 -3.64451895e-02 1.00946269e+02] [ 2.72067421e-01 9.62232933e-01 -9.33280536e-03 1.27651473e+01] [ 3.76093922e-02 -9.41655477e-04 9.99292073e-01 3.64562939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.00, Y:12.77, Z:3.65 [[ 9.61185110e-01 -2.73486849e-01 -3.64434921e-02 1.01004127e+02] [ 2.73329106e-01 9.61875239e-01 -9.33942874e-03 1.27720945e+01] [ 3.76083036e-02 -9.84147276e-04 9.99292073e-01 3.64933167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.06, Y:12.78, Z:3.65 [[ 9.61271791e-01 -2.73182246e-01 -3.64417896e-02 1.01061156e+02] [ 2.73024033e-01 9.61961812e-01 -9.34606698e-03 1.27810875e+01] [ 3.76087896e-02 -9.65373842e-04 9.99292073e-01 3.65049210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.12, Y:12.79, Z:3.65 [[ 9.62025965e-01 -2.70514625e-01 -3.64401074e-02 1.01119230e+02] [ 2.70354250e-01 9.62715487e-01 -9.35262154e-03 1.27892853e+01] [ 3.76114766e-02 -8.54273129e-04 9.99292073e-01 3.65044159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.18, Y:12.80, Z:3.66 [[ 9.63405035e-01 -2.65561627e-01 -3.64384422e-02 1.01176468e+02] [ 2.65397462e-01 9.64093665e-01 -9.35910449e-03 1.27974881e+01] [ 3.76154903e-02 -6.54061687e-04 9.99292073e-01 3.65501430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.23, Y:12.81, Z:3.66 [[ 9.64909486e-01 -2.60042420e-01 -3.64365777e-02 1.01233191e+02] [ 2.59874042e-01 9.65597097e-01 -9.36635796e-03 1.28063717e+01] [ 3.76187040e-02 -4.31233058e-04 9.99292073e-01 3.65599805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.29, Y:12.82, Z:3.66 [[ 9.66304375e-01 -2.54810367e-01 -3.64353106e-02 1.01290608e+02] [ 2.54638080e-01 9.66991017e-01 -9.37128442e-03 1.28168389e+01] [ 3.76205185e-02 -2.22304378e-04 9.99292073e-01 3.65822338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.35, Y:12.83, Z:3.66 [[ 9.67651107e-01 -2.49647617e-01 -3.64335401e-02 1.01346118e+02] [ 2.49471407e-01 9.68336753e-01 -9.37816248e-03 1.28280653e+01] [ 3.76211719e-02 -1.43372256e-05 9.99292073e-01 3.66021697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:12.84, Z:3.67 [[ 9.68674394e-01 -2.45647251e-01 -3.64327735e-02 1.01402626e+02] [ 2.45468098e-01 9.69359277e-01 -9.38113960e-03 1.28399203e+01] [ 3.76208982e-02 1.44186085e-04 9.99292073e-01 3.66781431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:12.85, Z:3.67 [[ 9.69374521e-01 -2.42869967e-01 -3.64309873e-02 1.01458967e+02] [ 2.42688591e-01 9.70058819e-01 -9.38807108e-03 1.28517690e+01] [ 3.76202811e-02 2.59171934e-04 9.99292073e-01 3.66518121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.51, Y:12.87, Z:3.67 [[ 9.70278852e-01 -2.39231629e-01 -3.64304318e-02 1.01514803e+02] [ 2.39047606e-01 9.70962443e-01 -9.39022635e-03 1.28654914e+01] [ 3.76190202e-02 4.02530535e-04 9.99292073e-01 3.66851039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.57, Y:12.88, Z:3.67 [[ 9.71131789e-01 -2.35745637e-01 -3.64285897e-02 1.01570471e+02] [ 2.35558893e-01 9.71814642e-01 -9.39736721e-03 1.28786061e+01] [ 3.76172252e-02 5.45003787e-04 9.99292073e-01 3.67062253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.63, Y:12.90, Z:3.67 [[ 9.72031777e-01 -2.32006984e-01 -3.64277914e-02 1.01625989e+02] [ 2.31817497e-01 9.72713873e-01 -9.40046077e-03 1.28962096e+01] [ 3.76147906e-02 6.92947166e-04 9.99292073e-01 3.67392177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.68, Y:12.91, Z:3.67 [[ 9.72360649e-01 -2.30625056e-01 -3.64259894e-02 1.01681347e+02] [ 2.30434339e-01 9.73042402e-01 -9.40743797e-03 1.29121885e+01] [ 3.76136232e-02 7.53623688e-04 9.99292073e-01 3.67314664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:12.93, Z:3.68 [[ 9.72062758e-01 -2.31877517e-01 -3.64254343e-02 1.01736085e+02] [ 2.31687598e-01 9.72744733e-01 -9.40958698e-03 1.29308150e+01] [ 3.76145210e-02 7.07387683e-04 9.99292073e-01 3.67628100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:12.95, Z:3.68 [[ 9.70957979e-01 -2.36461243e-01 -3.64236672e-02 1.01791515e+02] [ 2.36274287e-01 9.71640773e-01 -9.41642234e-03 1.29476678e+01] [ 3.76173391e-02 5.36974417e-04 9.99292073e-01 3.67952585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:12.96, Z:3.68 [[ 9.69073425e-01 -2.44069953e-01 -3.64219179e-02 1.01847435e+02] [ 2.43888104e-01 9.69757597e-01 -9.42318360e-03 1.29636866e+01] [ 3.76203475e-02 2.48884296e-04 9.99292073e-01 3.68292498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:101.90, Y:12.98, Z:3.69 [[ 9.66425047e-01 -2.54354303e-01 -3.64213766e-02 1.01903377e+02] [ 2.54179656e-01 9.67111093e-01 -9.42527526e-03 1.29779851e+01] [ 3.76208767e-02 -1.48750893e-04 9.99292073e-01 3.68737790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:12.99, Z:3.68 [[ 9.64529620e-01 -2.61450227e-01 -3.64196659e-02 1.01958996e+02] [ 2.61280377e-01 9.65216869e-01 -9.43188076e-03 1.29914589e+01] [ 3.76188433e-02 -4.18415699e-04 9.99292073e-01 3.68493690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:13.00, Z:3.69 [[ 9.61921892e-01 -2.70887312e-01 -3.64189293e-02 1.02016028e+02] [ 2.70724096e-01 9.62610747e-01 -9.43472419e-03 1.30019573e+01] [ 3.76129998e-02 -7.84013993e-04 9.99292073e-01 3.68758455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.07, Y:13.01, Z:3.69 [[ 9.60244044e-01 -2.76776386e-01 -3.64171431e-02 1.02073243e+02] [ 2.76617134e-01 9.60933826e-01 -9.44161384e-03 1.30128597e+01] [ 3.76076804e-02 -1.00735228e-03 9.99292073e-01 3.69188577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.13, Y:13.02, Z:3.69 [[ 9.59664533e-01 -2.78779321e-01 -3.64153087e-02 1.02130039e+02] [ 2.78621240e-01 9.60354584e-01 -9.44868355e-03 1.30227879e+01] [ 3.76057062e-02 -1.07851198e-03 9.99292073e-01 3.69301974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.19, Y:13.03, Z:3.69 [[ 9.59795446e-01 -2.78328377e-01 -3.64145223e-02 1.02187148e+02] [ 2.78169857e-01 9.60485396e-01 -9.45171337e-03 1.30327246e+01] [ 3.76062969e-02 -1.05771099e-03 9.99292073e-01 3.69420313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84862385299999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:13.04, Z:3.70 [[ 9.60346020e-01 -2.76422922e-01 -3.64127689e-02 1.02244273e+02] [ 2.76262777e-01 9.61035595e-01 -9.45846367e-03 1.30426150e+01] [ 3.76085032e-02 -9.76094686e-04 9.99292073e-01 3.69762251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:13.05, Z:3.70 [[ 9.60796331e-01 -2.74853867e-01 -3.64110173e-02 1.02301680e+02] [ 2.74692341e-01 9.61485584e-01 -9.46520172e-03 1.30520509e+01] [ 3.76102155e-02 -9.07696471e-04 9.99292073e-01 3.69968932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:13.06, Z:3.70 [[ 9.61170733e-01 -2.73541930e-01 -3.64092667e-02 1.02359026e+02] [ 2.73379208e-01 9.61859704e-01 -9.47193084e-03 1.30627043e+01] [ 3.76115767e-02 -8.49393797e-04 9.99292073e-01 3.70251154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:13.07, Z:3.71 [[ 9.61977869e-01 -2.70689995e-01 -3.64074945e-02 1.02416744e+02] [ 2.70524973e-01 9.62666293e-01 -9.47873766e-03 1.30713696e+01] [ 3.76140672e-02 -7.30800619e-04 9.99292073e-01 3.70617848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:13.08, Z:3.71 [[ 9.63046301e-01 -2.66863928e-01 -3.64069479e-02 1.02473803e+02] [ 2.66696092e-01 9.63734044e-01 -9.48083656e-03 1.30799780e+01] [ 3.76167085e-02 -5.79106152e-04 9.99292073e-01 3.70730486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:13.09, Z:3.71 [[ 9.64129864e-01 -2.62922411e-01 -3.64061892e-02 1.02532833e+02] [ 2.62751653e-01 9.64816888e-01 -9.48374920e-03 1.30872431e+01] [ 3.76187964e-02 -4.22220552e-04 9.99292073e-01 3.70770585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:13.10, Z:3.71 [[ 9.65535438e-01 -2.57713053e-01 -3.64046787e-02 1.02590073e+02] [ 2.57538370e-01 9.66221474e-01 -9.48954395e-03 1.30971357e+01] [ 3.76205617e-02 -2.13110626e-04 9.99292073e-01 3.71021891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:13.11, Z:3.71 [[ 9.66113409e-01 -2.55538096e-01 -3.64027917e-02 1.02645945e+02] [ 2.55361595e-01 9.66798980e-01 -9.49677695e-03 1.31102108e+01] [ 3.76209702e-02 -1.20911419e-04 9.99292073e-01 3.71169464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:13.12, Z:3.72 [[ 9.67989608e-01 -2.48336496e-01 -3.64019731e-02 1.02702729e+02] [ 2.48154777e-01 9.68673814e-01 -9.49991391e-03 1.31222765e+01] [ 3.76208134e-02 1.62494441e-04 9.99292073e-01 3.71631775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:13.13, Z:3.71 [[ 9.69114462e-01 -2.43910217e-01 -3.64000904e-02 1.02759118e+02] [ 2.43725102e-01 9.69797757e-01 -9.50712211e-03 1.31345311e+01] [ 3.76196103e-02 3.41873767e-04 9.99292073e-01 3.71241240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:13.15, Z:3.72 [[ 9.69099015e-01 -2.43971702e-01 -3.63992788e-02 1.02815325e+02] [ 2.43786514e-01 9.69782291e-01 -9.51022852e-03 1.31477541e+01] [ 3.76196026e-02 3.42699803e-04 9.99292073e-01 3.71572925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:13.16, Z:3.72 [[ 9.68248767e-01 -2.47324792e-01 -3.63974114e-02 1.02871434e+02] [ 2.47141702e-01 9.68932608e-01 -9.51736995e-03 1.31595531e+01] [ 3.76205203e-02 2.19863526e-04 9.99292073e-01 3.71647572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:13.17, Z:3.72 [[ 9.67133335e-01 -2.51651347e-01 -3.63966024e-02 1.02928073e+02] [ 2.51471199e-01 9.67817956e-01 -9.52046262e-03 1.31717556e+01] [ 3.76211226e-02 5.48594957e-05 9.99292073e-01 3.72205164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:102.98, Y:13.18, Z:3.73 [[ 9.66197985e-01 -2.55219263e-01 -3.63948025e-02 1.02984798e+02] [ 2.55041384e-01 9.66883200e-01 -9.52733843e-03 1.31840715e+01] [ 3.76210834e-02 -7.68856206e-05 9.99292074e-01 3.72690783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:13.19, Z:3.73 [[ 9.63960823e-01 -2.63543324e-01 -3.63929823e-02 1.03043668e+02] [ 2.63371100e-01 9.64647480e-01 -9.53428624e-03 1.31916878e+01] [ 3.76190962e-02 -3.94181382e-04 9.99292074e-01 3.72606658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:13.20, Z:3.73 [[ 9.63045704e-01 -2.66868208e-01 -3.63913675e-02 1.03100698e+02] [ 2.66698122e-01 9.63732894e-01 -9.54044600e-03 1.32025292e+01] [ 3.76175996e-02 -5.17623810e-04 9.99292074e-01 3.72806661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:13.21, Z:3.73 [[ 9.62391449e-01 -2.69218142e-01 -3.63907978e-02 1.03158823e+02] [ 2.69049652e-01 9.63079033e-01 -9.54261855e-03 1.32108666e+01] [ 3.76162604e-02 -6.07196985e-04 9.99292074e-01 3.73020337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:103.21, Y:13.22, Z:3.73 [[ 9.62570885e-01 -2.68576122e-01 -3.63889858e-02 1.03214766e+02] [ 2.68406912e-01 9.63258291e-01 -9.54952324e-03 1.32205099e+01] [ 3.76167662e-02 -5.74962273e-04 9.99292074e-01 3.73159241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.27, Y:13.23, Z:3.73 [[ 9.63045994e-01 -2.66867654e-01 -3.63877538e-02 1.03272344e+02] [ 2.66697047e-01 9.63733055e-01 -9.55421512e-03 1.32301168e+01] [ 3.76177922e-02 -5.03357918e-04 9.99292074e-01 3.73309380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:103.33, Y:13.24, Z:3.74 [[ 9.63731551e-01 -2.64381465e-01 -3.63859796e-02 1.03330057e+02] [ 2.64208831e-01 9.64418105e-01 -9.56096751e-03 1.32396533e+01] [ 3.76190401e-02 -3.99291064e-04 9.99292074e-01 3.73539906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.39, Y:13.25, Z:3.74 [[ 9.64242482e-01 -2.62511974e-01 -3.63854292e-02 1.03386717e+02] [ 2.62337930e-01 9.64928680e-01 -9.56306135e-03 1.32506777e+01] [ 3.76197623e-02 -3.24168180e-04 9.99292074e-01 3.73652387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:103.44, Y:13.26, Z:3.74 [[ 9.65445918e-01 -2.58051172e-01 -3.63836732e-02 1.03444238e+02] [ 2.57873705e-01 9.66131240e-01 -9.56973755e-03 1.32607167e+01] [ 3.76208853e-02 -1.43328570e-04 9.99292074e-01 3.73787199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:13.27, Z:3.74 [[ 9.67101281e-01 -2.51776448e-01 -3.63831291e-02 1.03502080e+02] [ 2.51594457e-01 9.67785415e-01 -9.57180595e-03 1.32704016e+01] [ 3.76210170e-02 1.03112187e-04 9.99292074e-01 3.74063980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:103.56, Y:13.28, Z:3.74 [[ 9.68696711e-01 -2.45566849e-01 -3.63813892e-02 1.03558189e+02] [ 2.45380225e-01 9.69379595e-01 -9.57841442e-03 1.32836280e+01] [ 3.76195174e-02 3.51305080e-04 9.99292074e-01 3.74069585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.62, Y:13.30, Z:3.74 [[ 9.69530078e-01 -2.42255952e-01 -3.63796725e-02 1.03615393e+02] [ 2.42066752e-01 9.70212253e-01 -9.58493015e-03 1.32956655e+01] [ 3.76180104e-02 4.86568921e-04 9.99292074e-01 3.74432359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.67, Y:13.31, Z:3.75 [[ 9.69695242e-01 -2.41594268e-01 -3.63778486e-02 1.03671867e+02] [ 2.41404343e-01 9.70377215e-01 -9.59184755e-03 1.33089261e+01] [ 3.76175708e-02 5.19398294e-04 9.99292074e-01 3.74696369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:103.73, Y:13.32, Z:3.75 [[ 9.69403671e-01 -2.42761829e-01 -3.63760452e-02 1.03728208e+02] [ 2.42572468e-01 9.70085802e-01 -9.59868172e-03 1.33215163e+01] [ 3.76180785e-02 4.81170227e-04 9.99292074e-01 3.75079129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:103.79, Y:13.33, Z:3.75 [[ 9.68615106e-01 -2.45889406e-01 -3.63754879e-02 1.03785453e+02] [ 2.45702169e-01 9.69297823e-01 -9.60079354e-03 1.33332099e+01] [ 3.76194146e-02 3.61937403e-04 9.99292074e-01 3.75468721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:13.34, Z:3.76 [[ 9.67773855e-01 -2.49180066e-01 -3.63738941e-02 1.03842281e+02] [ 2.48994923e-01 9.68457143e-01 -9.60682780e-03 1.33447333e+01] [ 3.76203876e-02 2.40321797e-04 9.99292074e-01 3.75775933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:13.36, Z:3.76 [[ 9.67115914e-01 -2.51721842e-01 -3.63720229e-02 1.03899157e+02] [ 2.51538229e-01 9.67799614e-01 -9.61390703e-03 1.33558239e+01] [ 3.76208601e-02 1.48808257e-04 9.99292074e-01 3.75917091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64862385299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:13.37, Z:3.76 [[ 9.66818216e-01 -2.52863104e-01 -3.63701590e-02 1.03955717e+02] [ 2.52680033e-01 9.67502061e-01 -9.62095318e-03 1.33682956e+01] [ 3.76209879e-02 1.11699810e-04 9.99292074e-01 3.76069735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70862385299999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:13.38, Z:3.76 [[ 9.66819332e-01 -2.52859103e-01 -3.63683019e-02 1.04012324e+02] [ 2.52675766e-01 9.67503106e-01 -9.62796827e-03 1.33805657e+01] [ 3.76209645e-02 1.19117319e-04 9.99292074e-01 3.75875351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:13.40, Z:3.77 [[ 9.67041299e-01 -2.52008957e-01 -3.63677287e-02 1.04068379e+02] [ 2.51824936e-01 9.67724890e-01 -9.63013277e-03 1.33950670e+01] [ 3.76208360e-02 1.54435130e-04 9.99292074e-01 3.76510715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.12, Y:13.41, Z:3.77 [[ 9.67845264e-01 -2.48903736e-01 -3.63658568e-02 1.04123423e+02] [ 2.48717257e-01 9.68528188e-01 -9.63719648e-03 1.34098296e+01] [ 3.76200916e-02 2.82498815e-04 9.99292074e-01 3.76664778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888623853 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:13.42, Z:3.77 [[ 9.69029296e-01 -2.44253639e-01 -3.63645961e-02 1.04179324e+02] [ 2.44063705e-01 9.69711267e-01 -9.64195112e-03 1.34249589e+01] [ 3.76182402e-02 4.68055031e-04 9.99292074e-01 3.76963382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:13.44, Z:3.77 [[ 9.70307668e-01 -2.39125029e-01 -3.63627620e-02 1.04234274e+02] [ 2.38931232e-01 9.70988551e-01 -9.64886334e-03 1.34428745e+01] [ 3.76151103e-02 6.74166585e-04 9.99292074e-01 3.76932415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:13.46, Z:3.77 [[ 9.70752423e-01 -2.37313134e-01 -3.63621954e-02 1.04287985e+02] [ 2.37117986e-01 9.71432920e-01 -9.65099782e-03 1.34621458e+01] [ 3.76137423e-02 7.46598972e-04 9.99292074e-01 3.77108496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06862385299999 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:104.34, Y:13.48, Z:3.77 [[ 9.70157130e-01 -2.39735318e-01 -3.63609830e-02 1.04343504e+02] [ 2.39541698e-01 9.70838063e-01 -9.65556366e-03 1.34783698e+01] [ 3.76154059e-02 6.57442316e-04 9.99292074e-01 3.77288748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:13.50, Z:3.78 [[ 9.68940486e-01 -2.44606507e-01 -3.63592044e-02 1.04398703e+02] [ 2.44416059e-01 9.69622313e-01 -9.66225667e-03 1.34964851e+01] [ 3.76181467e-02 4.75378222e-04 9.99292074e-01 3.77622714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:104.45, Y:13.51, Z:3.78 [[ 9.68420986e-01 -2.46655503e-01 -3.63573577e-02 1.04454257e+02] [ 2.46466237e-01 9.69103142e-01 -9.66920052e-03 1.35123884e+01] [ 3.76189911e-02 4.02995559e-04 9.99292074e-01 3.77875021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:13.53, Z:3.78 [[ 9.67240439e-01 -2.51245322e-01 -3.63554971e-02 1.04509400e+02] [ 2.51059031e-01 9.67923413e-01 -9.67619094e-03 1.35296513e+01] [ 3.76204346e-02 2.31827292e-04 9.99292074e-01 3.78215272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:104.56, Y:13.55, Z:3.78 [[ 9.65987195e-01 -2.56021641e-01 -3.63546321e-02 1.04564447e+02] [ 2.55838605e-01 9.66671049e-01 -9.67943970e-03 1.35454985e+01] [ 3.76211164e-02 4.92964366e-05 9.99292074e-01 3.78337282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36862385299999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:13.56, Z:3.79 [[ 9.64725597e-01 -2.60735402e-01 -3.63534295e-02 1.04620125e+02] [ 2.60555537e-01 9.65410293e-01 -9.68395450e-03 1.35620229e+01] [ 3.76209248e-02 -1.29728544e-04 9.99292074e-01 3.78606510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42862385299999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:13.58, Z:3.79 [[ 9.63873208e-01 -2.63869294e-01 -3.63515375e-02 1.04676236e+02] [ 2.63691387e-01 9.64558415e-01 -9.69105127e-03 1.35773590e+01] [ 3.76203523e-02 -2.44642683e-04 9.99292074e-01 3.78837687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48862385299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:104.73, Y:13.59, Z:3.79 [[ 9.62583488e-01 -2.68536275e-01 -3.63496552e-02 1.04732776e+02] [ 2.68361424e-01 9.63269481e-01 -9.69810649e-03 1.35920632e+01] [ 3.76188069e-02 -4.19608066e-04 9.99292074e-01 3.79089575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:104.79, Y:13.60, Z:3.79 [[ 9.61990854e-01 -2.70651878e-01 -3.63477463e-02 1.04787930e+02] [ 2.70478265e-01 9.62677161e-01 -9.70525580e-03 1.36042910e+01] [ 3.76178909e-02 -4.94908044e-04 9.99292074e-01 3.79367177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:104.84, Y:13.62, Z:3.80 [[ 9.62207079e-01 -2.69882284e-01 -3.63467972e-02 1.04843205e+02] [ 2.69707988e-01 9.62893213e-01 -9.70880863e-03 1.36171622e+01] [ 3.76183198e-02 -4.61137177e-04 9.99292074e-01 3.79522840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:13.63, Z:3.80 [[ 9.62576723e-01 -2.68561022e-01 -3.63459845e-02 1.04899367e+02] [ 2.68385669e-01 9.63262588e-01 -9.71185016e-03 1.36308781e+01] [ 3.76189515e-02 -4.06340478e-04 9.99292074e-01 3.79791287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:13.64, Z:3.80 [[ 9.62527285e-01 -2.68738403e-01 -3.63441311e-02 1.04956314e+02] [ 2.68562915e-01 9.63213116e-01 -9.71878117e-03 1.36414642e+01] [ 3.76189535e-02 -4.06093725e-04 9.99292074e-01 3.80056897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78862385299999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:13.65, Z:3.80 [[ 9.62287419e-01 -2.69596305e-01 -3.63421916e-02 1.05013522e+02] [ 2.69421155e-01 9.62973336e-01 -9.72602835e-03 1.36525486e+01] [ 3.76186628e-02 -4.32120513e-04 9.99292074e-01 3.80286855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84862385299999 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:13.66, Z:3.81 [[ 9.62504915e-01 -2.68819034e-01 -3.63402696e-02 1.05071216e+02] [ 2.68643059e-01 9.63190621e-01 -9.73320437e-03 1.36621072e+01] [ 3.76190774e-02 -3.94304157e-04 9.99292074e-01 3.80693164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:13.67, Z:3.80 [[ 9.63202068e-01 -2.66310536e-01 -3.63383437e-02 1.05128720e+02] [ 2.66132504e-01 9.63887242e-01 -9.74038925e-03 1.36707650e+01] [ 3.76200342e-02 -2.88851351e-04 9.99292074e-01 3.80286048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968623853 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:105.19, Y:13.68, Z:3.81 [[ 9.64267269e-01 -2.62427559e-01 -3.63374447e-02 1.05185465e+02] [ 2.62246642e-01 9.64951687e-01 -9.74374199e-03 1.36835556e+01] [ 3.76209050e-02 -1.33801368e-04 9.99292074e-01 3.81197141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028623853 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:105.24, Y:13.69, Z:3.81 [[ 9.65497069e-01 -2.57866506e-01 -3.63355835e-02 1.05244299e+02] [ 2.57682095e-01 9.66180554e-01 -9.75067768e-03 1.36922209e+01] [ 3.76211074e-02 5.12214441e-05 9.99292074e-01 3.80959100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:105.30, Y:13.70, Z:3.81 [[ 9.66823970e-01 -2.52846305e-01 -3.63339654e-02 1.05300920e+02] [ 2.52658119e-01 9.67506425e-01 -9.75670351e-03 1.37034821e+01] [ 3.76202914e-02 2.52943492e-04 9.99292074e-01 3.81078132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14862385299999 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:105.36, Y:13.72, Z:3.81 [[ 9.68285768e-01 -2.47189498e-01 -3.63321305e-02 1.05357226e+02] [ 2.46997068e-01 9.68967039e-01 -9.76353168e-03 1.37172360e+01] [ 3.76180793e-02 4.79959074e-04 9.99292074e-01 3.81439125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20862385299999 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:105.41, Y:13.73, Z:3.82 [[ 9.69218116e-01 -2.43508428e-01 -3.63302692e-02 1.05413533e+02] [ 2.43313151e-01 9.69898576e-01 -9.77045259e-03 1.37327940e+01] [ 3.76158639e-02 6.30067372e-04 9.99292074e-01 3.81716689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:105.47, Y:13.75, Z:3.82 [[ 9.70470728e-01 -2.38467635e-01 -3.63284130e-02 1.05468566e+02] [ 2.38268566e-01 9.71150088e-01 -9.77734922e-03 1.37491882e+01] [ 3.76119229e-02 8.32712316e-04 9.99292074e-01 3.81905272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328623853 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:13.77, Z:3.82 [[ 9.71337863e-01 -2.34910752e-01 -3.63276148e-02 1.05524088e+02] [ 2.34709085e-01 9.72016456e-01 -9.78031428e-03 1.37657510e+01] [ 3.76085404e-02 9.73568352e-04 9.99292074e-01 3.82139665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:13.78, Z:3.82 [[ 9.71754285e-01 -2.33182430e-01 -3.63257953e-02 1.05578487e+02] [ 2.32979304e-01 9.72432444e-01 -9.78706747e-03 1.37848828e+01] [ 3.76065541e-02 1.04746625e-03 9.99292074e-01 3.82102978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448623853 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:105.63, Y:13.80, Z:3.82 [[ 9.71441954e-01 -2.34480293e-01 -3.63252346e-02 1.05633322e+02] [ 2.34277996e-01 9.72120359e-01 -9.78914814e-03 1.38035209e+01] [ 3.76078624e-02 9.99386033e-04 9.99292074e-01 3.82417030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50862385299999 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:13.82, Z:3.83 [[ 9.70328673e-01 -2.39045754e-01 -3.63234625e-02 1.05687521e+02] [ 2.38846403e-01 9.71007950e-01 -9.79571913e-03 1.38221821e+01] [ 3.76119960e-02 8.29338766e-04 9.99292074e-01 3.82572872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56862385299999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:13.84, Z:3.83 [[ 9.68597854e-01 -2.45965157e-01 -3.63226959e-02 1.05742910e+02] [ 2.45770552e-01 9.69278507e-01 -9.79856080e-03 1.38391245e+01] [ 3.76169130e-02 5.63815933e-04 9.99292074e-01 3.82781607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628623853 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:13.86, Z:3.83 [[ 9.67267881e-01 -2.51144661e-01 -3.63208722e-02 1.05798579e+02] [ 2.50953448e-01 9.67949494e-01 -9.80531638e-03 1.38551556e+01] [ 3.76193227e-02 3.69519474e-04 9.99292074e-01 3.82774345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:13.87, Z:3.83 [[ 9.64939186e-01 -2.59948637e-01 -3.63190390e-02 1.05854112e+02] [ 2.59763388e-01 9.65622444e-01 -9.81210172e-03 1.38721104e+01] [ 3.76211217e-02 3.37248357e-05 9.99292074e-01 3.82866295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748623853 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:13.89, Z:3.83 [[ 9.63266041e-01 -2.66081934e-01 -3.63171873e-02 1.05909865e+02] [ 2.65900777e-01 9.63950395e-01 -9.81895052e-03 1.38877084e+01] [ 3.76206124e-02 -1.98506751e-04 9.99292074e-01 3.83477993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:13.90, Z:3.83 [[ 9.61447187e-01 -2.72581189e-01 -3.63153267e-02 1.05966244e+02] [ 2.72404398e-01 9.62132682e-01 -9.82582712e-03 1.39020670e+01] [ 3.76184983e-02 -4.45440868e-04 9.99292075e-01 3.83264269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86862385299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:106.02, Y:13.92, Z:3.84 [[ 9.60319410e-01 -2.76528413e-01 -3.63134601e-02 1.06022793e+02] [ 2.76354179e-01 9.61005560e-01 -9.83272091e-03 1.39160897e+01] [ 3.76164637e-02 -5.92823689e-04 9.99292075e-01 3.83550948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:106.08, Y:13.93, Z:3.84 [[ 9.60346906e-01 -2.76432986e-01 -3.63128800e-02 1.06079228e+02] [ 2.76258603e-01 9.61033017e-01 -9.83486268e-03 1.39296094e+01] [ 3.76165571e-02 -5.86865557e-04 9.99292075e-01 3.83792389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98862385299999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:106.14, Y:13.94, Z:3.84 [[ 9.61306052e-01 -2.73079083e-01 -3.63109994e-02 1.06135203e+02] [ 2.72902044e-01 9.61991483e-01 -9.84180116e-03 1.39438482e+01] [ 3.76184622e-02 -4.48362921e-04 9.99292075e-01 3.84359474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:106.19, Y:13.96, Z:3.84 [[ 9.62470092e-01 -2.68947719e-01 -3.63104184e-02 1.06191686e+02] [ 2.68767657e-01 9.63154735e-01 -9.84394412e-03 1.39564333e+01] [ 3.76200578e-02 -2.84564271e-04 9.99292075e-01 3.84270091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:106.25, Y:13.97, Z:3.85 [[ 9.63266184e-01 -2.66082597e-01 -3.63085326e-02 1.06247444e+02] [ 2.65900236e-01 9.63950219e-01 -9.85089480e-03 1.39710733e+01] [ 3.76207697e-02 -1.65413549e-04 9.99292075e-01 3.84536493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:13.99, Z:3.85 [[ 9.63955110e-01 -2.63576122e-01 -3.63066666e-02 1.06303469e+02] [ 2.63391723e-01 9.64638598e-01 -9.85776748e-03 1.39851529e+01] [ 3.76210841e-02 -6.04301496e-05 9.99292075e-01 3.84862020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22862385299999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:106.36, Y:14.00, Z:3.86 [[ 9.64895989e-01 -2.60110922e-01 -3.63048119e-02 1.06358704e+02] [ 2.59923812e-01 9.65578739e-01 -9.86459336e-03 1.39992139e+01] [ 3.76210430e-02 8.18214527e-05 9.99292075e-01 3.85645223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28862385299999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:14.01, Z:3.85 [[ 9.65716151e-01 -2.57049347e-01 -3.63035577e-02 1.06414939e+02] [ 2.56859900e-01 9.66398257e-01 -9.86920682e-03 1.40131451e+01] [ 3.76205681e-02 2.05924215e-04 9.99292075e-01 3.85363573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:106.47, Y:14.03, Z:3.85 [[ 9.66708850e-01 -2.53290707e-01 -3.63017472e-02 1.06470655e+02] [ 2.53098358e-01 9.67390143e-01 -9.87586216e-03 1.40277183e+01] [ 3.76194165e-02 3.59170758e-04 9.99292075e-01 3.85257759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:106.53, Y:14.04, Z:3.85 [[ 9.67047157e-01 -2.51996070e-01 -3.63011908e-02 1.06527546e+02] [ 2.51802732e-01 9.67728170e-01 -9.87790692e-03 1.40438978e+01] [ 3.76188786e-02 4.11662787e-04 9.99292075e-01 3.85429744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:14.06, Z:3.86 [[ 9.66897928e-01 -2.52568286e-01 -3.62995711e-02 1.06583784e+02] [ 2.52375127e-01 9.67578991e-01 -9.88385533e-03 1.40586892e+01] [ 3.76190508e-02 3.95570365e-04 9.99292075e-01 3.85648398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528623853 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:14.07, Z:3.87 [[ 9.66635142e-01 -2.53572432e-01 -3.62977203e-02 1.06639577e+02] [ 2.53379726e-01 9.67316334e-01 -9.89064769e-03 1.40748308e+01] [ 3.76193733e-02 3.63541208e-04 9.99292075e-01 3.86530571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:106.69, Y:14.09, Z:3.86 [[ 9.66528666e-01 -2.53978249e-01 -3.62958213e-02 1.06694873e+02] [ 2.53785568e-01 9.67209865e-01 -9.89761151e-03 1.40903952e+01] [ 3.76194544e-02 3.54969644e-04 9.99292075e-01 3.86158799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64862385299999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:106.75, Y:14.11, Z:3.86 [[ 9.66678309e-01 -2.53408276e-01 -3.62945361e-02 1.06750163e+02] [ 2.53215016e-01 9.67359344e-01 -9.90232202e-03 1.41054319e+01] [ 3.76191890e-02 3.82038362e-04 9.99292075e-01 3.86412969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70862385299999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:106.81, Y:14.12, Z:3.87 [[ 9.67062473e-01 -2.51938392e-01 -3.62935194e-02 1.06805698e+02] [ 2.51743957e-01 9.67743174e-01 -9.90604707e-03 1.41244897e+01] [ 3.76185192e-02 4.43092184e-04 9.99292075e-01 3.87210627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:106.86, Y:14.14, Z:3.87 [[ 9.67322957e-01 -2.50936647e-01 -3.62918148e-02 1.06861559e+02] [ 2.50741273e-01 9.68003389e-01 -9.91228791e-03 1.41410027e+01] [ 3.76179560e-02 4.88527817e-04 9.99292075e-01 3.87439561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:106.91, Y:14.16, Z:3.88 [[ 9.67306559e-01 -2.50999937e-01 -3.62912140e-02 1.06914588e+02] [ 2.50804525e-01 9.67986980e-01 -9.91448721e-03 1.41630177e+01] [ 3.76179583e-02 4.88347822e-04 9.99292075e-01 3.87666002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:14.18, Z:3.88 [[ 9.67007809e-01 -2.52148645e-01 -3.62899117e-02 1.06969754e+02] [ 2.51953862e-01 9.67688410e-01 -9.91925175e-03 1.41809642e+01] [ 3.76184528e-02 4.48610490e-04 9.99292075e-01 3.87777390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:14.20, Z:3.88 [[ 9.66153154e-01 -2.55404116e-01 -3.62880293e-02 1.07025348e+02] [ 2.55211368e-01 9.66834334e-01 -9.92613334e-03 1.41980083e+01] [ 3.76196880e-02 3.29047408e-04 9.99292075e-01 3.87795290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00862385299999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:14.22, Z:3.88 [[ 9.65094158e-01 -2.59377114e-01 -3.62874476e-02 1.07081071e+02] [ 2.59187091e-01 9.65776103e-01 -9.92825962e-03 1.42172114e+01] [ 3.76207130e-02 1.76467370e-04 9.99292075e-01 3.88315721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06862385299999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:14.23, Z:3.89 [[ 9.64310403e-01 -2.62276169e-01 -3.62857850e-02 1.07136638e+02] [ 2.62087968e-01 9.64992853e-01 -9.93433238e-03 1.42345768e+01] [ 3.76210618e-02 6.97124254e-05 9.99292075e-01 3.88509652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128623853 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:107.19, Y:14.25, Z:3.89 [[ 9.63924356e-01 -2.63691706e-01 -3.62838787e-02 1.07190993e+02] [ 2.63504245e-01 9.64607010e-01 -9.94128989e-03 1.42526590e+01] [ 3.76211194e-02 2.16953772e-05 9.99292075e-01 3.88597266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:107.25, Y:14.27, Z:3.89 [[ 9.63675354e-01 -2.64600362e-01 -3.62830541e-02 1.07246860e+02] [ 2.64413431e-01 9.64358154e-01 -9.94429870e-03 1.42725664e+01] [ 3.76211241e-02 -1.06512334e-05 9.99292075e-01 3.89077598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248623853 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:107.30, Y:14.29, Z:3.89 [[ 9.63446878e-01 -2.65431302e-01 -3.62813591e-02 1.07302485e+02] [ 2.65244727e-01 9.64129775e-01 -9.95047882e-03 1.42892685e+01] [ 3.76211071e-02 -3.66814510e-05 9.99292075e-01 3.88776444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308623853 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:107.36, Y:14.31, Z:3.89 [[ 9.63014132e-01 -2.66997167e-01 -3.62807593e-02 1.07357329e+02] [ 2.66811621e-01 9.63697309e-01 -9.95266536e-03 1.43074136e+01] [ 3.76210036e-02 -9.55707932e-05 9.99292075e-01 3.89071893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36862385299999 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:107.41, Y:14.32, Z:3.89 [[ 9.61876097e-01 -2.71068656e-01 -3.62788875e-02 1.07412681e+02] [ 2.70885744e-01 9.62559984e-01 -9.95948351e-03 1.43237368e+01] [ 3.76203092e-02 -2.47644309e-04 9.99292075e-01 3.89327367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42862385299999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:107.47, Y:14.34, Z:3.89 [[ 9.61081973e-01 -2.73871174e-01 -3.62770122e-02 1.07467186e+02] [ 2.73689998e-01 9.61766322e-01 -9.96630969e-03 1.43396709e+01] [ 3.76194935e-02 -3.50214828e-04 9.99292075e-01 3.89407361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48862385299999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:107.52, Y:14.35, Z:3.90 [[ 9.60420187e-01 -2.76183155e-01 -3.62757390e-02 1.07523342e+02] [ 2.76003452e-01 9.61104924e-01 -9.97094190e-03 1.43545690e+01] [ 3.76185975e-02 -4.35935293e-04 9.99292075e-01 3.89500539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548623853 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:107.58, Y:14.37, Z:3.90 [[ 9.60467828e-01 -2.76017672e-01 -3.62739004e-02 1.07579063e+02] [ 2.75837599e-01 9.61152468e-01 -9.97762615e-03 1.43693165e+01] [ 3.76187500e-02 -4.22516659e-04 9.99292075e-01 3.89903156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608623853 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:107.64, Y:14.38, Z:3.90 [[ 9.61036195e-01 -2.74032427e-01 -3.62720343e-02 1.07635242e+02] [ 2.73850684e-01 9.61720393e-01 -9.98440542e-03 1.43844112e+01] [ 3.76196059e-02 -3.37746387e-04 9.99292075e-01 3.90271984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668623853 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:107.69, Y:14.40, Z:3.90 [[ 9.61419568e-01 -2.72684598e-01 -3.62701515e-02 1.07691700e+02] [ 2.72501637e-01 9.62103442e-01 -9.99124033e-03 1.43970477e+01] [ 3.76200949e-02 -2.77901693e-04 9.99292075e-01 3.90456331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72862385299999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:107.75, Y:14.41, Z:3.91 [[ 9.62046661e-01 -2.70464116e-01 -3.62682335e-02 1.07749485e+02] [ 2.70279315e-01 9.62730039e-01 -9.99819769e-03 1.44095096e+01] [ 3.76206716e-02 -1.83820610e-04 9.99292075e-01 3.90539901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78862385299999 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:107.81, Y:14.42, Z:3.91 [[ 9.63379782e-01 -2.65676747e-01 -3.62665341e-02 1.07805131e+02] [ 2.65488318e-01 9.64062169e-01 -1.00043581e-02 1.44233134e+01] [ 3.76211189e-02 9.65521365e-06 9.99292075e-01 3.90642605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84862385299999 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:14.44, Z:3.91 [[ 9.65363422e-01 -2.58376202e-01 -3.62656959e-02 1.07860723e+02] [ 2.58182498e-01 9.66044331e-01 -1.00073957e-02 1.44396236e+01] [ 3.76199429e-02 2.97605801e-04 9.99292075e-01 3.90913053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908623853 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:14.46, Z:3.91 [[ 9.67531094e-01 -2.50137004e-01 -3.62637896e-02 1.07915493e+02] [ 2.49937243e-01 9.68210250e-01 -1.00142988e-02 1.44586334e+01] [ 3.76159195e-02 6.25473894e-04 9.99292075e-01 3.91214108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968623853 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:107.97, Y:14.48, Z:3.91 [[ 9.68809593e-01 -2.45138843e-01 -3.62618200e-02 1.07970348e+02] [ 2.44935313e-01 9.69487629e-01 -1.00214258e-02 1.44780351e+01] [ 3.76120266e-02 8.27053226e-04 9.99292075e-01 3.91315686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028623853 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:108.02, Y:14.50, Z:3.92 [[ 9.69612234e-01 -2.41944749e-01 -3.62609043e-02 1.08024809e+02] [ 2.41738862e-01 9.70289559e-01 -1.00247381e-02 1.44980186e+01] [ 3.76090095e-02 9.54438964e-04 9.99292075e-01 3.91670193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088623853 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:14.52, Z:3.92 [[ 9.69868710e-01 -2.40914854e-01 -3.62590463e-02 1.08078446e+02] [ 2.40707996e-01 9.70545738e-01 -1.00314539e-02 1.45199935e+01] [ 3.76077891e-02 1.00135092e-03 9.99292075e-01 3.91794498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14862385299999 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:14.54, Z:3.92 [[ 9.68794664e-01 -2.45198521e-01 -3.62571968e-02 1.08132904e+02] [ 2.44994408e-01 9.69472525e-01 -1.00381340e-02 1.45417196e+01] [ 3.76116918e-02 8.42080233e-04 9.99292075e-01 3.92014170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20862385299999 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:14.56, Z:3.92 [[ 9.67491027e-01 -2.50292967e-01 -3.62566275e-02 1.08187944e+02] [ 2.50092346e-01 9.68169930e-01 -1.00401899e-02 1.45592666e+01] [ 3.76155654e-02 6.46288594e-04 9.99292075e-01 3.92496354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268623853 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:108.24, Y:14.58, Z:3.93 [[ 9.65632660e-01 -2.57369706e-01 -3.62546723e-02 1.08242323e+02] [ 2.57173796e-01 9.66312937e-01 -1.00472451e-02 1.45805092e+01] [ 3.76192154e-02 3.78196277e-04 9.99292075e-01 3.92898578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:108.30, Y:14.60, Z:3.93 [[ 9.64437100e-01 -2.61814291e-01 -3.62540646e-02 1.08297052e+02] [ 2.61621434e-01 9.65118249e-01 -1.00494374e-02 1.45997555e+01] [ 3.76205457e-02 2.07209932e-04 9.99292075e-01 3.92695797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:108.35, Y:14.62, Z:3.93 [[ 9.63590043e-01 -2.64914919e-01 -3.62534676e-02 1.08352914e+02] [ 2.64724173e-01 9.64271786e-01 -1.00515906e-02 1.46190049e+01] [ 3.76210123e-02 8.84434267e-05 9.99292075e-01 3.92780273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:108.41, Y:14.64, Z:3.93 [[ 9.62684680e-01 -2.68186533e-01 -3.62517735e-02 1.08407754e+02] [ 2.67997873e-01 9.63367003e-01 -1.00576967e-02 1.46376330e+01] [ 3.76211012e-02 -3.30076865e-05 9.99292075e-01 3.93177968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:14.66, Z:3.94 [[ 9.61574443e-01 -2.72140483e-01 -3.62511730e-02 1.08462663e+02] [ 2.71954548e-01 9.62257514e-01 -1.00598608e-02 1.46554306e+01] [ 3.76206590e-02 -1.85366330e-04 9.99292075e-01 3.93500801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:14.67, Z:3.93 [[ 9.60763676e-01 -2.74989227e-01 -3.62502866e-02 1.08518415e+02] [ 2.74805197e-01 9.61447263e-01 -1.00630537e-02 1.46701448e+01] [ 3.76199702e-02 -2.93550694e-04 9.99292075e-01 3.93418777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:14.69, Z:3.94 [[ 9.60541731e-01 -2.75763602e-01 -3.62494100e-02 1.08574256e+02] [ 2.75580003e-01 9.61225433e-01 -1.00662107e-02 1.46859595e+01] [ 3.76197493e-02 -3.20597035e-04 9.99292075e-01 3.93528162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:108.63, Y:14.70, Z:3.94 [[ 9.60646714e-01 -2.75397906e-01 -3.62475492e-02 1.08630116e+02] [ 2.75213795e-01 9.61330278e-01 -1.00729067e-02 1.47019686e+01] [ 3.76199240e-02 -2.99320859e-04 9.99292075e-01 3.93581602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:108.69, Y:14.72, Z:3.94 [[ 9.61214145e-01 -2.73410909e-01 -3.62469743e-02 1.08685919e+02] [ 2.73225307e-01 9.61897306e-01 -1.00749751e-02 1.47172005e+01] [ 3.76204750e-02 -2.19382101e-04 9.99292075e-01 3.93709528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:108.74, Y:14.73, Z:3.94 [[ 9.62288997e-01 -2.69603568e-01 -3.62464044e-02 1.08741151e+02] [ 2.69415185e-01 9.62971397e-01 -1.00770249e-02 1.47331973e+01] [ 3.76210526e-02 -6.83215651e-05 9.99292075e-01 3.93989126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86862385299999 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:108.80, Y:14.75, Z:3.94 [[ 9.63405979e-01 -2.65584559e-01 -3.62458412e-02 1.08796893e+02] [ 2.65393253e-01 9.64087565e-01 -1.00790502e-02 1.47479309e+01] [ 3.76210049e-02 9.08155081e-05 9.99292075e-01 3.94313544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92862385299999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:108.85, Y:14.76, Z:3.94 [[ 9.64410827e-01 -2.61912269e-01 -3.62452858e-02 1.08852744e+02] [ 2.61718293e-01 9.65091658e-01 -1.00810472e-02 1.47646534e+01] [ 3.76203729e-02 2.36216677e-04 9.99292075e-01 3.94444103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:108.91, Y:14.78, Z:3.95 [[ 9.65549717e-01 -2.57682268e-01 -3.62435223e-02 1.08907788e+02] [ 2.57485072e-01 9.66229622e-01 -1.00873835e-02 1.47814254e+01] [ 3.76189047e-02 4.07704297e-04 9.99292075e-01 3.94789464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:108.96, Y:14.80, Z:3.95 [[ 9.66684149e-01 -2.53393377e-01 -3.62429789e-02 1.08962642e+02] [ 2.53193091e-01 9.67363150e-01 -1.00893353e-02 1.48001844e+01] [ 3.76166930e-02 5.76728661e-04 9.99292075e-01 3.95366100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:14.82, Z:3.96 [[ 9.67287879e-01 -2.51078961e-01 -3.62424412e-02 1.09017359e+02] [ 2.50876979e-01 9.67966377e-01 -1.00912666e-02 1.48188864e+01] [ 3.76151692e-02 6.68765748e-04 9.99292075e-01 3.95630516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:14.84, Z:3.96 [[ 9.67856714e-01 -2.48877460e-01 -3.62407345e-02 1.09071528e+02] [ 2.48673705e-01 9.68534683e-01 -1.00973920e-02 1.48397472e+01] [ 3.76134216e-02 7.60710927e-04 9.99292075e-01 3.95860117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22862385299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:109.12, Y:14.86, Z:3.96 [[ 9.68072632e-01 -2.48036512e-01 -3.62390348e-02 1.09124978e+02] [ 2.47831940e-01 9.68750354e-01 -1.01034885e-02 1.48624027e+01] [ 3.76126118e-02 7.99720381e-04 9.99292075e-01 3.96028274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28862385299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:14.88, Z:3.96 [[ 9.67644233e-01 -2.49702815e-01 -3.62373049e-02 1.09178587e+02] [ 2.49499177e-01 9.68322237e-01 -1.01096892e-02 1.48847176e+01] [ 3.76138060e-02 7.41404690e-04 9.99292075e-01 3.96442446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34862385299999 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:14.91, Z:3.97 [[ 9.66499346e-01 -2.54098432e-01 -3.62353528e-02 1.09232402e+02] [ 2.53897617e-01 9.67178191e-01 -1.01166810e-02 1.49066283e+01] [ 3.76166758e-02 5.77695844e-04 9.99292075e-01 3.97222284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:109.29, Y:14.93, Z:3.97 [[ 9.64591722e-01 -2.61246727e-01 -3.62347491e-02 1.09287985e+02] [ 2.61050861e-01 9.65272012e-01 -1.01188429e-02 1.49275126e+01] [ 3.76199037e-02 3.01439610e-04 9.99292075e-01 3.97100212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:14.95, Z:3.97 [[ 9.62771164e-01 -2.67878430e-01 -3.62330371e-02 1.09342075e+02] [ 2.67687019e-01 9.63452720e-01 -1.01249692e-02 1.49461853e+01] [ 3.76210791e-02 4.89147044e-05 9.99292075e-01 3.97178423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:14.97, Z:3.97 [[ 9.61821916e-01 -2.71267147e-01 -3.62317039e-02 1.09397028e+02] [ 2.71077958e-01 9.62504093e-01 -1.01297380e-02 1.49653723e+01] [ 3.76210284e-02 -7.86123050e-05 9.99292075e-01 3.97187106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:14.99, Z:3.97 [[ 9.61336624e-01 -2.72982234e-01 -3.62297501e-02 1.09451398e+02] [ 2.72793999e-01 9.62019065e-01 -1.01367211e-02 1.49853167e+01] [ 3.76208551e-02 -1.38457178e-04 9.99292075e-01 3.97322861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64862385299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:15.00, Z:3.97 [[ 9.61569333e-01 -2.72161661e-01 -3.62277403e-02 1.09505512e+02] [ 2.71972573e-01 9.62251537e-01 -1.01438989e-02 1.50049847e+01] [ 3.76209791e-02 -9.88896446e-05 9.99292075e-01 3.97340162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:15.02, Z:3.97 [[ 9.61772410e-01 -2.71443329e-01 -3.62263785e-02 1.09560305e+02] [ 2.71253549e-01 9.62454422e-01 -1.01487598e-02 1.50239974e+01] [ 3.76210513e-02 -6.57365616e-05 9.99292076e-01 3.97317819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:15.04, Z:3.98 [[ 9.61688521e-01 -2.71740465e-01 -3.62257902e-02 1.09615783e+02] [ 2.71550816e-01 9.62370570e-01 -1.01508593e-02 1.50420870e+01] [ 3.76210336e-02 -7.51779949e-05 9.99292076e-01 3.97784467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:15.06, Z:3.98 [[ 9.61535666e-01 -2.72281056e-01 -3.62241555e-02 1.09670452e+02] [ 2.72091571e-01 9.62217760e-01 -1.01566894e-02 1.50592007e+01] [ 3.76209999e-02 -9.02682545e-05 9.99292076e-01 3.98006761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:15.08, Z:3.98 [[ 9.61570289e-01 -2.72158927e-01 -3.62228836e-02 1.09725605e+02] [ 2.71969185e-01 9.62252312e-01 -1.01612236e-02 1.50764855e+01] [ 3.76210212e-02 -8.07774526e-05 9.99292076e-01 3.98113992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:109.78, Y:15.09, Z:3.98 [[ 9.62198492e-01 -2.69929801e-01 -3.62210547e-02 1.09779332e+02] [ 2.69738233e-01 9.62880004e-01 -1.01677387e-02 1.50941680e+01] [ 3.76211050e-02 1.31795441e-05 9.99292076e-01 3.98240230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:109.83, Y:15.11, Z:3.98 [[ 9.63139235e-01 -2.66553760e-01 -3.62202642e-02 1.09833278e+02] [ 2.66359698e-01 9.63820041e-01 -1.01705539e-02 1.51149070e+01] [ 3.76208159e-02 1.48040850e-04 9.99292076e-01 3.98345378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:109.89, Y:15.14, Z:3.99 [[ 9.64306597e-01 -2.62299467e-01 -3.62184673e-02 1.09888364e+02] [ 2.62102161e-01 9.64986470e-01 -1.01769489e-02 1.51366661e+01] [ 3.76197392e-02 3.20760347e-04 9.99292076e-01 3.98969416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:109.94, Y:15.16, Z:3.99 [[ 9.64691439e-01 -2.60880764e-01 -3.62167714e-02 1.09943019e+02] [ 2.60682232e-01 9.65370955e-01 -1.01829807e-02 1.51560929e+01] [ 3.76191629e-02 3.82365519e-04 9.99292076e-01 3.99245083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:15.18, Z:3.99 [[ 9.64747472e-01 -2.60673741e-01 -3.62148491e-02 1.09996580e+02] [ 2.60474807e-01 9.65426871e-01 -1.01898125e-02 1.51782627e+01] [ 3.76190050e-02 3.97540017e-04 9.99292076e-01 3.99371890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:15.20, Z:3.99 [[ 9.64180497e-01 -2.62763196e-01 -3.62142553e-02 1.10050641e+02] [ 2.62565655e-01 9.64860301e-01 -1.01919226e-02 1.52005172e+01] [ 3.76197594e-02 3.18233289e-04 9.99292076e-01 3.99479696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:110.10, Y:15.22, Z:4.00 [[ 9.63300470e-01 -2.65971536e-01 -3.62125098e-02 1.10103522e+02] [ 2.65776026e-01 9.63980862e-01 -1.01981204e-02 1.52225250e+01] [ 3.76205762e-02 1.99437185e-04 9.99292076e-01 3.99657464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36862385299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:15.24, Z:4.00 [[ 9.61846552e-01 -2.71182447e-01 -3.62117544e-02 1.10157928e+02] [ 2.70990522e-01 9.62527964e-01 -1.02008022e-02 1.52416186e+01] [ 3.76211047e-02 -1.43581247e-06 9.99292076e-01 4.00016820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.21, Y:15.26, Z:4.00 [[ 9.59907196e-01 -2.77969453e-01 -3.62099146e-02 1.10212185e+02] [ 2.77782100e-01 9.60589879e-01 -1.02073286e-02 1.52616633e+01] [ 3.76202030e-02 -2.60377968e-04 9.99292076e-01 4.00375915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.27, Y:15.28, Z:4.01 [[ 9.58337711e-01 -2.83333395e-01 -3.62079936e-02 1.10267947e+02] [ 2.83149606e-01 9.59021362e-01 -1.02141384e-02 1.52788860e+01] [ 3.76182458e-02 -4.63685089e-04 9.99292076e-01 4.00694394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:110.32, Y:15.29, Z:4.01 [[ 9.56360204e-01 -2.89938406e-01 -3.62060968e-02 1.10323784e+02] [ 2.89759083e-01 9.57045040e-01 -1.02208574e-02 1.52935027e+01] [ 3.76142845e-02 -7.16224137e-04 9.99292076e-01 4.00725715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:110.38, Y:15.31, Z:4.01 [[ 9.55292624e-01 -2.93436813e-01 -3.62055121e-02 1.10380422e+02] [ 2.93259920e-01 9.55978091e-01 -1.02229283e-02 1.53072853e+01] [ 3.76114599e-02 -8.51737572e-04 9.99292076e-01 4.01071592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:110.44, Y:15.32, Z:4.01 [[ 9.54936528e-01 -2.94593830e-01 -3.62036181e-02 1.10436994e+02] [ 2.94417513e-01 9.55622144e-01 -1.02296312e-02 1.53204849e+01] [ 3.76105655e-02 -8.90330691e-04 9.99292076e-01 4.01263900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:110.49, Y:15.33, Z:4.02 [[ 9.54875005e-01 -2.94793259e-01 -3.62030358e-02 1.10493653e+02] [ 2.94617007e-01 9.55560637e-01 -1.02316917e-02 1.53317844e+01] [ 3.76104297e-02 -8.96043351e-04 9.99292076e-01 4.01504070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.55, Y:15.34, Z:4.02 [[ 9.54849769e-01 -2.94875216e-01 -3.62011789e-02 1.10550131e+02] [ 2.94698774e-01 9.55535353e-01 -1.02382576e-02 1.53444445e+01] [ 3.76105147e-02 -8.92445114e-04 9.99292076e-01 4.01676216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:110.61, Y:15.36, Z:4.01 [[ 9.55500061e-01 -2.92761417e-01 -3.61992500e-02 1.10607301e+02] [ 2.92583200e-01 9.56185186e-01 -1.02450730e-02 1.53565085e+01] [ 3.76125487e-02 -8.02124516e-04 9.99292076e-01 4.01374727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:15.37, Z:4.02 [[ 9.57343421e-01 -2.86676180e-01 -3.61986517e-02 1.10663142e+02] [ 2.86493528e-01 9.58027376e-01 -1.02471865e-02 1.53700175e+01] [ 3.76169236e-02 -5.60602807e-04 9.99292076e-01 4.01795492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:15.38, Z:4.02 [[ 9.59572895e-01 -2.79123018e-01 -3.61966936e-02 1.10718880e+02] [ 2.78934721e-01 9.60255317e-01 -1.02540985e-02 1.53842672e+01] [ 3.76202224e-02 -2.56959627e-04 9.99292076e-01 4.02042932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:15.40, Z:4.02 [[ 9.60441451e-01 -2.76119651e-01 -3.61960881e-02 1.10774843e+02] [ 2.75929140e-01 9.61123259e-01 -1.02562354e-02 1.53982927e+01] [ 3.76208503e-02 -1.37041897e-04 9.99292076e-01 4.02297961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:15.41, Z:4.03 [[ 9.60378384e-01 -2.76339178e-01 -3.61941607e-02 1.10831203e+02] [ 2.76148566e-01 9.61060164e-01 -1.02630326e-02 1.54125174e+01] [ 3.76208441e-02 -1.38570927e-04 9.99292076e-01 4.02567681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:15.43, Z:4.03 [[ 9.59985197e-01 -2.77702262e-01 -3.61921933e-02 1.10887938e+02] [ 2.77512357e-01 9.60667174e-01 -1.02699662e-02 1.54250448e+01] [ 3.76206449e-02 -1.84765334e-04 9.99292076e-01 4.02856624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:110.94, Y:15.44, Z:4.03 [[ 9.59364832e-01 -2.79838152e-01 -3.61901600e-02 1.10944830e+02] [ 2.79649496e-01 9.60047155e-01 -1.02771261e-02 1.54363366e+01] [ 3.76201922e-02 -2.61046692e-04 9.99292076e-01 4.03387765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:111.00, Y:15.45, Z:4.04 [[ 9.59129787e-01 -2.80642780e-01 -3.61895320e-02 1.11001873e+02] [ 2.80454612e-01 9.59812245e-01 -1.02793370e-02 1.54483908e+01] [ 3.76199777e-02 -2.90302887e-04 9.99292076e-01 4.03796742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:111.06, Y:15.46, Z:4.04 [[ 9.59551106e-01 -2.79199096e-01 -3.61875527e-02 1.11059278e+02] [ 2.79009638e-01 9.60233208e-01 -1.02863003e-02 1.54598680e+01] [ 3.76204156e-02 -2.26445142e-04 9.99292076e-01 4.03806126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:15.47, Z:4.04 [[ 9.60282457e-01 -2.76673470e-01 -3.61855432e-02 1.11115169e+02] [ 2.76481953e-01 9.60963983e-01 -1.02933647e-02 1.54706111e+01] [ 3.76209046e-02 -1.20112115e-04 9.99292076e-01 4.03698666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:15.49, Z:4.04 [[ 9.60856111e-01 -2.74674788e-01 -3.61841787e-02 1.11171480e+02] [ 2.74481672e-01 9.61537186e-01 -1.02981590e-02 1.54865289e+01] [ 3.76210780e-02 -3.68448244e-05 9.99292076e-01 4.04081234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.23, Y:15.50, Z:4.04 [[ 9.61796972e-01 -2.71362152e-01 -3.61824224e-02 1.11227297e+02] [ 2.71166458e-01 9.62477310e-01 -1.03043261e-02 1.55004507e+01] [ 3.76209647e-02 9.92103520e-05 9.99292076e-01 4.04106735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.28, Y:15.52, Z:4.04 [[ 9.62927426e-01 -2.67323151e-01 -3.61815548e-02 1.11283143e+02] [ 2.67124490e-01 9.63606904e-01 -1.03073714e-02 1.55160281e+01] [ 3.76201950e-02 2.60271284e-04 9.99292076e-01 4.04442139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.34, Y:15.53, Z:4.05 [[ 9.64254513e-01 -2.62496237e-01 -3.61795458e-02 1.11337581e+02] [ 2.62293909e-01 9.64932908e-01 -1.03144186e-02 1.55331400e+01] [ 3.76183304e-02 4.56050139e-04 9.99292076e-01 4.04507665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:15.55, Z:4.05 [[ 9.65735224e-01 -2.56995292e-01 -3.61786795e-02 1.11391986e+02] [ 2.56788988e-01 9.66412420e-01 -1.03174561e-02 1.55541431e+01] [ 3.76150629e-02 6.73644312e-04 9.99292076e-01 4.04767844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:15.57, Z:4.05 [[ 9.66432961e-01 -2.54359150e-01 -3.61767077e-02 1.11445952e+02] [ 2.54150740e-01 9.67109512e-01 -1.03243655e-02 1.55728560e+01] [ 3.76129349e-02 7.83470069e-04 9.99292076e-01 4.05000370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:111.50, Y:15.59, Z:4.05 [[ 9.66730057e-01 -2.53227840e-01 -3.61753758e-02 1.11500186e+02] [ 2.53018463e-01 9.67406310e-01 -1.03290299e-02 1.55926652e+01] [ 3.76118848e-02 8.32345708e-04 9.99292076e-01 4.05083939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:15.61, Z:4.05 [[ 9.66738836e-01 -2.53194602e-01 -3.61734323e-02 1.11554524e+02] [ 2.52984948e-01 9.67415002e-01 -1.03358321e-02 1.56121151e+01] [ 3.76116980e-02 8.40716439e-04 9.99292076e-01 4.05177500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:15.63, Z:4.06 [[ 9.66070951e-01 -2.55731196e-01 -3.61728336e-02 1.11608433e+02] [ 2.55523239e-01 9.66747641e-01 -1.03379268e-02 1.56336329e+01] [ 3.76137320e-02 7.44171121e-04 9.99292076e-01 4.05643447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:15.66, Z:4.06 [[ 9.65199110e-01 -2.59002602e-01 -3.61708485e-02 1.11662315e+02] [ 2.58796679e-01 9.65876422e-01 -1.03448678e-02 1.56564048e+01] [ 3.76159174e-02 6.23961720e-04 9.99292076e-01 4.05861502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:15.68, Z:4.06 [[ 9.64776001e-01 -2.60574520e-01 -3.61688762e-02 1.11716225e+02] [ 2.60369442e-01 9.65453570e-01 -1.03517591e-02 1.56799285e+01] [ 3.76167752e-02 5.69858650e-04 9.99292076e-01 4.06299863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.77, Y:15.70, Z:4.07 [[ 9.64233249e-01 -2.62576046e-01 -3.61671183e-02 1.11770173e+02] [ 2.62372145e-01 9.64911173e-01 -1.03578970e-02 1.57008854e+01] [ 3.76177922e-02 4.98184231e-04 9.99292076e-01 4.06511232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:15.72, Z:4.06 [[ 9.62581032e-01 -2.68569994e-01 -3.61651246e-02 1.11824230e+02] [ 2.68370052e-01 9.63260134e-01 -1.03648536e-02 1.57210585e+01] [ 3.76201114e-02 2.71375143e-04 9.99292076e-01 4.06401943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:15.74, Z:4.06 [[ 9.60523585e-01 -2.75837945e-01 -3.61645072e-02 1.11878997e+02] [ 2.75643061e-01 9.61204155e-01 -1.03670074e-02 1.57426574e+01] [ 3.76210886e-02 -1.07403607e-05 9.99292076e-01 4.06468306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28862385299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:111.93, Y:15.76, Z:4.07 [[ 9.58293228e-01 -2.83489579e-01 -3.61627964e-02 1.11934416e+02] [ 2.83299904e-01 9.58975269e-01 -1.03729716e-02 1.57619708e+01] [ 3.76198567e-02 -3.04568302e-04 9.99292076e-01 4.06803267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:15.78, Z:4.07 [[ 9.56898632e-01 -2.88162083e-01 -3.61610625e-02 1.11989401e+02] [ 2.87975510e-01 9.57581528e-01 -1.03790125e-02 1.57801202e+01] [ 3.76180033e-02 -4.81837592e-04 9.99292076e-01 4.07311209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:15.80, Z:4.08 [[ 9.54891242e-01 -2.94746062e-01 -3.61590323e-02 1.12044521e+02] [ 2.94563929e-01 9.55575335e-01 -1.03860806e-02 1.57982956e+01] [ 3.76139358e-02 -7.33569184e-04 9.99292076e-01 4.07610100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:112.10, Y:15.81, Z:4.08 [[ 9.53317791e-01 -2.99796232e-01 -3.61580936e-02 1.12100357e+02] [ 2.99617599e-01 9.54002807e-01 -1.03893475e-02 1.58135270e+01] [ 3.76096101e-02 -9.29251383e-04 9.99292076e-01 4.07776106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:112.16, Y:15.83, Z:4.08 [[ 9.52442353e-01 -3.02566181e-01 -3.61561910e-02 1.12157115e+02] [ 3.02389290e-01 9.53127820e-01 -1.03959646e-02 1.58282444e+01] [ 3.76069389e-02 -1.03168795e-03 9.99292076e-01 4.07757316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588623853 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:112.21, Y:15.84, Z:4.08 [[ 9.51839017e-01 -3.04459085e-01 -3.61545404e-02 1.12214683e+02] [ 3.04283338e-01 9.52524779e-01 -1.04017021e-02 1.58417248e+01] [ 3.76049883e-02 -1.10047835e-03 9.99292076e-01 4.07796386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64862385299999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:112.27, Y:15.86, Z:4.08 [[ 9.52332386e-01 -3.02912532e-01 -3.61527892e-02 1.12271343e+02] [ 3.02735441e-01 9.53017802e-01 -1.04077850e-02 1.58554754e+01] [ 3.76069002e-02 -1.03305986e-03 9.99292076e-01 4.08013422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:112.33, Y:15.87, Z:4.09 [[ 9.54095669e-01 -2.97312084e-01 -3.61521715e-02 1.12327898e+02] [ 2.97130888e-01 9.54780011e-01 -1.04099302e-02 1.58693386e+01] [ 3.76123687e-02 -8.09857489e-04 9.99292076e-01 4.08728092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:15.88, Z:4.09 [[ 9.56432848e-01 -2.89705486e-01 -3.61516037e-02 1.12383348e+02] [ 2.89518772e-01 9.57115705e-01 -1.04119015e-02 1.58834623e+01] [ 3.76176527e-02 -5.08283372e-04 9.99292076e-01 4.09146600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:15.90, Z:4.09 [[ 9.57691254e-01 -2.85518118e-01 -3.61506048e-02 1.12438451e+02] [ 2.85328287e-01 9.58373251e-01 -1.04153686e-02 1.58982052e+01] [ 3.76195491e-02 -3.40082751e-04 9.99292076e-01 4.09259071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:15.91, Z:4.09 [[ 9.58741160e-01 -2.81972656e-01 -3.61498176e-02 1.12495195e+02] [ 2.81780200e-01 9.59422421e-01 -1.04181003e-02 1.59130510e+01] [ 3.76205649e-02 -1.98041295e-04 9.99292076e-01 4.09058620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:112.55, Y:15.93, Z:4.09 [[ 9.59261214e-01 -2.80198551e-01 -3.61482475e-02 1.12550228e+02] [ 2.80004630e-01 9.59942059e-01 -1.04235454e-02 1.59264259e+01] [ 3.76208854e-02 -1.22773848e-04 9.99292076e-01 4.09254077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00862385299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:112.61, Y:15.94, Z:4.10 [[ 9.59855390e-01 -2.78156473e-01 -3.61470243e-02 1.12606138e+02] [ 2.77960943e-01 9.60535775e-01 -1.04277854e-02 1.59431596e+01] [ 3.76210660e-02 -3.82949786e-05 9.99292076e-01 4.09580030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06862385299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:112.66, Y:15.96, Z:4.10 [[ 9.60300727e-01 -2.76615316e-01 -3.61452633e-02 1.12662241e+02] [ 2.76418465e-01 9.60980732e-01 -1.04338857e-02 1.59598035e+01] [ 3.76210742e-02 2.84497907e-05 9.99292076e-01 4.10073603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:15.98, Z:4.10 [[ 9.60218413e-01 -2.76901131e-01 -3.61436351e-02 1.12718274e+02] [ 2.76704271e-01 9.60898415e-01 -1.04395230e-02 1.59754644e+01] [ 3.76210774e-02 2.31240752e-05 9.99292076e-01 4.10368157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:112.77, Y:15.99, Z:4.10 [[ 9.59562379e-01 -2.79166285e-01 -3.61417652e-02 1.12772772e+02] [ 2.78970786e-01 9.60242772e-01 -1.04459927e-02 1.59914134e+01] [ 3.76210378e-02 -5.89150535e-05 9.99292076e-01 4.10464084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:112.83, Y:16.01, Z:4.11 [[ 9.58267920e-01 -2.83577899e-01 -3.61409581e-02 1.12827816e+02] [ 2.83385427e-01 9.58949176e-01 -1.04487844e-02 1.60054851e+01] [ 3.76203863e-02 -2.29085935e-04 9.99292076e-01 4.10583275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:112.89, Y:16.02, Z:4.11 [[ 9.57129606e-01 -2.87396601e-01 -3.61401663e-02 1.12885679e+02] [ 2.87206743e-01 9.57811595e-01 -1.04515221e-02 1.60183938e+01] [ 3.76192023e-02 -3.76238225e-04 9.99292076e-01 4.10835216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36862385299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:112.94, Y:16.03, Z:4.11 [[ 9.56850548e-01 -2.88324547e-01 -3.61384027e-02 1.12941901e+02] [ 2.88135121e-01 9.57532658e-01 -1.04576166e-02 1.60319363e+01] [ 3.76188884e-02 -4.06366895e-04 9.99292076e-01 4.10987842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42862385299999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:113.00, Y:16.04, Z:4.11 [[ 9.57393009e-01 -2.86518389e-01 -3.61363857e-02 1.12998128e+02] [ 2.86327413e-01 9.58074687e-01 -1.04645817e-02 1.60448528e+01] [ 3.76196515e-02 -3.28120485e-04 9.99292076e-01 4.11233747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48862385299999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:113.05, Y:16.06, Z:4.11 [[ 9.58584177e-01 -2.82507846e-01 -3.61343785e-02 1.13052832e+02] [ 2.82313757e-01 9.59264974e-01 -1.04715082e-02 1.60596925e+01] [ 3.76207269e-02 -1.63410061e-04 9.99292077e-01 4.11119932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:113.11, Y:16.08, Z:4.12 [[ 9.59624698e-01 -2.78953058e-01 -3.61335075e-02 1.13108310e+02] [ 2.78756333e-01 9.60304739e-01 -1.04745128e-02 1.60751583e+01] [ 3.76210758e-02 -2.08429185e-05 9.99292077e-01 4.11640446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:16.09, Z:4.12 [[ 9.60795306e-01 -2.74894332e-01 -3.61314992e-02 1.13163112e+02] [ 2.74694475e-01 9.61474433e-01 -1.04814359e-02 1.60899803e+01] [ 3.76208000e-02 1.45391202e-04 9.99292077e-01 4.11778775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:16.11, Z:4.12 [[ 9.61687765e-01 -2.71755811e-01 -3.61306282e-02 1.13218565e+02] [ 2.71553625e-01 9.62366201e-01 -1.04844375e-02 1.61072270e+01] [ 3.76201022e-02 2.71352195e-04 9.99292077e-01 4.12062110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72862385299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:16.12, Z:4.12 [[ 9.62138226e-01 -2.70156907e-01 -3.61286476e-02 1.13273708e+02] [ 2.69953337e-01 9.62816249e-01 -1.04912580e-02 1.61239185e+01] [ 3.76195347e-02 3.40991372e-04 9.99292077e-01 4.12276154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78862385299999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:16.14, Z:4.13 [[ 9.63220815e-01 -2.66271340e-01 -3.61280376e-02 1.13329868e+02] [ 2.66064956e-01 9.63897987e-01 -1.04933580e-02 1.61423347e+01] [ 3.76178232e-02 4.95016101e-04 9.99292077e-01 4.12636622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84862385299999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:113.38, Y:16.16, Z:4.13 [[ 9.63140975e-01 -2.66560223e-01 -3.61262974e-02 1.13384143e+02] [ 2.66353818e-01 9.63818140e-01 -1.04993458e-02 1.61593166e+01] [ 3.76178887e-02 4.89972874e-04 9.99292077e-01 4.12645187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908623853 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:16.18, Z:4.13 [[ 9.62698741e-01 -2.68153105e-01 -3.61254379e-02 1.13439119e+02] [ 2.67947709e-01 9.63376212e-01 -1.05023022e-02 1.61774247e+01] [ 3.76186125e-02 4.30824798e-04 9.99292077e-01 4.13022716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:113.49, Y:16.19, Z:4.13 [[ 9.62063037e-01 -2.70425244e-01 -3.61233966e-02 1.13494465e+02] [ 2.70221185e-01 9.62740913e-01 -1.05093188e-02 1.61934628e+01] [ 3.76194569e-02 3.49320191e-04 9.99292077e-01 4.13367033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:16.21, Z:4.14 [[ 9.61523653e-01 -2.72336944e-01 -3.61227658e-02 1.13549441e+02] [ 2.72134151e-01 9.62201908e-01 -1.05114865e-02 1.62097279e+01] [ 3.76200603e-02 2.76804679e-04 9.99292077e-01 4.13702215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:113.61, Y:16.23, Z:4.14 [[ 9.60620815e-01 -2.75504701e-01 -3.61221472e-02 1.13605079e+02] [ 2.75304065e-01 9.61299712e-01 -1.05136119e-02 1.62271833e+01] [ 3.76207592e-02 1.55020436e-04 9.99292077e-01 4.14132062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14862385299999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:113.66, Y:16.25, Z:4.14 [[ 9.59882064e-01 -2.78067901e-01 -3.61201626e-02 1.13660391e+02] [ 2.77868821e-01 9.60561419e-01 -1.05204258e-02 1.62450655e+01] [ 3.76210273e-02 6.17009798e-05 9.99292077e-01 4.14336009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20862385299999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:16.26, Z:4.14 [[ 9.59338025e-01 -2.79939342e-01 -3.61181275e-02 1.13715523e+02] [ 2.79741325e-01 9.60017690e-01 -1.05274078e-02 1.62616764e+01] [ 3.76210770e-02 -4.39025145e-06 9.99292077e-01 4.14478733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:113.77, Y:16.28, Z:4.15 [[ 9.59045756e-01 -2.80939257e-01 -3.61160952e-02 1.13770954e+02] [ 2.80741687e-01 9.59725551e-01 -1.05343754e-02 1.62785714e+01] [ 3.76210590e-02 -3.63454449e-05 9.99292077e-01 4.14714089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:113.83, Y:16.30, Z:4.15 [[ 9.59178269e-01 -2.80486580e-01 -3.61154687e-02 1.13826357e+02] [ 2.80288607e-01 9.59857947e-01 -1.05365230e-02 1.62965719e+01] [ 3.76210729e-02 -1.63505627e-05 9.99292077e-01 4.15105395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:16.31, Z:4.15 [[ 9.59830309e-01 -2.78247361e-01 -3.61134825e-02 1.13881748e+02] [ 2.78047547e-01 9.60509448e-01 -1.05433261e-02 1.63144487e+01] [ 3.76209938e-02 7.85387368e-05 9.99292077e-01 4.15283801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:16.33, Z:4.15 [[ 9.61144912e-01 -2.73672111e-01 -3.61114163e-02 1.13935761e+02] [ 2.73468799e-01 9.61823011e-01 -1.05503982e-02 1.63333400e+01] [ 3.76201409e-02 2.65115879e-04 9.99292077e-01 4.15250787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:113.99, Y:16.35, Z:4.16 [[ 9.61932403e-01 -2.70891342e-01 -3.61100131e-02 1.13990195e+02] [ 2.70685890e-01 9.62609857e-01 -1.05551987e-02 1.63530448e+01] [ 3.76191665e-02 3.78916665e-04 9.99292077e-01 4.15539996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56862385299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:114.04, Y:16.37, Z:4.16 [[ 9.62827601e-01 -2.67692399e-01 -3.61080224e-02 1.14043878e+02] [ 2.67484440e-01 9.63504291e-01 -1.05620042e-02 1.63749657e+01] [ 3.76176027e-02 5.11055006e-04 9.99292077e-01 4.15786027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:114.10, Y:16.40, Z:4.16 [[ 9.63128020e-01 -2.66609778e-01 -3.61060032e-02 1.14097477e+02] [ 2.66400800e-01 9.63804395e-01 -1.05689023e-02 1.63971346e+01] [ 3.76168973e-02 5.60537857e-04 9.99292077e-01 4.15858083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:16.42, Z:4.16 [[ 9.62647969e-01 -2.68338198e-01 -3.61040096e-02 1.14150961e+02] [ 2.68130180e-01 9.63324640e-01 -1.05757082e-02 1.64195977e+01] [ 3.76177485e-02 5.00109437e-04 9.99292077e-01 4.16114194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:114.21, Y:16.44, Z:4.16 [[ 9.62071282e-01 -2.70398767e-01 -3.61020016e-02 1.14205175e+02] [ 2.70191940e-01 9.62748319e-01 -1.05825584e-02 1.64420620e+01] [ 3.76186521e-02 4.26705701e-04 9.99292077e-01 4.16448237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:16.46, Z:4.17 [[ 9.60619797e-01 -2.75511160e-01 -3.60999481e-02 1.14259317e+02] [ 2.75307673e-01 9.61297845e-01 -1.05895587e-02 1.64628960e+01] [ 3.76203439e-02 2.33946994e-04 9.99292077e-01 4.16823975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86862385299999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:16.48, Z:4.17 [[ 9.58231372e-01 -2.83706673e-01 -3.60993164e-02 1.14313166e+02] [ 2.83508905e-01 9.58911110e-01 -1.05917117e-02 1.64830441e+01] [ 3.76209749e-02 -8.51671889e-05 9.99292077e-01 4.17091477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92862385299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:16.50, Z:4.18 [[ 9.56301833e-01 -2.90144283e-01 -3.60984658e-02 1.14367887e+02] [ 2.89950981e-01 9.56982854e-01 -1.05946101e-02 1.65008107e+01] [ 3.76195783e-02 -3.35140557e-04 9.99292077e-01 4.17625313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98862385299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:16.52, Z:4.17 [[ 9.53526467e-01 -2.99139298e-01 -3.60964865e-02 1.14423680e+02] [ 2.98952165e-01 9.54209209e-01 -1.06013494e-02 1.65186217e+01] [ 3.76148800e-02 -6.82455501e-04 9.99292077e-01 4.17198224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:16.53, Z:4.17 [[ 9.52004157e-01 -3.03949454e-01 -3.60945234e-02 1.14478434e+02] [ 3.03765517e-01 9.52687767e-01 -1.06080289e-02 1.65341201e+01] [ 3.76111155e-02 -8.65383947e-04 9.99292077e-01 4.17386535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:114.53, Y:16.55, Z:4.18 [[ 9.51792427e-01 -3.04611920e-01 -3.60936782e-02 1.14534303e+02] [ 3.04428349e-01 9.52476136e-01 -1.06109040e-02 1.65509108e+01] [ 3.76105749e-02 -8.88560799e-04 9.99292077e-01 4.17820756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:16.57, Z:4.18 [[ 9.52121724e-01 -3.03581315e-01 -3.60916576e-02 1.14589701e+02] [ 3.03396744e-01 9.52805163e-01 -1.06177721e-02 1.65659452e+01] [ 3.76116750e-02 -8.40679977e-04 9.99292077e-01 4.18031689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:16.58, Z:4.18 [[ 9.53004567e-01 -3.00798522e-01 -3.60907848e-02 1.14645177e+02] [ 3.00611843e-01 9.53687433e-01 -1.06207381e-02 1.65812994e+01] [ 3.76140302e-02 -7.27705440e-04 9.99292077e-01 4.18203780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28862385299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:16.60, Z:4.19 [[ 9.54101758e-01 -2.97300239e-01 -3.60888330e-02 1.14701461e+02] [ 2.97110805e-01 9.54783865e-01 -1.06273660e-02 1.65965814e+01] [ 3.76165539e-02 -5.82793669e-04 9.99292077e-01 4.18564076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34862385299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:16.61, Z:4.19 [[ 9.55596811e-01 -2.92459368e-01 -3.60867516e-02 1.14756561e+02] [ 2.92266212e-01 9.56277873e-01 -1.06344291e-02 1.66106509e+01] [ 3.76191005e-02 -3.84711714e-04 9.99292077e-01 4.18664081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:114.81, Y:16.63, Z:4.19 [[ 9.56566083e-01 -2.89273471e-01 -3.60858493e-02 1.14812507e+02] [ 2.89077931e-01 9.57246464e-01 -1.06374899e-02 1.66264038e+01] [ 3.76201953e-02 -2.56160655e-04 9.99292077e-01 4.18699098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:114.87, Y:16.64, Z:4.19 [[ 9.58175463e-01 -2.83897418e-01 -3.60837513e-02 1.14868235e+02] [ 2.83697793e-01 9.58854658e-01 -1.06446018e-02 1.66433307e+01] [ 3.76210480e-02 -3.74843373e-05 9.99292077e-01 4.18997642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:114.92, Y:16.66, Z:4.19 [[ 9.59994856e-01 -2.77683066e-01 -3.60831034e-02 1.14923179e+02] [ 2.77478962e-01 9.60672718e-01 -1.06467979e-02 1.66597709e+01] [ 3.76204885e-02 2.08569159e-04 9.99292077e-01 4.19460006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.98, Y:16.68, Z:4.20 [[ 9.60733253e-01 -2.75117753e-01 -3.60810094e-02 1.14977859e+02] [ 2.74911573e-01 9.61410486e-01 -1.06538893e-02 1.66761912e+01] [ 3.76197349e-02 3.16458678e-04 9.99292077e-01 4.19851931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.03, Y:16.69, Z:4.20 [[ 9.60711370e-01 -2.75194278e-01 -3.60800977e-02 1.15033786e+02] [ 2.74988036e-01 9.61388584e-01 -1.06569762e-02 1.66924166e+01] [ 3.76197329e-02 3.16683043e-04 9.99292077e-01 4.20140113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.09, Y:16.71, Z:4.20 [[ 9.60160234e-01 -2.77111346e-01 -3.60780674e-02 1.15089607e+02] [ 2.76906198e-01 9.60837780e-01 -1.06638451e-02 1.67083945e+01] [ 3.76202426e-02 2.48759588e-04 9.99292077e-01 4.20262571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:115.14, Y:16.72, Z:4.20 [[ 9.59093010e-01 -2.80783050e-01 -3.60759857e-02 1.15144961e+02] [ 2.80580231e-01 9.59771257e-01 -1.06708828e-02 1.67227783e+01] [ 3.76208972e-02 1.12160670e-04 9.99292077e-01 4.20016706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.20, Y:16.74, Z:4.20 [[ 9.58434604e-01 -2.83022432e-01 -3.60750878e-02 1.15200946e+02] [ 2.82821084e-01 9.59113290e-01 -1.06739174e-02 1.67375977e+01] [ 3.76210542e-02 2.74563573e-05 9.99292077e-01 4.20207741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.26, Y:16.75, Z:4.21 [[ 9.57482350e-01 -2.86227675e-01 -3.60730718e-02 1.15256877e+02] [ 2.86028342e-01 9.58161630e-01 -1.06807263e-02 1.67527159e+01] [ 3.76209527e-02 -9.13140393e-05 9.99292077e-01 4.20592753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:16.77, Z:4.21 [[ 9.56476036e-01 -2.89572912e-01 -3.60710668e-02 1.15312717e+02] [ 2.89375699e-01 9.57155934e-01 -1.06874932e-02 1.67665917e+01] [ 3.76204442e-02 -2.15759028e-04 9.99292077e-01 4.20702415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:16.78, Z:4.21 [[ 9.55889342e-01 -2.91504010e-01 -3.60690763e-02 1.15369239e+02] [ 2.91307918e-01 9.56569564e-01 -1.06942068e-02 1.67812871e+01] [ 3.76199848e-02 -2.84729170e-04 9.99292077e-01 4.20800277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:16.79, Z:4.21 [[ 9.55224411e-01 -2.93675823e-01 -3.60670992e-02 1.15425617e+02] [ 2.93481025e-01 9.55905005e-01 -1.07008706e-02 1.67929770e+01] [ 3.76193076e-02 -3.63276483e-04 9.99292077e-01 4.20869762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.48, Y:16.81, Z:4.21 [[ 9.54914867e-01 -2.94680883e-01 -3.60662433e-02 1.15481567e+02] [ 2.94486693e-01 9.55595635e-01 -1.07037544e-02 1.68064539e+01] [ 3.76189365e-02 -3.99854465e-04 9.99292077e-01 4.21245029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:16.82, Z:4.22 [[ 9.55652594e-01 -2.92279821e-01 -3.60641918e-02 1.15538296e+02] [ 2.92083660e-01 9.56332796e-01 -1.07106623e-02 1.68196243e+01] [ 3.76198798e-02 -2.98088859e-04 9.99292077e-01 4.22193509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:16.83, Z:4.22 [[ 9.57414137e-01 -2.86457135e-01 -3.60621612e-02 1.15593186e+02] [ 2.86256580e-01 9.58093057e-01 -1.07174949e-02 1.68340308e+01] [ 3.76210091e-02 -6.19497665e-05 9.99292077e-01 4.21716415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.65, Y:16.85, Z:4.22 [[ 9.58755835e-01 -2.81934158e-01 -3.60607831e-02 1.15648666e+02] [ 2.81730226e-01 9.59433748e-01 -1.07221295e-02 1.68514001e+01] [ 3.76208669e-02 1.20491691e-04 9.99292077e-01 4.21991868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.70, Y:16.87, Z:4.22 [[ 9.60977855e-01 -2.74265077e-01 -3.60587014e-02 1.15702341e+02] [ 2.74055472e-01 9.61654036e-01 -1.07291259e-02 1.68692456e+01] [ 3.76186202e-02 4.28367980e-04 9.99292077e-01 4.22023960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:16.89, Z:4.22 [[ 9.62504338e-01 -2.68859135e-01 -3.60577986e-02 1.15756603e+02] [ 2.68645619e-01 9.63179294e-01 -1.07321591e-02 1.68884192e+01] [ 3.76155640e-02 6.42980056e-04 9.99292077e-01 4.21983888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:16.91, Z:4.22 [[ 9.62815204e-01 -2.67743875e-01 -3.60569046e-02 1.15811479e+02] [ 2.67529465e-01 9.63489876e-01 -1.07351617e-02 1.69071674e+01] [ 3.76147364e-02 6.89692477e-04 9.99292077e-01 4.22229858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:16.93, Z:4.23 [[ 9.62476291e-01 -2.68959903e-01 -3.60549602e-02 1.15865779e+02] [ 2.68746101e-01 9.63151156e-01 -1.07416882e-02 1.69273659e+01] [ 3.76154600e-02 6.48990285e-04 9.99292077e-01 4.22574986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:16.95, Z:4.23 [[ 9.61608111e-01 -2.72047837e-01 -3.60529435e-02 1.15920511e+02] [ 2.71835949e-01 9.62283580e-01 -1.07484529e-02 1.69474645e+01] [ 3.76172489e-02 5.35313406e-04 9.99292077e-01 4.22885967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.97, Y:16.97, Z:4.23 [[ 9.60505849e-01 -2.75914563e-01 -3.60508971e-02 1.15973687e+02] [ 2.75705137e-01 9.61182085e-01 -1.07553121e-02 1.69679593e+01] [ 3.76190237e-02 3.91122636e-04 9.99292077e-01 4.22971138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.03, Y:16.99, Z:4.23 [[ 9.59542414e-01 -2.79246760e-01 -3.60500103e-02 1.16028690e+02] [ 2.79039570e-01 9.60219338e-01 -1.07582836e-02 1.69879424e+01] [ 3.76201329e-02 2.63650010e-04 9.99292077e-01 4.23171212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.08, Y:17.01, Z:4.23 [[ 9.57659147e-01 -2.85638761e-01 -3.60479762e-02 1.16083170e+02] [ 2.85435833e-01 9.58337361e-01 -1.07650950e-02 1.70059829e+01] [ 3.76210508e-02 1.99075509e-05 9.99292077e-01 4.23380909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.14, Y:17.02, Z:4.24 [[ 9.55699483e-01 -2.92128576e-01 -3.60470971e-02 1.16137764e+02] [ 2.91930143e-01 9.56379026e-01 -1.07680382e-02 1.70243752e+01] [ 3.76203392e-02 -2.32225703e-04 9.99292077e-01 4.23797335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.19, Y:17.04, Z:4.24 [[ 9.53853601e-01 -2.98100751e-01 -3.60451137e-02 1.16191653e+02] [ 2.97906321e-01 9.54534300e-01 -1.07746733e-02 1.70412662e+01] [ 3.76182355e-02 -4.60606237e-04 9.99292078e-01 4.24027708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.25, Y:17.06, Z:4.24 [[ 9.52728744e-01 -3.01676570e-01 -3.60442584e-02 1.16247756e+02] [ 3.01484586e-01 9.53410137e-01 -1.07775338e-02 1.70562529e+01] [ 3.76162907e-02 -5.98722093e-04 9.99292078e-01 4.24211915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:17.07, Z:4.24 [[ 9.52560420e-01 -3.02207890e-01 -3.60421755e-02 1.16302702e+02] [ 3.02016023e-01 9.53241846e-01 -1.07844947e-02 1.70724579e+01] [ 3.76160693e-02 -6.12431698e-04 9.99292078e-01 4.24165022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:17.09, Z:4.25 [[ 9.53080174e-01 -3.00564878e-01 -3.60407625e-02 1.16357686e+02] [ 3.00371658e-01 9.53761217e-01 -1.07892148e-02 1.70893116e+01] [ 3.76171406e-02 -5.42636874e-04 9.99292078e-01 4.24766524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.41, Y:17.11, Z:4.24 [[ 9.53627667e-01 -2.98823326e-01 -3.60401366e-02 1.16413232e+02] [ 2.98628784e-01 9.54308334e-01 -1.07913053e-02 1.71060050e+01] [ 3.76180964e-02 -4.71734840e-04 9.99292078e-01 4.24240229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.47, Y:17.12, Z:4.25 [[ 9.53795669e-01 -2.98286901e-01 -3.60381174e-02 1.16468399e+02] [ 2.98091721e-01 9.54476154e-01 -1.07980442e-02 1.71223936e+01] [ 3.76184388e-02 -4.43536677e-04 9.99292078e-01 4.24518119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:17.14, Z:4.25 [[ 9.53858431e-01 -2.98086215e-01 -3.60374940e-02 1.16523933e+02] [ 2.97890814e-01 9.54538852e-01 -1.08001242e-02 1.71375701e+01] [ 3.76185563e-02 -4.33448919e-04 9.99292078e-01 4.24640901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:17.15, Z:4.25 [[ 9.54174912e-01 -2.97071840e-01 -3.60355286e-02 1.16580008e+02] [ 2.96875468e-01 9.54855053e-01 -1.08066781e-02 1.71523763e+01] [ 3.76190663e-02 -3.86603319e-04 9.99292078e-01 4.24761165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:17.17, Z:4.25 [[ 9.55479036e-01 -2.92850468e-01 -3.60335354e-02 1.16635715e+02] [ 2.92650841e-01 9.56158228e-01 -1.08133202e-02 1.71694632e+01] [ 3.76204472e-02 -2.13343701e-04 9.99292078e-01 4.24989137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:116.69, Y:17.19, Z:4.25 [[ 9.56874892e-01 -2.88257125e-01 -3.60315146e-02 1.16690829e+02] [ 2.88053984e-01 9.57553042e-01 -1.08200496e-02 1.71878631e+01] [ 3.76210428e-02 -2.55875334e-05 9.99292078e-01 4.25451234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:116.75, Y:17.20, Z:4.26 [[ 9.57199596e-01 -2.87177138e-01 -3.60308861e-02 1.16745923e+02] [ 2.86973153e-01 9.57877493e-01 -1.08221421e-02 1.72048274e+01] [ 3.76210466e-02 1.90530821e-05 9.99292078e-01 4.25738215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.80, Y:17.22, Z:4.26 [[ 9.57677533e-01 -2.85579521e-01 -3.60288879e-02 1.16801109e+02] [ 2.85374154e-01 9.58355012e-01 -1.08287903e-02 1.72224513e+01] [ 3.76209460e-02 8.87757334e-05 9.99292078e-01 4.25963722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:17.24, Z:4.26 [[ 9.58029438e-01 -2.84397009e-01 -3.60268860e-02 1.16855446e+02] [ 2.84190556e-01 9.58706588e-01 -1.08354466e-02 1.72409331e+01] [ 3.76207815e-02 1.42176024e-04 9.99292078e-01 4.26010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:116.91, Y:17.26, Z:4.26 [[ 9.58196138e-01 -2.83834965e-01 -3.60260183e-02 1.16910637e+02] [ 2.83628007e-01 9.58873133e-01 -1.08383305e-02 1.72587066e+01] [ 3.76206782e-02 1.67258680e-04 9.99292078e-01 4.25929489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:116.96, Y:17.28, Z:4.26 [[ 9.58042545e-01 -2.84353210e-01 -3.60240680e-02 1.16964673e+02] [ 2.84146374e-01 9.58719578e-01 -1.08448092e-02 1.72776658e+01] [ 3.76207355e-02 1.53680366e-04 9.99292078e-01 4.26069438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:17.30, Z:4.26 [[ 9.57784814e-01 -2.85220287e-01 -3.60227434e-02 1.17019244e+02] [ 2.85013898e-01 9.58461983e-01 -1.08492072e-02 1.72962092e+01] [ 3.76208440e-02 1.24223325e-04 9.99292078e-01 4.26338956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.07, Y:17.32, Z:4.26 [[ 9.57357590e-01 -2.86651276e-01 -3.60207090e-02 1.17072480e+02] [ 2.86445645e-01 9.58034989e-01 -1.08559575e-02 1.73165558e+01] [ 3.76209736e-02 7.50580988e-05 9.99292078e-01 4.26481581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.13, Y:17.34, Z:4.27 [[ 9.57399977e-01 -2.86509783e-01 -3.60198302e-02 1.17126435e+02] [ 2.86303943e-01 9.58077313e-01 -1.08588725e-02 1.73377313e+01] [ 3.76209553e-02 8.36648860e-05 9.99292078e-01 4.26589447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:117.18, Y:17.36, Z:4.27 [[ 9.57517583e-01 -2.86116735e-01 -3.60179483e-02 1.17180090e+02] [ 2.85910382e-01 9.58194763e-01 -1.08651112e-02 1.73601479e+01] [ 3.76208995e-02 1.05629633e-04 9.99292078e-01 4.26820501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:117.23, Y:17.38, Z:4.27 [[ 9.57233767e-01 -2.87065098e-01 -3.60158924e-02 1.17233952e+02] [ 2.86859160e-01 9.57911073e-01 -1.08719215e-02 1.73812089e+01] [ 3.76209714e-02 7.54817499e-05 9.99292078e-01 4.27112721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:17.40, Z:4.27 [[ 9.55778799e-01 -2.91873078e-01 -3.60137930e-02 1.17287077e+02] [ 2.91670285e-01 9.56457053e-01 -1.08788717e-02 1.74029124e+01] [ 3.76208961e-02 -1.06358270e-04 9.99292078e-01 4.27337632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.34, Y:17.42, Z:4.27 [[ 9.53954348e-01 -2.97782092e-01 -3.60128881e-02 1.17341484e+02] [ 2.97583387e-01 9.54633811e-01 -1.08818663e-02 1.74231997e+01] [ 3.76195455e-02 -3.36033570e-04 9.99292078e-01 4.27455011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:17.44, Z:4.28 [[ 9.52339215e-01 -3.02907973e-01 -3.60108263e-02 1.17394958e+02] [ 3.02712667e-01 9.53019663e-01 -1.08886852e-02 1.74428204e+01] [ 3.76172951e-02 -5.31211335e-04 9.99292078e-01 4.27690234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:17.46, Z:4.28 [[ 9.51028316e-01 -3.06999066e-01 -3.60099333e-02 1.17449352e+02] [ 3.06806575e-01 9.51709566e-01 -1.08916375e-02 1.74631075e+01] [ 3.76147205e-02 -6.89828634e-04 9.99292078e-01 4.28044657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:17.48, Z:4.28 [[ 9.50498047e-01 -3.08637161e-01 -3.60078606e-02 1.17504184e+02] [ 3.08445585e-01 9.51179554e-01 -1.08984857e-02 1.74833111e+01] [ 3.76136184e-02 -7.47476253e-04 9.99292078e-01 4.28381024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.56, Y:17.50, Z:4.29 [[ 9.49967080e-01 -3.10267838e-01 -3.60057698e-02 1.17558308e+02] [ 3.10077170e-01 9.50648842e-01 -1.09053887e-02 1.75016699e+01] [ 3.76124347e-02 -8.04806962e-04 9.99292078e-01 4.28614091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:17.52, Z:4.29 [[ 9.49445629e-01 -3.11860039e-01 -3.60043538e-02 1.17612128e+02] [ 3.11670337e-01 9.50127661e-01 -1.09100616e-02 1.75199311e+01] [ 3.76111447e-02 -8.62978836e-04 9.99292078e-01 4.28720292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:17.54, Z:4.29 [[ 9.49272005e-01 -3.12388240e-01 -3.60034596e-02 1.17667551e+02] [ 3.12198806e-01 9.49954110e-01 -1.09130117e-02 1.75382320e+01] [ 3.76107309e-02 -8.80820630e-04 9.99292078e-01 4.28947234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:17.56, Z:4.29 [[ 9.48884477e-01 -3.13563624e-01 -3.60014213e-02 1.17722428e+02] [ 3.13374780e-01 9.49566747e-01 -1.09197317e-02 1.75560261e+01] [ 3.76097832e-02 -9.20373617e-04 9.99292078e-01 4.29117687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:17.57, Z:4.30 [[ 9.48582246e-01 -3.14476970e-01 -3.59994069e-02 1.17777752e+02] [ 3.14288532e-01 9.49264628e-01 -1.09263686e-02 1.75736287e+01] [ 3.76090549e-02 -9.49641514e-04 9.99292078e-01 4.29544845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.83, Y:17.59, Z:4.30 [[ 9.48779976e-01 -3.13880149e-01 -3.59973632e-02 1.17833760e+02] [ 3.13691026e-01 9.49462168e-01 -1.09330976e-02 1.75899054e+01] [ 3.76098168e-02 -9.18945708e-04 9.99292078e-01 4.29512163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:17.61, Z:4.29 [[ 9.49209237e-01 -3.12579685e-01 -3.59967308e-02 1.17889072e+02] [ 3.12389549e-01 9.49891147e-01 -1.09351795e-02 1.76068776e+01] [ 3.76110908e-02 -8.65229109e-04 9.99292078e-01 4.29322121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:117.94, Y:17.62, Z:4.30 [[ 9.49541653e-01 -3.11568498e-01 -3.59961122e-02 1.17944709e+02] [ 3.11377558e-01 9.50223339e-01 -1.09372151e-02 1.76238940e+01] [ 3.76120377e-02 -8.23040181e-04 9.99292078e-01 4.29661377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.00, Y:17.64, Z:4.30 [[ 9.49200811e-01 -3.12605580e-01 -3.59940455e-02 1.18000222e+02] [ 3.12415128e-01 9.49882633e-01 -1.09440125e-02 1.76400467e+01] [ 3.76112781e-02 -8.57018794e-04 9.99292078e-01 4.29882635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:118.06, Y:17.66, Z:4.30 [[ 9.48450612e-01 -3.14874603e-01 -3.59919688e-02 1.18055661e+02] [ 3.14685522e-01 9.49132815e-01 -1.09508379e-02 1.76556781e+01] [ 3.76092994e-02 -9.39822582e-04 9.99292078e-01 4.30019137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:17.67, Z:4.30 [[ 9.47569352e-01 -3.17517011e-01 -3.59898638e-02 1.18112497e+02] [ 3.17329571e-01 9.48252008e-01 -1.09577517e-02 1.76690954e+01] [ 3.76067332e-02 -1.03741835e-03 9.99292078e-01 4.30182679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.068623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:17.68, Z:4.30 [[ 9.47063117e-01 -3.19024034e-01 -3.59877481e-02 1.18169407e+02] [ 3.18837416e-01 9.47745999e-01 -1.09646957e-02 1.76811398e+01] [ 3.76052457e-02 -1.08998169e-03 9.99292078e-01 4.30382071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.128623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:17.69, Z:4.31 [[ 9.46968535e-01 -3.19304750e-01 -3.59870958e-02 1.18226285e+02] [ 3.19118253e-01 9.47651449e-01 -1.09668362e-02 1.76931703e+01] [ 3.76049864e-02 -1.09889029e-03 9.99292078e-01 4.30914684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:17.71, Z:4.31 [[ 9.47093346e-01 -3.18934587e-01 -3.59850467e-02 1.18282471e+02] [ 3.18747568e-01 9.47776117e-01 -1.09735559e-02 1.77051291e+01] [ 3.76056143e-02 -1.07716437e-03 9.99292078e-01 4.30981491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:17.71, Z:4.31 [[ 9.47576301e-01 -3.17496920e-01 -3.59841607e-02 1.18340232e+02] [ 3.17308755e-01 9.48258758e-01 -1.09764603e-02 1.77144300e+01] [ 3.76072879e-02 -1.01705559e-03 9.99292078e-01 4.31241048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:17.72, Z:4.32 [[ 9.48203691e-01 -3.15618353e-01 -3.59835416e-02 1.18398060e+02] [ 3.15428759e-01 9.48885752e-01 -1.09784894e-02 1.77245931e+01] [ 3.76092827e-02 -9.40399660e-04 9.99292078e-01 4.31528310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:17.74, Z:4.32 [[ 9.48755749e-01 -3.13955189e-01 -3.59814925e-02 1.18454962e+02] [ 3.13764145e-01 9.49437405e-01 -1.09852013e-02 1.77371201e+01] [ 3.76110358e-02 -8.67429281e-04 9.99292078e-01 4.31667207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:17.75, Z:4.32 [[ 9.49871624e-01 -3.10563004e-01 -3.59794086e-02 1.18512366e+02] [ 3.10369267e-01 9.50552520e-01 -1.09920221e-02 1.77482943e+01] [ 3.76140330e-02 -7.25892754e-04 9.99292078e-01 4.31867425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:17.76, Z:4.32 [[ 9.50324233e-01 -3.09175494e-01 -3.59772968e-02 1.18567903e+02] [ 3.08980502e-01 9.51004770e-01 -1.09989300e-02 1.77633515e+01] [ 3.76151805e-02 -6.63733478e-04 9.99292078e-01 4.32090764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:17.77, Z:4.32 [[ 9.51832984e-01 -3.04499190e-01 -3.59751836e-02 1.18625489e+02] [ 3.04300592e-01 9.52512478e-01 -1.10058375e-02 1.77744905e+01] [ 3.76180799e-02 -4.71550545e-04 9.99292078e-01 4.32413152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:17.79, Z:4.33 [[ 9.53105533e-01 -3.00492565e-01 -3.59730668e-02 1.18681051e+02] [ 3.00290850e-01 9.53784108e-01 -1.10127520e-02 1.77859814e+01] [ 3.76197895e-02 -3.06067876e-04 9.99292078e-01 4.32630138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:17.80, Z:4.33 [[ 9.53898924e-01 -2.97964506e-01 -3.59721494e-02 1.18738425e+02] [ 2.97760879e-01 9.54576928e-01 -1.10157478e-02 1.77996533e+01] [ 3.76204857e-02 -2.03188868e-04 9.99292078e-01 4.33056622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.728623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:118.79, Y:17.81, Z:4.33 [[ 9.54334928e-01 -2.96565314e-01 -3.59702734e-02 1.18793637e+02] [ 2.96360463e-01 9.55012563e-01 -1.10218702e-02 1.78142239e+01] [ 3.76207674e-02 -1.41611180e-04 9.99292078e-01 4.33211777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.788623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.85, Y:17.83, Z:4.33 [[ 9.55173441e-01 -2.93853542e-01 -3.59693426e-02 1.18848601e+02] [ 2.93646653e-01 9.55850456e-01 -1.10249069e-02 1.78278320e+01] [ 3.76210205e-02 -3.15788473e-05 9.99292078e-01 4.33279483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.848623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:17.84, Z:4.33 [[ 9.55834266e-01 -2.91696979e-01 -3.59684438e-02 1.18904290e+02] [ 2.91488452e-01 9.56510778e-01 -1.10278384e-02 1.78428210e+01] [ 3.76209913e-02 5.63997793e-05 9.99292078e-01 4.33383569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.908623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:17.86, Z:4.34 [[ 9.56756230e-01 -2.88658856e-01 -3.59663928e-02 1.18959787e+02] [ 2.88447929e-01 9.57431998e-01 -1.10345237e-02 1.78584013e+01] [ 3.76205883e-02 1.82917756e-04 9.99292078e-01 4.33660793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:17.87, Z:4.34 [[ 9.57606035e-01 -2.85827312e-01 -3.59642868e-02 1.19015507e+02] [ 2.85614130e-01 9.58281095e-01 -1.10413834e-02 1.78736638e+01] [ 3.76198250e-02 3.01386890e-04 9.99292078e-01 4.34104292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.07, Y:17.89, Z:4.34 [[ 9.58766126e-01 -2.81911754e-01 -3.59621739e-02 1.19070632e+02] [ 2.81695557e-01 9.59440227e-01 -1.10482608e-02 1.78910836e+01] [ 3.76181909e-02 4.62313624e-04 9.99292078e-01 4.34460730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:119.13, Y:17.91, Z:4.35 [[ 9.59538373e-01 -2.79272052e-01 -3.59615208e-02 1.19125248e+02] [ 2.79053921e-01 9.60211851e-01 -1.10503863e-02 1.79097691e+01] [ 3.76167425e-02 5.68066305e-04 9.99292078e-01 4.34707522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:17.93, Z:4.35 [[ 9.60122083e-01 -2.77258925e-01 -3.59593393e-02 1.19180466e+02] [ 2.77039116e-01 9.60795015e-01 -1.10574804e-02 1.79283924e+01] [ 3.76153391e-02 6.54387534e-04 9.99292078e-01 4.34876205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:17.95, Z:4.35 [[ 9.60112421e-01 -2.77292665e-01 -3.59571483e-02 1.19235094e+02] [ 2.77072613e-01 9.60785274e-01 -1.10646009e-02 1.79487202e+01] [ 3.76152312e-02 6.60519730e-04 9.99292078e-01 4.34729261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:119.29, Y:17.97, Z:4.35 [[ 9.59422793e-01 -2.79669514e-01 -3.59564726e-02 1.19289775e+02] [ 2.79451047e-01 9.60096161e-01 -1.10667962e-02 1.79698632e+01] [ 3.76167168e-02 5.69662572e-04 9.99292078e-01 4.34668644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:119.34, Y:17.99, Z:4.35 [[ 9.58678611e-01 -2.82210175e-01 -3.59546592e-02 1.19344107e+02] [ 2.81993271e-01 9.59352485e-01 -1.10726845e-02 1.79893883e+01] [ 3.76180159e-02 4.76173866e-04 9.99292078e-01 4.34862600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38862385299998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:18.01, Z:4.35 [[ 9.57057513e-01 -2.87660089e-01 -3.59526028e-02 1.19397661e+02] [ 2.87446773e-01 9.57732531e-01 -1.10793576e-02 1.80101941e+01] [ 3.76200662e-02 2.69122782e-04 9.99292079e-01 4.35250005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.448623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:18.03, Z:4.36 [[ 9.54468144e-01 -2.96138512e-01 -3.59519662e-02 1.19452588e+02] [ 2.95931114e-01 9.55145004e-01 -1.10814229e-02 1.80299097e+01] [ 3.76209770e-02 -6.24403143e-05 9.99292079e-01 4.35816098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.508623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:18.05, Z:4.36 [[ 9.52201890e-01 -3.03346581e-01 -3.59501455e-02 1.19507467e+02] [ 3.03144084e-01 9.52880231e-01 -1.10873263e-02 1.80475123e+01] [ 3.76194855e-02 -3.40700883e-04 9.99292079e-01 4.36178187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.568623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:119.56, Y:18.06, Z:4.36 [[ 9.48319917e-01 -3.15273012e-01 -3.59480665e-02 1.19562440e+02] [ 3.15078789e-01 9.49000674e-01 -1.10940631e-02 1.80620651e+01] [ 3.76123980e-02 -8.05752309e-04 9.99292079e-01 4.36196357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.62, Y:18.07, Z:4.36 [[ 9.44668330e-01 -3.26051449e-01 -3.59471687e-02 1.19618731e+02] [ 3.25864880e-01 9.45351224e-01 -1.10969712e-02 1.80743460e+01] [ 3.76008835e-02 -1.23096261e-03 9.99292079e-01 4.36447189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:18.09, Z:4.36 [[ 9.42030978e-01 -3.33594817e-01 -3.59462866e-02 1.19675881e+02] [ 3.33413605e-01 9.42715313e-01 -1.10998280e-02 1.80858045e+01] [ 3.75899599e-02 -1.52859914e-03 9.99292079e-01 4.36482150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:119.73, Y:18.10, Z:4.36 [[ 9.41301207e-01 -3.35648693e-01 -3.59443079e-02 1.19733283e+02] [ 3.35468730e-01 9.41985872e-01 -1.11062319e-02 1.80984034e+01] [ 3.75868224e-02 -1.60388179e-03 9.99292079e-01 4.36420402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:119.79, Y:18.11, Z:4.37 [[ 9.42022992e-01 -3.33617764e-01 -3.59425898e-02 1.19790889e+02] [ 3.33436113e-01 9.42707211e-01 -1.11117891e-02 1.81091787e+01] [ 3.75904289e-02 -1.51699661e-03 9.99292079e-01 4.36860656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:119.85, Y:18.12, Z:4.37 [[ 9.43798240e-01 -3.28562264e-01 -3.59405229e-02 1.19848564e+02] [ 3.28376693e-01 9.44481406e-01 -1.11184707e-02 1.81192083e+01] [ 3.75982655e-02 -1.30843697e-03 9.99292079e-01 4.37081177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:119.91, Y:18.13, Z:4.37 [[ 9.45365385e-01 -3.24025798e-01 -3.59384260e-02 1.19905221e+02] [ 3.23836691e-01 9.46047581e-01 -1.11252442e-02 1.81319682e+01] [ 3.76043271e-02 -1.12076019e-03 9.99292079e-01 4.37408476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:119.96, Y:18.14, Z:4.38 [[ 9.47852428e-01 -3.16677061e-01 -3.59362435e-02 1.19961751e+02] [ 3.16482397e-01 9.48533059e-01 -1.11322898e-02 1.81422794e+01] [ 3.76120557e-02 -8.21420591e-04 9.99292079e-01 4.37582251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:18.15, Z:4.38 [[ 9.49950931e-01 -3.10325508e-01 -3.59347616e-02 1.20019363e+02] [ 3.10126112e-01 9.50630191e-01 -1.11370710e-02 1.81523883e+01] [ 3.76167865e-02 -5.64636901e-04 9.99292079e-01 4.37907764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:18.17, Z:4.38 [[ 9.51161447e-01 -3.06595411e-01 -3.59326518e-02 1.20075965e+02] [ 3.06393094e-01 9.51839843e-01 -1.11438741e-02 1.81651255e+01] [ 3.76187903e-02 -4.09893002e-04 9.99292079e-01 4.38121876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:120.13, Y:18.18, Z:4.38 [[ 9.53158718e-01 -3.00328911e-01 -3.59305272e-02 1.20132660e+02] [ 3.00121876e-01 9.53835689e-01 -1.11507200e-02 1.81771572e+01] [ 3.76207028e-02 -1.55131284e-04 9.99292079e-01 4.38409042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.228623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:120.19, Y:18.19, Z:4.39 [[ 9.55376582e-01 -2.93197434e-01 -3.59284132e-02 1.20188544e+02] [ 2.92985089e-01 9.56051906e-01 -1.11575272e-02 1.81917778e+01] [ 3.76207863e-02 1.33150823e-04 9.99292079e-01 4.38724245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.24, Y:18.21, Z:4.39 [[ 9.56509457e-01 -2.89480498e-01 -3.59263139e-02 1.20244641e+02] [ 2.89265276e-01 9.57183869e-01 -1.11642829e-02 1.82070496e+01] [ 3.76199303e-02 2.86507095e-04 9.99292079e-01 4.38890882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.348623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.30, Y:18.22, Z:4.39 [[ 9.57253389e-01 -2.87011154e-01 -3.59241838e-02 1.20299080e+02] [ 2.86793935e-01 9.57927160e-01 -1.11711327e-02 1.82232964e+01] [ 3.76189911e-02 3.90766590e-04 9.99292079e-01 4.39080326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.408623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:18.24, Z:4.39 [[ 9.57540993e-01 -2.86050350e-01 -3.59227452e-02 1.20354347e+02] [ 2.85832281e-01 9.58214490e-01 -1.11757571e-02 1.82409200e+01] [ 3.76185242e-02 4.33365339e-04 9.99292079e-01 4.39471619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:18.26, Z:4.40 [[ 9.57209671e-01 -2.87157366e-01 -3.59206578e-02 1.20409617e+02] [ 2.86939825e-01 9.57883338e-01 -1.11824620e-02 1.82579524e+01] [ 3.76189260e-02 3.96893528e-04 9.99292079e-01 4.39702268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:18.27, Z:4.40 [[ 9.55562669e-01 -2.92591607e-01 -3.59184669e-02 1.20465188e+02] [ 2.92377632e-01 9.56237478e-01 -1.11894951e-02 1.82726932e+01] [ 3.76205365e-02 1.90507507e-04 9.99292079e-01 4.39808560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:120.52, Y:18.29, Z:4.40 [[ 9.52964690e-01 -3.00945562e-01 -3.59175228e-02 1.20520633e+02] [ 3.00737389e-01 9.53641311e-01 -1.11925248e-02 1.82883508e+01] [ 3.76207742e-02 -1.35661073e-04 9.99292079e-01 4.39905269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:18.30, Z:4.40 [[ 9.50808945e-01 -3.07688863e-01 -3.59153713e-02 1.20576237e+02] [ 3.07485228e-01 9.51486945e-01 -1.11994243e-02 1.83030930e+01] [ 3.76189451e-02 -3.94933350e-04 9.99292079e-01 4.40041170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:18.31, Z:4.40 [[ 9.47598275e-01 -3.17439225e-01 -3.59144412e-02 1.20633181e+02] [ 3.17242451e-01 9.48278299e-01 -1.12024061e-02 1.83141269e+01] [ 3.76129684e-02 -7.78204722e-04 9.99292079e-01 4.40176291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:120.69, Y:18.33, Z:4.41 [[ 9.45511266e-01 -3.23602768e-01 -3.59123094e-02 1.20689867e+02] [ 3.23410168e-01 9.46192484e-01 -1.12092361e-02 1.83275980e+01] [ 3.76072971e-02 -1.01594703e-03 9.99292079e-01 4.41039735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:18.34, Z:4.41 [[ 9.44687434e-01 -3.26000168e-01 -3.59102041e-02 1.20746834e+02] [ 3.25809041e-01 9.45369066e-01 -1.12159767e-02 1.83395019e+01] [ 3.76048064e-02 -1.10427692e-03 9.99292079e-01 4.40753732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:120.80, Y:18.35, Z:4.41 [[ 9.44534431e-01 -3.26443314e-01 -3.59092236e-02 1.20803123e+02] [ 3.26252387e-01 9.45216119e-01 -1.12191150e-02 1.83533767e+01] [ 3.76043820e-02 -1.11862946e-03 9.99292079e-01 4.41118578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.948623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:120.86, Y:18.37, Z:4.41 [[ 9.44947182e-01 -3.25246836e-01 -3.59070998e-02 1.20858566e+02] [ 3.25054788e-01 9.45628555e-01 -1.12259082e-02 1.83656362e+01] [ 3.76059700e-02 -1.06388439e-03 9.99292079e-01 4.41210003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.008623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:120.92, Y:18.38, Z:4.41 [[ 9.46009247e-01 -3.22144768e-01 -3.59061792e-02 1.20915175e+02] [ 3.21950373e-01 9.46689955e-01 -1.12288520e-02 1.83792571e+01] [ 3.76093350e-02 -9.37410002e-04 9.99292079e-01 4.41424429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.97, Y:18.39, Z:4.42 [[ 9.47597057e-01 -3.17444031e-01 -3.59040996e-02 1.20971693e+02] [ 3.17246008e-01 9.48276718e-01 -1.12354973e-02 1.83934874e+01] [ 3.76136633e-02 -7.43708108e-04 9.99292079e-01 4.41788238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.128623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:121.03, Y:18.41, Z:4.42 [[ 9.48871060e-01 -3.13615628e-01 -3.59019544e-02 1.21026975e+02] [ 3.13414603e-01 9.49549839e-01 -1.12423479e-02 1.84088113e+01] [ 3.76164710e-02 -5.84658230e-04 9.99292079e-01 4.41970945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.08, Y:18.42, Z:4.42 [[ 9.50766023e-01 -3.07823142e-01 -3.59010242e-02 1.21082756e+02] [ 3.07617869e-01 9.51443529e-01 -1.12453178e-02 1.84239061e+01] [ 3.76193662e-02 -3.52130467e-04 9.99292079e-01 4.42075719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:121.14, Y:18.44, Z:4.42 [[ 9.52917919e-01 -3.01095846e-01 -3.58989045e-02 1.21137726e+02] [ 3.00885535e-01 9.53593879e-01 -1.12520805e-02 1.84425841e+01] [ 3.76209303e-02 -7.91519327e-05 9.99292079e-01 4.42228280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:18.46, Z:4.43 [[ 9.53935991e-01 -2.97854908e-01 -3.58967904e-02 1.21192783e+02] [ 2.97642048e-01 9.54611151e-01 -1.12588208e-02 1.84599961e+01] [ 3.76209715e-02 5.58001961e-05 9.99292079e-01 4.42521258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:18.48, Z:4.43 [[ 9.54945858e-01 -2.94601391e-01 -3.58946815e-02 1.21247909e+02] [ 2.94385977e-01 9.55620209e-01 -1.12655405e-02 1.84790697e+01] [ 3.76205269e-02 1.91090330e-04 9.99292079e-01 4.43093997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:121.30, Y:18.50, Z:4.43 [[ 9.55244941e-01 -2.93630431e-01 -3.58925259e-02 1.21303219e+02] [ 2.93414074e-01 9.55918989e-01 -1.12724041e-02 1.84978020e+01] [ 3.76202679e-02 2.36534715e-04 9.99292079e-01 4.43205203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:18.52, Z:4.43 [[ 9.55188678e-01 -2.93813632e-01 -3.58906560e-02 1.21357309e+02] [ 2.93597181e-01 9.55862696e-01 -1.12783546e-02 1.85189658e+01] [ 3.76202735e-02 2.35561232e-04 9.99292079e-01 4.43253384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.41, Y:18.54, Z:4.43 [[ 9.55047275e-01 -2.94273198e-01 -3.58885385e-02 1.21411030e+02] [ 2.94056818e-01 9.55721316e-01 -1.12850884e-02 1.85388894e+01] [ 3.76203404e-02 2.24523513e-04 9.99292079e-01 4.43499469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.47, Y:18.56, Z:4.44 [[ 9.55148098e-01 -2.93945895e-01 -3.58876237e-02 1.21465117e+02] [ 2.93729175e-01 9.55822030e-01 -1.12879969e-02 1.85589215e+01] [ 3.76202417e-02 2.40466637e-04 9.99292079e-01 4.43832293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:18.58, Z:4.44 [[ 9.55127773e-01 -2.94012010e-01 -3.58869763e-02 1.21518665e+02] [ 2.93795259e-01 9.55801695e-01 -1.12900549e-02 1.85815237e+01] [ 3.76202445e-02 2.40021547e-04 9.99292079e-01 4.44244478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.728623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.57, Y:18.61, Z:4.44 [[ 9.54645273e-01 -2.95574985e-01 -3.58863566e-02 1.21572300e+02] [ 2.95359263e-01 9.55319526e-01 -1.12920243e-02 1.86050454e+01] [ 3.76205771e-02 1.80509824e-04 9.99292079e-01 4.44372066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.63, Y:18.62, Z:4.44 [[ 9.54229001e-01 -2.96916357e-01 -3.58843967e-02 1.21626471e+02] [ 2.96701349e-01 9.54903482e-01 -1.12982492e-02 1.86247491e+01] [ 3.76207703e-02 1.34168157e-04 9.99292079e-01 4.44308834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.68, Y:18.65, Z:4.44 [[ 9.53369734e-01 -2.99663984e-01 -3.58837899e-02 1.21680534e+02] [ 2.99450847e-01 9.54044808e-01 -1.13001760e-02 1.86501662e+01] [ 3.76209992e-02 2.78145007e-05 9.99292079e-01 4.44411809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.908623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.73, Y:18.67, Z:4.45 [[ 9.52782228e-01 -3.01526968e-01 -3.58819372e-02 1.21734870e+02] [ 3.01314930e-01 9.53457648e-01 -1.13060560e-02 1.86711046e+01] [ 3.76209882e-02 -3.95541980e-05 9.99292079e-01 4.44754618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.79, Y:18.69, Z:4.45 [[ 9.51698625e-01 -3.04930101e-01 -3.58797992e-02 1.21788553e+02] [ 3.04720223e-01 9.52374719e-01 -1.13128367e-02 1.86931627e+01] [ 3.76206381e-02 -1.66889256e-04 9.99292079e-01 4.45084235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.84, Y:18.71, Z:4.45 [[ 9.50619957e-01 -3.08276648e-01 -3.58776561e-02 1.21843186e+02] [ 3.08068893e-01 9.51296706e-01 -1.13196293e-02 1.87131059e+01] [ 3.76198735e-02 -2.92124276e-04 9.99292079e-01 4.45494039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.90, Y:18.73, Z:4.46 [[ 9.48870829e-01 -3.13619360e-01 -3.58754279e-02 1.21897671e+02] [ 3.13415149e-01 9.49548656e-01 -1.13266869e-02 1.87322400e+01] [ 3.76177326e-02 -4.96339724e-04 9.99292079e-01 4.45710096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:18.75, Z:4.46 [[ 9.47790361e-01 -3.16869917e-01 -3.58732107e-02 1.21951763e+02] [ 3.16667765e-01 9.48468805e-01 -1.13337046e-02 1.87511049e+01] [ 3.76159313e-02 -6.17913466e-04 9.99292079e-01 4.45666317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:18.77, Z:4.46 [[ 9.47250316e-01 -3.18480861e-01 -3.58717147e-02 1.22006974e+02] [ 3.18279683e-01 9.47929050e-01 -1.13384378e-02 1.87692830e+01] [ 3.76149158e-02 -6.76899216e-04 9.99292079e-01 4.46021377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.06, Y:18.79, Z:4.46 [[ 9.47177620e-01 -3.18697239e-01 -3.58695655e-02 1.22061942e+02] [ 3.18495960e-01 9.47856323e-01 -1.13452327e-02 1.87869534e+01] [ 3.76148888e-02 -6.78361155e-04 9.99292079e-01 4.46269237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:18.80, Z:4.46 [[ 9.47396753e-01 -3.18045472e-01 -3.58673986e-02 1.22116634e+02] [ 3.17843466e-01 9.48075240e-01 -1.13520790e-02 1.88041035e+01] [ 3.76154699e-02 -6.45295482e-04 9.99292079e-01 4.46372445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38862385299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:122.17, Y:18.82, Z:4.47 [[ 9.48121678e-01 -3.15878013e-01 -3.58659307e-02 1.22171655e+02] [ 3.15674281e-01 9.48799649e-01 -1.13567149e-02 1.88235528e+01] [ 3.76169190e-02 -5.54404252e-04 9.99292079e-01 4.46838035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.448623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:18.84, Z:4.47 [[ 9.48614208e-01 -3.14396041e-01 -3.58638144e-02 1.22226896e+02] [ 3.14190997e-01 9.49291784e-01 -1.13633941e-02 1.88418943e+01] [ 3.76178304e-02 -4.88610498e-04 9.99292079e-01 4.46573073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.28, Y:18.86, Z:4.47 [[ 9.49463602e-01 -3.11821759e-01 -3.58616569e-02 1.22282110e+02] [ 3.11614621e-01 9.50140540e-01 -1.13701987e-02 1.88603789e+01] [ 3.76190895e-02 -3.79426799e-04 9.99292079e-01 4.46795229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.34, Y:18.88, Z:4.47 [[ 9.50082523e-01 -3.09931116e-01 -3.58594754e-02 1.22337532e+02] [ 3.09722371e-01 9.50758968e-01 -1.13770748e-02 1.88788497e+01] [ 3.76198273e-02 -2.97321769e-04 9.99292080e-01 4.47093969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.628623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:122.39, Y:18.90, Z:4.47 [[ 9.50639460e-01 -3.08218869e-01 -3.58572976e-02 1.22391342e+02] [ 3.08008647e-01 9.51315447e-01 -1.13839345e-02 1.88993157e+01] [ 3.76203445e-02 -2.22340329e-04 9.99292080e-01 4.47303266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.45, Y:18.92, Z:4.47 [[ 9.50656333e-01 -3.08166900e-01 -3.58566252e-02 1.22446772e+02] [ 3.07956562e-01 9.51332284e-01 -1.13860519e-02 1.89174960e+01] [ 3.76203695e-02 -2.18060663e-04 9.99292080e-01 4.47472523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.50, Y:18.94, Z:4.48 [[ 9.50159683e-01 -3.09695062e-01 -3.58544940e-02 1.22501989e+02] [ 3.09485557e-01 9.50835893e-01 -1.13927591e-02 1.89352520e+01] [ 3.76200210e-02 -2.71507645e-04 9.99292080e-01 4.47928109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.56, Y:18.95, Z:4.48 [[ 9.49506597e-01 -3.11691715e-01 -3.58538332e-02 1.22557222e+02] [ 3.11483554e-01 9.50183221e-01 -1.13948382e-02 1.89523233e+01] [ 3.76193874e-02 -3.48405298e-04 9.99292080e-01 4.48198594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.61, Y:18.97, Z:4.48 [[ 9.48150103e-01 -3.15794292e-01 -3.58517359e-02 1.22612642e+02] [ 3.15588809e-01 9.48827545e-01 -1.14014331e-02 1.89676644e+01] [ 3.76176221e-02 -5.04136683e-04 9.99292080e-01 4.48457005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.67, Y:18.98, Z:4.49 [[ 9.47016663e-01 -3.19177444e-01 -3.58496712e-02 1.22667988e+02] [ 3.18974135e-01 9.47694761e-01 -1.14079215e-02 1.89833585e+01] [ 3.76156968e-02 -6.31626154e-04 9.99292080e-01 4.48635959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.72, Y:19.00, Z:4.49 [[ 9.45511538e-01 -3.23609148e-01 -3.58476146e-02 1.22724151e+02] [ 3.23408773e-01 9.46190508e-01 -1.14143805e-02 1.89959424e+01] [ 3.76124706e-02 -8.01004545e-04 9.99292080e-01 4.48842508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.78, Y:19.01, Z:4.49 [[ 9.44204755e-01 -3.27402494e-01 -3.58467279e-02 1.22780823e+02] [ 3.27204740e-01 9.44884494e-01 -1.14171643e-02 1.90074514e+01] [ 3.76090255e-02 -9.49078446e-04 9.99292080e-01 4.48776313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:122.84, Y:19.02, Z:4.49 [[ 9.43661103e-01 -3.28966230e-01 -3.58461048e-02 1.22836882e+02] [ 3.28769528e-01 9.44341146e-01 -1.14191206e-02 1.90183014e+01] [ 3.76074567e-02 -1.00932706e-03 9.99292080e-01 4.48894602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.89, Y:19.03, Z:4.49 [[ 9.43836870e-01 -3.28461691e-01 -3.58452400e-02 1.22892717e+02] [ 3.28264523e-01 9.44516778e-01 -1.14218346e-02 1.90323183e+01] [ 3.76080657e-02 -9.86372011e-04 9.99292080e-01 4.49207145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:19.04, Z:4.50 [[ 9.44678491e-01 -3.26033444e-01 -3.58432877e-02 1.22949513e+02] [ 3.25834296e-01 9.45357823e-01 -1.14279579e-02 1.90413742e+01] [ 3.76106289e-02 -8.83226414e-04 9.99292080e-01 4.49523704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:19.05, Z:4.50 [[ 9.45636524e-01 -3.23244311e-01 -3.58424395e-02 1.23007328e+02] [ 3.23043058e-01 9.46315235e-01 -1.14306176e-02 1.90508840e+01] [ 3.76131286e-02 -7.69441775e-04 9.99292080e-01 4.49587436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.348623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:123.06, Y:19.06, Z:4.50 [[ 9.46472159e-01 -3.20789510e-01 -3.58405216e-02 1.23064616e+02] [ 3.20586269e-01 9.47150277e-01 -1.14366277e-02 1.90626735e+01] [ 3.76151102e-02 -6.65529382e-04 9.99292080e-01 4.49745622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.408623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.12, Y:19.07, Z:4.50 [[ 9.47637451e-01 -3.17330831e-01 -3.58386120e-02 1.23122209e+02] [ 3.17124889e-01 9.48314753e-01 -1.14426088e-02 1.90717613e+01] [ 3.76173770e-02 -5.21871178e-04 9.99292080e-01 4.49771417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.18, Y:19.08, Z:4.50 [[ 9.48606127e-01 -3.14423514e-01 -3.58367016e-02 1.23180581e+02] [ 3.14215271e-01 9.49282726e-01 -1.14485888e-02 1.90797917e+01] [ 3.76188673e-02 -4.00237458e-04 9.99292080e-01 4.49955537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:19.09, Z:4.51 [[ 9.49497419e-01 -3.11721862e-01 -3.58347841e-02 1.23237362e+02] [ 3.11511467e-01 9.50173352e-01 -1.14545875e-02 1.90919406e+01] [ 3.76199023e-02 -2.86844950e-04 9.99292080e-01 4.50629131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:123.29, Y:19.10, Z:4.52 [[ 9.51190573e-01 -3.06516757e-01 -3.58325450e-02 1.23294309e+02] [ 3.06302399e-01 9.51865260e-01 -1.14615877e-02 1.91025229e+01] [ 3.76209234e-02 -7.34403211e-05 9.99292080e-01 4.51635008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.35, Y:19.12, Z:4.51 [[ 9.52497871e-01 -3.02430148e-01 -3.58303087e-02 1.23350558e+02] [ 3.02212633e-01 9.53171546e-01 -1.14685745e-02 1.91158832e+01] [ 3.76208734e-02 9.54208358e-05 9.99292080e-01 4.51150361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:123.41, Y:19.13, Z:4.51 [[ 9.54179525e-01 -2.97081927e-01 -3.58296226e-02 1.23407756e+02] [ 2.96860556e-01 9.54851943e-01 -1.14707173e-02 1.91294180e+01] [ 3.76197276e-02 3.08721879e-04 9.99292080e-01 4.51092638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.46, Y:19.14, Z:4.51 [[ 9.55085224e-01 -2.94157415e-01 -3.58277791e-02 1.23464238e+02] [ 2.93933769e-01 9.55756889e-01 -1.14764726e-02 1.91438343e+01] [ 3.76185362e-02 4.30015316e-04 9.99292080e-01 4.51078664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:19.16, Z:4.52 [[ 9.55613915e-01 -2.92435397e-01 -3.58271299e-02 1.23520186e+02] [ 2.92210464e-01 9.56285150e-01 -1.14784989e-02 1.91576692e+01] [ 3.76176717e-02 4.99950990e-04 9.99292080e-01 4.51711784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.58, Y:19.17, Z:4.52 [[ 9.55631437e-01 -2.92378405e-01 -3.58249165e-02 1.23575969e+02] [ 2.92153173e-01 9.56302572e-01 -1.14854028e-02 1.91739846e+01] [ 3.76175435e-02 5.09448936e-04 9.99292080e-01 4.51767339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:19.19, Z:4.52 [[ 9.54870163e-01 -2.94855211e-01 -3.58242307e-02 1.23631982e+02] [ 2.94631640e-01 9.55541853e-01 -1.14875415e-02 1.91885020e+01] [ 3.76187133e-02 4.14158808e-04 9.99292080e-01 4.52066353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:19.20, Z:4.53 [[ 9.54274743e-01 -2.96776813e-01 -3.58223228e-02 1.23687758e+02] [ 2.96554371e-01 9.54946807e-01 -1.14934880e-02 1.92048312e+01] [ 3.76194135e-02 3.44678926e-04 9.99292080e-01 4.52613114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.068623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:123.74, Y:19.22, Z:4.54 [[ 9.53828609e-01 -2.98207814e-01 -3.58201599e-02 1.23742690e+02] [ 2.97986128e-01 9.54500923e-01 -1.15002249e-02 1.92210633e+01] [ 3.76198326e-02 2.95332782e-04 9.99292080e-01 4.53560998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.128623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:19.24, Z:4.53 [[ 9.53872208e-01 -2.98068586e-01 -3.58179836e-02 1.23798219e+02] [ 2.97846548e-01 9.54544406e-01 -1.15069990e-02 1.92386214e+01] [ 3.76197308e-02 3.07943750e-04 9.99292080e-01 4.53258118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:19.26, Z:4.53 [[ 9.54219793e-01 -2.96954232e-01 -3.58157802e-02 1.23852439e+02] [ 2.96731151e-01 9.54891646e-01 -1.15138530e-02 1.92564372e+01] [ 3.76192767e-02 3.59088769e-04 9.99292080e-01 4.53434191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.91, Y:19.28, Z:4.54 [[ 9.54226603e-01 -2.96932530e-01 -3.58142865e-02 1.23906934e+02] [ 2.96709259e-01 9.54898392e-01 -1.15184974e-02 1.92752970e+01] [ 3.76192212e-02 3.64826201e-04 9.99292080e-01 4.53677961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:19.29, Z:4.54 [[ 9.53870963e-01 -2.98073273e-01 -3.58121429e-02 1.23961557e+02] [ 2.97850556e-01 9.54542936e-01 -1.15251583e-02 1.92949110e+01] [ 3.76195697e-02 3.26847238e-04 9.99292080e-01 4.53814063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:124.02, Y:19.31, Z:4.54 [[ 9.53333947e-01 -2.99786645e-01 -3.58099572e-02 1.24016951e+02] [ 2.99564881e-01 9.54006235e-01 -1.15319454e-02 1.93129938e+01] [ 3.76200457e-02 2.66389420e-04 9.99292080e-01 4.54054382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:19.33, Z:4.54 [[ 9.52702704e-01 -3.01786951e-01 -3.58077446e-02 1.24072693e+02] [ 3.01566340e-01 9.53375371e-01 -1.15388116e-02 1.93327995e+01] [ 3.76204846e-02 1.94646481e-04 9.99292080e-01 4.54438416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:124.13, Y:19.35, Z:4.55 [[ 9.52168899e-01 -3.03467184e-01 -3.58058178e-02 1.24126863e+02] [ 3.03247535e-01 9.52841881e-01 -1.15447877e-02 1.93528611e+01] [ 3.76207470e-02 1.34561770e-04 9.99292080e-01 4.55090032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:19.37, Z:4.55 [[ 9.51748005e-01 -3.04784906e-01 -3.58035614e-02 1.24180797e+02] [ 3.04565926e-01 9.52421206e-01 -1.15517810e-02 1.93730570e+01] [ 3.76208796e-02 8.98397069e-05 9.99292080e-01 4.54632825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60862385299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:19.39, Z:4.55 [[ 9.51522886e-01 -3.05487106e-01 -3.58025835e-02 1.24235466e+02] [ 3.05268509e-01 9.52196211e-01 -1.15548111e-02 1.93927176e+01] [ 3.76209301e-02 6.52659721e-05 9.99292080e-01 4.54830290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.29, Y:19.41, Z:4.55 [[ 9.51290510e-01 -3.06210219e-01 -3.58003814e-02 1.24289394e+02] [ 3.05991877e-01 9.51963917e-01 -1.15616300e-02 1.94144285e+01] [ 3.76209605e-02 4.38429779e-05 9.99292080e-01 4.54998951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.34, Y:19.44, Z:4.55 [[ 9.50690195e-01 -3.08069221e-01 -3.57981611e-02 1.24344310e+02] [ 3.07851937e-01 9.51363944e-01 -1.15685006e-02 1.94358759e+01] [ 3.76209787e-02 -2.24731305e-05 9.99292080e-01 4.55428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.40, Y:19.45, Z:4.56 [[ 9.49964421e-01 -3.10300225e-01 -3.57962287e-02 1.24399391e+02] [ 3.10084298e-01 9.50638606e-01 -1.15744769e-02 1.94548180e+01] [ 3.76208397e-02 -1.04507198e-04 9.99292080e-01 4.55693242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.45, Y:19.47, Z:4.56 [[ 9.48655140e-01 -3.14280469e-01 -3.57940221e-02 1.24453214e+02] [ 3.14067114e-01 9.49330144e-01 -1.15812968e-02 1.94733050e+01] [ 3.76201195e-02 -2.55068460e-04 9.99292080e-01 4.55888343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.51, Y:19.49, Z:4.56 [[ 9.47944042e-01 -3.16418946e-01 -3.57930700e-02 1.24508197e+02] [ 3.16207002e-01 9.48619490e-01 -1.15842384e-02 1.94914200e+01] [ 3.76194763e-02 -3.36809628e-04 9.99292080e-01 4.56201454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.56, Y:19.51, Z:4.57 [[ 9.47367979e-01 -3.18139786e-01 -3.57909079e-02 1.24563474e+02] [ 3.17928817e-01 9.48043732e-01 -1.15909147e-02 1.95102293e+01] [ 3.76188770e-02 -3.98099538e-04 9.99292080e-01 4.56530124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.62, Y:19.53, Z:4.57 [[ 9.47260931e-01 -3.18458621e-01 -3.57887622e-02 1.24617635e+02] [ 3.18247629e-01 9.47936677e-01 -1.15975361e-02 1.95271514e+01] [ 3.76188157e-02 -4.03795921e-04 9.99292080e-01 4.56719789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.67, Y:19.55, Z:4.57 [[ 9.47440434e-01 -3.17924289e-01 -3.57878376e-02 1.24671169e+02] [ 3.17712809e-01 9.48116028e-01 -1.16003885e-02 1.95460556e+01] [ 3.76190677e-02 -3.79577280e-04 9.99292080e-01 4.56943409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.73, Y:19.56, Z:4.57 [[ 9.47875047e-01 -3.16626264e-01 -3.57869218e-02 1.24726264e+02] [ 3.16413752e-01 9.48550317e-01 -1.16032131e-02 1.95640040e+01] [ 3.76195780e-02 -3.25078009e-04 9.99292080e-01 4.57210175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.78, Y:19.58, Z:4.58 [[ 9.48049584e-01 -3.16103514e-01 -3.57848368e-02 1.24781165e+02] [ 3.15890387e-01 9.48724660e-01 -1.16096398e-02 1.95818115e+01] [ 3.76198050e-02 -2.97571758e-04 9.99292080e-01 4.57567399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.84, Y:19.60, Z:4.58 [[ 9.48437725e-01 -3.14937274e-01 -3.57825974e-02 1.24835266e+02] [ 3.14723057e-01 9.49112456e-01 -1.16165379e-02 1.95982586e+01] [ 3.76201897e-02 -2.44045657e-04 9.99292080e-01 4.57714431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:19.62, Z:4.58 [[ 9.48663876e-01 -3.14255511e-01 -3.57816271e-02 1.24890123e+02] [ 3.14040696e-01 9.49338416e-01 -1.16195259e-02 1.96165047e+01] [ 3.76203732e-02 -2.13862600e-04 9.99292080e-01 4.58059213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:19.63, Z:4.58 [[ 9.49452371e-01 -3.11865395e-01 -3.57794840e-02 1.24945654e+02] [ 3.11648633e-01 9.50126288e-01 -1.16261212e-02 1.96337433e+01] [ 3.76208132e-02 -1.12178969e-04 9.99292080e-01 4.58369241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.448623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.00, Y:19.65, Z:4.59 [[ 9.49879279e-01 -3.10562942e-01 -3.57772974e-02 1.25000542e+02] [ 3.10345003e-01 9.50552816e-01 -1.16328462e-02 1.96513357e+01] [ 3.76209417e-02 -5.35059516e-05 9.99292080e-01 4.58581674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.06, Y:19.67, Z:4.59 [[ 9.49739255e-01 -3.10991141e-01 -3.57750897e-02 1.25056294e+02] [ 3.10773249e-01 9.50412808e-01 -1.16396316e-02 1.96686371e+01] [ 3.76209258e-02 -6.33258299e-05 9.99292080e-01 4.58674080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.568623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.11, Y:19.69, Z:4.59 [[ 9.48920392e-01 -3.13481087e-01 -3.57728593e-02 1.25111385e+02] [ 3.13264705e-01 9.49594431e-01 -1.16464826e-02 1.96851498e+01] [ 3.76206600e-02 -1.54789429e-04 9.99292080e-01 4.58805347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.628623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:125.17, Y:19.70, Z:4.60 [[ 9.46927449e-01 -3.19450884e-01 -3.57706521e-02 1.25167522e+02] [ 3.19238495e-01 9.47602757e-01 -1.16532576e-02 1.97008530e+01] [ 3.76190120e-02 -3.84579634e-04 9.99292080e-01 4.59585175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.22, Y:19.71, Z:4.59 [[ 9.45523365e-01 -3.23583356e-01 -3.57683869e-02 1.25223557e+02] [ 3.23373656e-01 9.46199513e-01 -1.16602065e-02 1.97142395e+01] [ 3.76170790e-02 -5.41556350e-04 9.99292080e-01 4.59013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:19.73, Z:4.59 [[ 9.43802136e-01 -3.28569963e-01 -3.57674075e-02 1.25280603e+02] [ 3.28363721e-01 9.44479347e-01 -1.16632097e-02 1.97261902e+01] [ 3.76137581e-02 -7.36956776e-04 9.99292080e-01 4.59230948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.34, Y:19.74, Z:4.60 [[ 9.43041626e-01 -3.30746650e-01 -3.57651373e-02 1.25337093e+02] [ 3.30541708e-01 9.43719231e-01 -1.16701673e-02 1.97398357e+01] [ 3.76121166e-02 -8.16416040e-04 9.99292080e-01 4.59504936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.39, Y:19.75, Z:4.60 [[ 9.42269623e-01 -3.32939897e-01 -3.57628766e-02 1.25393203e+02] [ 3.32736268e-01 9.42947624e-01 -1.16770911e-02 1.97506664e+01] [ 3.76102890e-02 -8.96637902e-04 9.99292081e-01 4.59585066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.45, Y:19.76, Z:4.60 [[ 9.41937989e-01 -3.33877149e-01 -3.57613492e-02 1.25451032e+02] [ 3.33674018e-01 9.42616139e-01 -1.16817668e-02 1.97600971e+01] [ 3.76094999e-02 -9.29133109e-04 9.99292081e-01 4.59939264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:19.77, Z:4.60 [[ 9.42059055e-01 -3.33535469e-01 -3.57607024e-02 1.25508528e+02] [ 3.33332017e-01 9.42737109e-01 -1.16837464e-02 1.97718189e+01] [ 3.76098851e-02 -9.13407949e-04 9.99292081e-01 4.60465762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.56, Y:19.79, Z:4.61 [[ 9.42129141e-01 -3.33337686e-01 -3.57584709e-02 1.25564773e+02] [ 3.33133833e-01 9.42807075e-01 -1.16905720e-02 1.97869063e+01] [ 3.76102476e-02 -8.98327935e-04 9.99292081e-01 4.60774443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:19.80, Z:4.61 [[ 9.42571842e-01 -3.32084045e-01 -3.57562459e-02 1.25623259e+02] [ 3.31879032e-01 9.43249426e-01 -1.16973734e-02 1.97959651e+01] [ 3.76115695e-02 -8.41133430e-04 9.99292081e-01 4.60982882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:19.81, Z:4.61 [[ 9.43238779e-01 -3.30185185e-01 -3.57540044e-02 1.25680849e+02] [ 3.29978548e-01 9.43915870e-01 -1.17042208e-02 1.98076607e+01] [ 3.76133324e-02 -7.58179552e-04 9.99292081e-01 4.61117067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:19.82, Z:4.61 [[ 9.45091587e-01 -3.24844124e-01 -3.57517584e-02 1.25738844e+02] [ 3.24633401e-01 9.45767416e-01 -1.17110774e-02 1.98165714e+01] [ 3.76171228e-02 -5.38174216e-04 9.99292081e-01 4.61300474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:19.83, Z:4.61 [[ 9.46792068e-01 -3.19854267e-01 -3.57495258e-02 1.25795010e+02] [ 3.19639725e-01 9.47466695e-01 -1.17178888e-02 1.98291756e+01] [ 3.76195017e-02 -3.32564404e-04 9.99292081e-01 4.61425007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.85, Y:19.84, Z:4.62 [[ 9.49861641e-01 -3.10620191e-01 -3.57485657e-02 1.25852417e+02] [ 3.10398980e-01 9.50534111e-01 -1.17208170e-02 1.98412278e+01] [ 3.76209535e-02 3.68361760e-05 9.99292081e-01 4.61588894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:19.86, Z:4.62 [[ 9.51584167e-01 -3.05302744e-01 -3.57464244e-02 1.25909037e+02] [ 3.05077531e-01 9.52255307e-01 -1.17273441e-02 1.98555109e+01] [ 3.76201126e-02 2.54124111e-04 9.99292081e-01 4.61807548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:19.87, Z:4.62 [[ 9.53586151e-01 -2.98991308e-01 -3.57442309e-02 1.25965873e+02] [ 2.98761402e-01 9.54255698e-01 -1.17340258e-02 1.98682451e+01] [ 3.76175077e-02 5.10407986e-04 9.99292081e-01 4.62103112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:19.88, Z:4.62 [[ 9.54383420e-01 -2.96436826e-01 -3.57420693e-02 1.26021372e+02] [ 2.96204882e-01 9.55052264e-01 -1.17406063e-02 1.98841518e+01] [ 3.76158923e-02 6.18064566e-04 9.99292081e-01 4.62362201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:19.90, Z:4.63 [[ 9.55620402e-01 -2.92424875e-01 -3.57398986e-02 1.26076248e+02] [ 2.92189877e-01 9.56288178e-01 -1.17472106e-02 1.98990706e+01] [ 3.76128191e-02 7.83037585e-04 9.99292081e-01 4.62534521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.13, Y:19.92, Z:4.63 [[ 9.56467436e-01 -2.89642487e-01 -3.57389621e-02 1.26131976e+02] [ 2.89405440e-01 9.57134488e-01 -1.17500592e-02 1.99165116e+01] [ 3.76103095e-02 8.95498947e-04 9.99292081e-01 4.62602972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708623853 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:126.19, Y:19.94, Z:4.63 [[ 9.57709039e-01 -2.85510548e-01 -3.57368630e-02 1.26186650e+02] [ 2.85270385e-01 9.58374975e-01 -1.17564400e-02 1.99369817e+01] [ 3.76059028e-02 1.06458018e-03 9.99292081e-01 4.62524541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:19.96, Z:4.63 [[ 9.58259805e-01 -2.83656644e-01 -3.57358883e-02 1.26241200e+02] [ 2.83415082e-01 9.58925236e-01 -1.17594017e-02 1.99573209e+01] [ 3.76036776e-02 1.14047227e-03 9.99292081e-01 4.62623381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:19.98, Z:4.63 [[ 9.58456476e-01 -2.82991653e-01 -3.57338426e-02 1.26295803e+02] [ 2.82749398e-01 9.59121654e-01 -1.17656150e-02 1.99771154e+01] [ 3.76026731e-02 1.17310736e-03 9.99292081e-01 4.62903662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:20.00, Z:4.63 [[ 9.57957632e-01 -2.84675978e-01 -3.57318073e-02 1.26350060e+02] [ 2.84434663e-01 9.58623152e-01 -1.17717929e-02 1.99980794e+01] [ 3.76044844e-02 1.11351430e-03 9.99292081e-01 4.63313672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.40, Y:20.02, Z:4.63 [[ 9.57398513e-01 -2.86551018e-01 -3.57295627e-02 1.26403803e+02] [ 2.86310752e-01 9.58064412e-01 -1.17786017e-02 2.00175835e+01] [ 3.76063928e-02 1.04705775e-03 9.99292081e-01 4.63468947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:20.04, Z:4.64 [[ 9.56778887e-01 -2.88613354e-01 -3.57280359e-02 1.26457196e+02] [ 2.88374351e-01 9.57445241e-01 -1.17832311e-02 2.00395722e+01] [ 3.76084358e-02 9.70897517e-04 9.99292081e-01 4.63529633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.51, Y:20.06, Z:4.64 [[ 9.56514312e-01 -2.89489268e-01 -3.57258225e-02 1.26511175e+02] [ 2.89250625e-01 9.57180794e-01 -1.17899382e-02 2.00611058e+01] [ 3.76091317e-02 9.43528098e-04 9.99292081e-01 4.63641678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.56, Y:20.08, Z:4.64 [[ 9.56453547e-01 -2.89690248e-01 -3.57235732e-02 1.26564834e+02] [ 2.89451490e-01 9.57119988e-01 -1.17967497e-02 2.00826396e+01] [ 3.76091493e-02 9.42801575e-04 9.99292081e-01 4.63862371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.62, Y:20.10, Z:4.64 [[ 9.56729430e-01 -2.88777939e-01 -3.57225257e-02 1.26618099e+02] [ 2.88538428e-01 9.57395601e-01 -1.17999208e-02 2.01045598e+01] [ 3.76081458e-02 9.82010065e-04 9.99292081e-01 4.64315670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:20.13, Z:4.64 [[ 9.57185464e-01 -2.87263026e-01 -3.57203308e-02 1.26670644e+02] [ 2.87022213e-01 9.57851165e-01 -1.18065614e-02 2.01297001e+01] [ 3.76063490e-02 1.04854055e-03 9.99292081e-01 4.64489675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:20.15, Z:4.65 [[ 9.57416048e-01 -2.86493847e-01 -3.57181498e-02 1.26723918e+02] [ 2.86252253e-01 9.58081467e-01 -1.18131559e-02 2.01533562e+01] [ 3.76052938e-02 1.08570418e-03 9.99292081e-01 4.64715577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:20.18, Z:4.65 [[ 9.57484156e-01 -2.86266418e-01 -3.57159504e-02 1.26776920e+02] [ 2.86024418e-01 9.58149427e-01 -1.18198016e-02 2.01773769e+01] [ 3.76048297e-02 1.10163882e-03 9.99292081e-01 4.64851945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:20.20, Z:4.65 [[ 9.57267402e-01 -2.86990674e-01 -3.57137696e-02 1.26828845e+02] [ 2.86748932e-01 9.57932767e-01 -1.18263874e-02 2.02040412e+01] [ 3.76054530e-02 1.08012981e-03 9.99292081e-01 4.65143807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:126.88, Y:20.23, Z:4.66 [[ 9.56357155e-01 -2.90009787e-01 -3.57115609e-02 1.26880552e+02] [ 2.89769897e-01 9.57023190e-01 -1.18330533e-02 2.02312631e+01] [ 3.76084931e-02 9.68489853e-04 9.99292081e-01 4.65590264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.93, Y:20.25, Z:4.66 [[ 9.55226390e-01 -2.93713112e-01 -3.57092686e-02 1.26932956e+02] [ 2.93475546e-01 9.55893257e-01 -1.18399667e-02 2.02548339e+01] [ 3.76118025e-02 8.30051547e-04 9.99292081e-01 4.65776280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:126.99, Y:20.28, Z:4.66 [[ 9.53807290e-01 -2.98289411e-01 -3.57082760e-02 1.26986706e+02] [ 2.98054933e-01 9.54475249e-01 -1.18429596e-02 2.02777944e+01] [ 3.76152951e-02 6.52873403e-04 9.99292081e-01 4.65994786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:20.30, Z:4.66 [[ 9.51836962e-01 -3.04518433e-01 -3.57060494e-02 1.27039737e+02] [ 3.04288076e-01 9.52506353e-01 -1.18496690e-02 2.03025795e+01] [ 3.76186815e-02 4.14027908e-04 9.99292081e-01 4.65991464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.09, Y:20.32, Z:4.66 [[ 9.50713291e-01 -3.08008887e-01 -3.57038307e-02 1.27092584e+02] [ 3.07780737e-01 9.51383438e-01 -1.18563502e-02 2.03242591e+01] [ 3.76198944e-02 2.83038455e-04 9.99292081e-01 4.66073870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.15, Y:20.35, Z:4.66 [[ 9.49048077e-01 -3.13102303e-01 -3.57028667e-02 1.27146156e+02] [ 3.12877640e-01 9.49719401e-01 -1.18592524e-02 2.03485811e+01] [ 3.76208644e-02 8.43720177e-05 9.99292081e-01 4.66191370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:20.37, Z:4.67 [[ 9.47981798e-01 -3.16316164e-01 -3.57014739e-02 1.27200094e+02] [ 3.16093619e-01 9.48653827e-01 -1.18634439e-02 2.03700824e+01] [ 3.76209389e-02 -3.86791838e-05 9.99292081e-01 4.66504359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.908623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:127.25, Y:20.39, Z:4.67 [[ 9.47020583e-01 -3.19182672e-01 -3.56992490e-02 1.27253669e+02] [ 3.18961909e-01 9.47693200e-01 -1.18701351e-02 2.03922218e+01] [ 3.76206770e-02 -1.45438303e-04 9.99292081e-01 4.66892372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:127.31, Y:20.41, Z:4.67 [[ 9.46946411e-01 -3.19402907e-01 -3.56970249e-02 1.27308236e+02] [ 3.19182048e-01 9.47618996e-01 -1.18768200e-02 2.04118711e+01] [ 3.76206697e-02 -1.47137464e-04 9.99292081e-01 4.67230846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.36, Y:20.43, Z:4.67 [[ 9.47314625e-01 -3.18309424e-01 -3.56947070e-02 1.27361172e+02] [ 3.18087527e-01 9.47986868e-01 -1.18837820e-02 2.04342661e+01] [ 3.76208333e-02 -9.63605749e-05 9.99292081e-01 4.67385766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.41, Y:20.46, Z:4.67 [[ 9.48595878e-01 -3.14470698e-01 -3.56937053e-02 1.27413904e+02] [ 3.14245966e-01 9.49267179e-01 -1.18867899e-02 2.04598308e+01] [ 3.76209101e-02 5.91569496e-05 9.99292081e-01 4.67421421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.47, Y:20.48, Z:4.68 [[ 9.49288495e-01 -3.12373932e-01 -3.56914527e-02 1.27467307e+02] [ 3.12147464e-01 9.49959212e-01 -1.18935500e-02 2.04824279e+01] [ 3.76206592e-02 1.49413720e-04 9.99292081e-01 4.67625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:20.51, Z:4.68 [[ 9.49704503e-01 -3.11107114e-01 -3.56892185e-02 1.27520385e+02] [ 3.10879499e-01 9.50374832e-01 -1.19002502e-02 2.05073718e+01] [ 3.76203876e-02 2.06674804e-04 9.99292081e-01 4.68099711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.57, Y:20.53, Z:4.68 [[ 9.49394734e-01 -3.12051409e-01 -3.56869344e-02 1.27574108e+02] [ 3.11824204e-01 9.50065202e-01 -1.19070961e-02 2.05303758e+01] [ 3.76205406e-02 1.76484395e-04 9.99292081e-01 4.68388689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.63, Y:20.55, Z:4.69 [[ 9.48211490e-01 -3.15628861e-01 -3.56846202e-02 1.27626359e+02] [ 3.15403924e-01 9.48882722e-01 -1.19140274e-02 2.05542479e+01] [ 3.76209305e-02 4.19484638e-05 9.99292081e-01 4.68587637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.68, Y:20.58, Z:4.69 [[ 9.46996798e-01 -3.19254982e-01 -3.56836209e-02 1.27679621e+02] [ 3.19032503e-01 9.47668849e-01 -1.19170198e-02 2.05754499e+01] [ 3.76208238e-02 -9.88552525e-05 9.99292081e-01 4.68783212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.73, Y:20.60, Z:4.69 [[ 9.44629136e-01 -3.26194028e-01 -3.56826459e-02 1.27733609e+02] [ 3.25976375e-01 9.45302765e-01 -1.19199385e-02 2.05966397e+01] [ 3.76191166e-02 -3.71778405e-04 9.99292081e-01 4.69102603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:20.62, Z:4.69 [[ 9.42910655e-01 -3.31129004e-01 -3.56802311e-02 1.27787833e+02] [ 3.30914603e-01 9.43585326e-01 -1.19271624e-02 2.06150584e+01] [ 3.76167719e-02 -5.60861036e-04 9.99292081e-01 4.69248474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.568623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:20.63, Z:4.69 [[ 9.40512900e-01 -3.37879450e-01 -3.56785996e-02 1.27841681e+02] [ 3.37669706e-01 9.41189033e-01 -1.19320406e-02 2.06328358e+01] [ 3.76118980e-02 -8.25344144e-04 9.99292081e-01 4.69416883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:20.65, Z:4.70 [[ 9.39002211e-01 -3.42055547e-01 -3.56770402e-02 1.27897387e+02] [ 3.41848633e-01 9.39679215e-01 -1.19367015e-02 2.06495706e+01] [ 3.76079881e-02 -9.87558323e-04 9.99292081e-01 4.69637032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:127.95, Y:20.66, Z:4.70 [[ 9.36950488e-01 -3.47636443e-01 -3.56747395e-02 1.27953533e+02] [ 3.47433299e-01 9.37628633e-01 -1.19435736e-02 2.06640437e+01] [ 3.76016787e-02 -1.20405531e-03 9.99292081e-01 4.69829428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:20.68, Z:4.70 [[ 9.35894554e-01 -3.50469488e-01 -3.56724289e-02 1.28008524e+02] [ 3.50268134e-01 9.36573233e-01 -1.19504707e-02 2.06794492e+01] [ 3.75981174e-02 -1.31053468e-03 9.99292081e-01 4.70056891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.06, Y:20.70, Z:4.70 [[ 9.35223486e-01 -3.52256414e-01 -3.56714326e-02 1.28064845e+02] [ 3.52056243e-01 9.35902515e-01 -1.19534439e-02 2.06950857e+01] [ 3.75956608e-02 -1.37920911e-03 9.99292081e-01 4.70417563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.12, Y:20.71, Z:4.71 [[ 9.35063588e-01 -3.52680872e-01 -3.56691567e-02 1.28121264e+02] [ 3.52480752e-01 9.35742632e-01 -1.19602315e-02 2.07078249e+01] [ 3.75952954e-02 -1.38911413e-03 9.99292081e-01 4.70755527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:20.72, Z:4.71 [[ 9.35644181e-01 -3.51137921e-01 -3.56668999e-02 1.28177914e+02] [ 3.50936424e-01 9.36322817e-01 -1.19669577e-02 2.07220822e+01] [ 3.75977848e-02 -1.31999996e-03 9.99292082e-01 4.70841698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:20.73, Z:4.71 [[ 9.37230453e-01 -3.46881983e-01 -3.56646492e-02 1.28234205e+02] [ 3.46677149e-01 9.37908090e-01 -1.19736615e-02 2.07345330e+01] [ 3.76036105e-02 -1.14203868e-03 9.99292082e-01 4.70907717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04862385299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:20.75, Z:4.71 [[ 9.38327231e-01 -3.43904215e-01 -3.56636766e-02 1.28290408e+02] [ 3.43697120e-01 9.39004181e-01 -1.19765577e-02 2.07495861e+01] [ 3.76071301e-02 -1.01957270e-03 9.99292082e-01 4.71151944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:20.76, Z:4.71 [[ 9.39511487e-01 -3.40655876e-01 -3.56614674e-02 1.28345645e+02] [ 3.40446192e-01 9.40187638e-01 -1.19831323e-02 2.07640330e+01] [ 3.76105953e-02 -8.82520312e-04 9.99292082e-01 4.71456351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:128.40, Y:20.78, Z:4.72 [[ 9.41134014e-01 -3.36147488e-01 -3.56599669e-02 1.28402886e+02] [ 3.35934395e-01 9.41809099e-01 -1.19875960e-02 2.07753021e+01] [ 3.76144816e-02 -6.97475088e-04 9.99292082e-01 4.71793814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.46, Y:20.79, Z:4.72 [[ 9.42003589e-01 -3.33703112e-01 -3.56576923e-02 1.28457960e+02] [ 3.33488011e-01 9.42678037e-01 -1.19943580e-02 2.07895324e+01] [ 3.76162780e-02 -5.92684574e-04 9.99292082e-01 4.71932917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.51, Y:20.80, Z:4.72 [[ 9.42663747e-01 -3.31833783e-01 -3.56567084e-02 1.28514839e+02] [ 3.31617234e-01 9.43337731e-01 -1.19972821e-02 2.08012708e+01] [ 3.76174220e-02 -5.14976107e-04 9.99292082e-01 4.71901104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.348623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.57, Y:20.81, Z:4.72 [[ 9.42886094e-01 -3.31201699e-01 -3.56545750e-02 1.28572101e+02] [ 3.30984459e-01 9.43559856e-01 -1.20036193e-02 2.08120329e+01] [ 3.76178447e-02 -4.83064510e-04 9.99292082e-01 4.72445759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.63, Y:20.82, Z:4.73 [[ 9.42961735e-01 -3.30986526e-01 -3.56522803e-02 1.28627844e+02] [ 3.30768875e-01 9.43635364e-01 -1.20104307e-02 2.08249730e+01] [ 3.76180433e-02 -4.67288053e-04 9.99292082e-01 4.72666739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.68, Y:20.84, Z:4.73 [[ 9.43120902e-01 -3.30532887e-01 -3.56507286e-02 1.28684212e+02] [ 3.30314737e-01 9.43794370e-01 -1.20150351e-02 2.08389820e+01] [ 3.76183211e-02 -4.44330341e-04 9.99292082e-01 4.72852923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.74, Y:20.85, Z:4.73 [[ 9.43740599e-01 -3.28759591e-01 -3.56484570e-02 1.28741296e+02] [ 3.28539921e-01 9.44413573e-01 -1.20217710e-02 2.08505781e+01] [ 3.76191592e-02 -3.66507904e-04 9.99292082e-01 4.73017875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.80, Y:20.86, Z:4.73 [[ 9.44325899e-01 -3.27074833e-01 -3.56461801e-02 1.28796653e+02] [ 3.26853708e-01 9.44998396e-01 -1.20285186e-02 2.08635384e+01] [ 3.76198087e-02 -2.92244449e-04 9.99292082e-01 4.73178955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:20.88, Z:4.73 [[ 9.45350566e-01 -3.24101414e-01 -3.56451942e-02 1.28854311e+02] [ 3.23878064e-01 9.46022327e-01 -1.20314394e-02 2.08754925e+01] [ 3.76205561e-02 -1.70768454e-04 9.99292082e-01 4.73321985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:128.91, Y:20.89, Z:4.74 [[ 9.45961927e-01 -3.22312908e-01 -3.56429670e-02 1.28911007e+02] [ 3.22088039e-01 9.46633182e-01 -1.20380338e-02 2.08893185e+01] [ 3.76208290e-02 -9.26517525e-05 9.99292082e-01 4.73524585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:20.90, Z:4.74 [[ 9.47516946e-01 -3.17712730e-01 -3.56406746e-02 1.28967402e+02] [ 3.17484347e-01 9.48187013e-01 -1.20448171e-02 2.09019002e+01] [ 3.76208165e-02 9.73120375e-05 9.99292082e-01 4.73582886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:20.92, Z:4.74 [[ 9.49266418e-01 -3.12446924e-01 -3.56396860e-02 1.29022304e+02] [ 3.12214715e-01 9.49935168e-01 -1.20477417e-02 2.09178043e+01] [ 3.76196709e-02 3.09282201e-04 9.99292082e-01 4.73810444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:20.94, Z:4.74 [[ 9.51341602e-01 -3.06070313e-01 -3.56387332e-02 1.29077291e+02] [ 3.05833515e-01 9.52008742e-01 -1.20505594e-02 2.09358925e+01] [ 3.76167041e-02 5.64679466e-04 9.99292082e-01 4.74089852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:20.96, Z:4.74 [[ 9.53390770e-01 -2.99626560e-01 -3.56365539e-02 1.29132271e+02] [ 2.99385014e-01 9.54056205e-01 -1.20570006e-02 2.09556802e+01] [ 3.76118730e-02 8.25982901e-04 9.99292082e-01 4.74221513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:20.98, Z:4.74 [[ 9.55742365e-01 -2.92038910e-01 -3.56343435e-02 1.29186090e+02] [ 2.91791839e-01 9.56405768e-01 -1.20635300e-02 2.09771223e+01] [ 3.76039118e-02 1.13181603e-03 9.99292082e-01 4.74158643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.068623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:21.00, Z:4.74 [[ 9.56474213e-01 -2.89633082e-01 -3.56336618e-02 1.29239885e+02] [ 2.89384267e-01 9.57136964e-01 -1.20655434e-02 2.09997938e+01] [ 3.76008754e-02 1.22856002e-03 9.99292082e-01 4.74459325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.128623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.29, Y:21.03, Z:4.75 [[ 9.56631691e-01 -2.89112796e-01 -3.56314424e-02 1.29293654e+02] [ 2.88863377e-01 9.57294215e-01 -1.20720941e-02 2.10253794e+01] [ 3.75999705e-02 1.25592900e-03 9.99292082e-01 4.74914840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.35, Y:21.05, Z:4.75 [[ 9.56114688e-01 -2.90818234e-01 -3.56294590e-02 1.29347261e+02] [ 2.90569780e-01 9.56777574e-01 -1.20779449e-02 2.10479179e+01] [ 3.76019540e-02 1.19505644e-03 9.99292082e-01 4.75189015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.40, Y:21.07, Z:4.75 [[ 9.54929941e-01 -2.94685444e-01 -3.56271919e-02 1.29399632e+02] [ 2.94439425e-01 9.55593735e-01 -1.20846286e-02 2.10724270e+01] [ 3.76062856e-02 1.04992372e-03 9.99292082e-01 4.75150579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:129.45, Y:21.10, Z:4.75 [[ 9.53771608e-01 -2.98413260e-01 -3.56264908e-02 1.29452569e+02] [ 2.98169759e-01 9.54436329e-01 -1.20866952e-02 2.10964927e+01] [ 3.76100472e-02 9.05204557e-04 9.99292082e-01 4.75277181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:129.50, Y:21.12, Z:4.75 [[ 9.51747480e-01 -3.04807560e-01 -3.56242245e-02 1.29504773e+02] [ 3.04568276e-01 9.52413731e-01 -1.20933713e-02 2.11223979e+01] [ 3.76151516e-02 6.59827017e-04 9.99292082e-01 4.75491672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:21.14, Z:4.76 [[ 9.50246124e-01 -3.09456588e-01 -3.56219562e-02 1.29557875e+02] [ 3.09220313e-01 9.50913449e-01 -1.21000491e-02 2.11447528e+01] [ 3.76178371e-02 4.82992332e-04 9.99292082e-01 4.75946667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:21.17, Z:4.76 [[ 9.48104996e-01 -3.15955949e-01 -3.56195881e-02 1.29609867e+02] [ 3.15723987e-01 9.48773832e-01 -1.21070160e-02 2.11705744e+01] [ 3.76202168e-02 2.32763916e-04 9.99292082e-01 4.76437920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:129.66, Y:21.19, Z:4.77 [[ 9.46938580e-01 -3.19434850e-01 -3.56188546e-02 1.29662008e+02] [ 3.19205264e-01 9.47608235e-01 -1.21091737e-02 2.11936318e+01] [ 3.76208120e-02 9.69179038e-05 9.99292082e-01 4.76614125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.71, Y:21.22, Z:4.77 [[ 9.46063001e-01 -3.22018894e-01 -3.56178422e-02 1.29714976e+02] [ 3.21791025e-01 9.46733242e-01 -1.21121508e-02 2.12161351e+01] [ 3.76209366e-02 -2.64422952e-06 9.99292082e-01 4.76762117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:21.24, Z:4.77 [[ 9.44836868e-01 -3.25599037e-01 -3.56168521e-02 1.29767435e+02] [ 3.25373598e-01 9.45507931e-01 -1.21150614e-02 2.12423280e+01] [ 3.76206685e-02 -1.42026639e-04 9.99292082e-01 4.76857254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:21.27, Z:4.77 [[ 9.44203215e-01 -3.27432273e-01 -3.56145422e-02 1.29821074e+02] [ 3.27207881e-01 9.44874629e-01 -1.21218483e-02 2.12655291e+01] [ 3.76203616e-02 -2.07870766e-04 9.99292082e-01 4.76937448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:21.29, Z:4.77 [[ 9.43474350e-01 -3.29526813e-01 -3.56122383e-02 1.29873612e+02] [ 3.29303656e-01 9.44146175e-01 -1.21286128e-02 2.12906450e+01] [ 3.76198617e-02 -2.84205196e-04 9.99292082e-01 4.76996851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.93, Y:21.32, Z:4.77 [[ 9.43057061e-01 -3.30719385e-01 -3.56099315e-02 1.29926287e+02] [ 3.30496823e-01 9.43729083e-01 -1.21353819e-02 2.13153350e+01] [ 3.76195341e-02 -3.24611594e-04 9.99292082e-01 4.77242829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:129.98, Y:21.34, Z:4.77 [[ 9.42745161e-01 -3.31607517e-01 -3.56092154e-02 1.29979541e+02] [ 3.31385508e-01 9.43417366e-01 -1.21374828e-02 2.13390292e+01] [ 3.76192328e-02 -3.57824771e-04 9.99292082e-01 4.77459153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:130.03, Y:21.36, Z:4.78 [[ 9.42162404e-01 -3.33259884e-01 -3.56069364e-02 1.30033697e+02] [ 3.33038802e-01 9.42834914e-01 -1.21441649e-02 2.13607622e+01] [ 3.76186258e-02 -4.16715863e-04 9.99292082e-01 4.77719945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:130.09, Y:21.38, Z:4.79 [[ 9.41328178e-01 -3.35609254e-01 -3.56046422e-02 1.30085742e+02] [ 3.35389595e-01 9.42001155e-01 -1.21508876e-02 2.13848559e+01] [ 3.76175643e-02 -5.03453678e-04 9.99292082e-01 4.78512351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.14, Y:21.41, Z:4.78 [[ 9.40932110e-01 -3.36718197e-01 -3.56036522e-02 1.30139946e+02] [ 3.36499222e-01 9.41605310e-01 -1.21537876e-02 2.14054856e+01] [ 3.76169894e-02 -5.44712269e-04 9.99292082e-01 4.78166150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.19, Y:21.43, Z:4.78 [[ 9.41126420e-01 -3.36174956e-01 -3.56014166e-02 1.30192412e+02] [ 3.35955345e-01 9.41799412e-01 -1.21603328e-02 2.14279442e+01] [ 3.76173925e-02 -5.16075744e-04 9.99292082e-01 4.78364657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.25, Y:21.45, Z:4.78 [[ 9.41390094e-01 -3.35435984e-01 -3.56004491e-02 1.30246233e+02] [ 3.35215737e-01 9.42062878e-01 -1.21631646e-02 2.14496563e+01] [ 3.76178246e-02 -4.83548129e-04 9.99292082e-01 4.78371568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.30, Y:21.47, Z:4.78 [[ 9.41549796e-01 -3.34987680e-01 -3.55982567e-02 1.30299465e+02] [ 3.34766871e-01 9.42222396e-01 -1.21695777e-02 2.14732353e+01] [ 3.76181333e-02 -4.58853592e-04 9.99292082e-01 4.78414781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:21.49, Z:4.79 [[ 9.41288015e-01 -3.35722790e-01 -3.55960778e-02 1.30353307e+02] [ 3.35502265e-01 9.41960709e-01 -1.21759477e-02 2.14945681e+01] [ 3.76178498e-02 -4.81491106e-04 9.99292082e-01 4.78667569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:21.52, Z:4.79 [[ 9.41306238e-01 -3.35671939e-01 -3.55937587e-02 1.30407703e+02] [ 3.35451121e-01 9.41978835e-01 -1.21827232e-02 2.15159502e+01] [ 3.76179657e-02 -4.72292893e-04 9.99292082e-01 4.79111118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:130.46, Y:21.54, Z:4.79 [[ 9.41650057e-01 -3.34706434e-01 -3.55917482e-02 1.30461075e+02] [ 3.34484705e-01 9.42322355e-01 -1.21885941e-02 2.15395950e+01] [ 3.76185008e-02 -4.27505028e-04 9.99292082e-01 4.79466330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.508623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:130.52, Y:21.56, Z:4.80 [[ 9.41735855e-01 -3.34465030e-01 -3.55910385e-02 1.30515297e+02] [ 3.34243051e-01 9.42408070e-01 -1.21906659e-02 2.15613702e+01] [ 3.76186334e-02 -4.15670124e-04 9.99292082e-01 4.79673570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.568623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.57, Y:21.58, Z:4.80 [[ 9.41415791e-01 -3.35365094e-01 -3.55887882e-02 1.30569656e+02] [ 3.35143509e-01 9.42088136e-01 -1.21972318e-02 2.15825088e+01] [ 3.76183010e-02 -4.44684746e-04 9.99292082e-01 4.79525682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:21.60, Z:4.80 [[ 9.40902005e-01 -3.36803956e-01 -3.55880935e-02 1.30624093e+02] [ 3.36583322e-01 9.41574663e-01 -1.21992585e-02 2.16027309e+01] [ 3.76176057e-02 -5.00051945e-04 9.99292082e-01 4.79676765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.68, Y:21.62, Z:4.80 [[ 9.40369480e-01 -3.38288170e-01 -3.55858841e-02 1.30677995e+02] [ 3.38068354e-01 9.41042405e-01 -1.22057002e-02 2.16226261e+01] [ 3.76168699e-02 -5.52593347e-04 9.99292082e-01 4.79946630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:21.64, Z:4.80 [[ 9.40240428e-01 -3.38646931e-01 -3.55836166e-02 1.30732689e+02] [ 3.38427122e-01 9.40913356e-01 -1.22123069e-02 2.16414941e+01] [ 3.76167604e-02 -5.59956318e-04 9.99292082e-01 4.80202986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.79, Y:21.66, Z:4.81 [[ 9.40514624e-01 -3.37884904e-01 -3.55813640e-02 1.30787708e+02] [ 3.37664302e-01 9.41187292e-01 -1.22188667e-02 2.16621052e+01] [ 3.76172982e-02 -5.22533606e-04 9.99292082e-01 4.80724992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:21.68, Z:4.81 [[ 9.41047658e-01 -3.36397707e-01 -3.55793186e-02 1.30841174e+02] [ 3.36175816e-01 9.41719902e-01 -1.22248194e-02 2.16811231e+01] [ 3.76181537e-02 -4.56768815e-04 9.99292082e-01 4.80938018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:21.70, Z:4.81 [[ 9.42144549e-01 -3.33313415e-01 -3.55783062e-02 1.30895070e+02] [ 3.33089213e-01 9.42816026e-01 -1.22277653e-02 2.17035339e+01] [ 3.76194754e-02 -3.30427605e-04 9.99292082e-01 4.81355543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:21.72, Z:4.82 [[ 9.42927328e-01 -3.31092742e-01 -3.55759709e-02 1.30948821e+02] [ 3.30866702e-01 9.43598188e-01 -1.22345560e-02 2.17234724e+01] [ 3.76201944e-02 -2.34606973e-04 9.99292082e-01 4.81570136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:131.00, Y:21.74, Z:4.82 [[ 9.43854516e-01 -3.28440430e-01 -3.55743876e-02 1.31003247e+02] [ 3.28212331e-01 9.44524679e-01 -1.22391579e-02 2.17449833e+01] [ 3.76207213e-02 -1.23968200e-04 9.99292082e-01 4.81731563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10862385299998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:21.77, Z:4.83 [[ 9.44485657e-01 -3.26621295e-01 -3.55720957e-02 1.31056176e+02] [ 3.26391655e-01 9.45155293e-01 -1.22458156e-02 2.17673300e+01] [ 3.76208987e-02 -4.44379814e-05 9.99292082e-01 4.82736531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16862385299999 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:21.79, Z:4.82 [[ 9.44880756e-01 -3.25476797e-01 -3.55698162e-02 1.31110075e+02] [ 3.25246097e-01 9.45550027e-01 -1.22524330e-02 2.17903183e+01] [ 3.76209234e-02 8.14430462e-06 9.99292082e-01 4.82225047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.228623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:21.81, Z:4.82 [[ 9.44768298e-01 -3.25803336e-01 -3.55675425e-02 1.31163450e+02] [ 3.25572619e-01 9.45437563e-01 -1.22590299e-02 2.18112152e+01] [ 3.76209235e-02 2.12482115e-06 9.99292082e-01 4.82412348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.288623853 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:21.83, Z:4.82 [[ 9.43817505e-01 -3.28547619e-01 -3.55665583e-02 1.31216933e+02] [ 3.28318739e-01 9.44487401e-01 -1.22618845e-02 2.18330923e+01] [ 3.76207792e-02 -1.04186342e-04 9.99292082e-01 4.82476224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.348623853 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:21.85, Z:4.83 [[ 9.42786353e-01 -3.31495205e-01 -3.55643444e-02 1.31271254e+02] [ 3.31268178e-01 9.43456879e-01 -1.22683026e-02 2.18531211e+01] [ 3.76203088e-02 -2.14947307e-04 9.99292083e-01 4.82890989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.408623853 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:131.32, Y:21.87, Z:4.83 [[ 9.41580201e-01 -3.34906062e-01 -3.55619849e-02 1.31324222e+02] [ 3.34681206e-01 9.42251459e-01 -1.22751381e-02 2.18729391e+01] [ 3.76193503e-02 -3.43900962e-04 9.99292083e-01 4.83060844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:21.89, Z:4.83 [[ 9.40609065e-01 -3.37624059e-01 -3.55609643e-02 1.31378482e+02] [ 3.37401031e-01 9.41280932e-01 -1.22780941e-02 2.18926940e+01] [ 3.76182376e-02 -4.49419437e-04 9.99292083e-01 4.83211037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528623853 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:131.43, Y:21.91, Z:4.84 [[ 9.39045520e-01 -3.41948950e-01 -3.55587865e-02 1.31433175e+02] [ 3.41728778e-01 9.39718328e-01 -1.22843981e-02 2.19126469e+01] [ 3.76158804e-02 -6.15851620e-04 9.99292083e-01 4.83717582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:131.49, Y:21.93, Z:4.84 [[ 9.37730619e-01 -3.45538741e-01 -3.55564922e-02 1.31488265e+02] [ 3.45320893e-01 9.38404184e-01 -1.22910351e-02 2.19310905e+01] [ 3.76133898e-02 -7.52719695e-04 9.99292083e-01 4.83881654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648623853 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:131.54, Y:21.95, Z:4.84 [[ 9.37486971e-01 -3.46199481e-01 -3.55541740e-02 1.31543222e+02] [ 3.45981853e-01 9.38160606e-01 -1.22977373e-02 2.19504176e+01] [ 3.76129957e-02 -7.72130534e-04 9.99292083e-01 4.83956556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708623853 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:131.60, Y:21.97, Z:4.85 [[ 9.38309777e-01 -3.43963409e-01 -3.55518685e-02 1.31598134e+02] [ 3.43743923e-01 9.38982810e-01 -1.23043987e-02 2.19696822e+01] [ 3.76148563e-02 -6.75401171e-04 9.99292083e-01 4.84654382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76862385299998 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:131.65, Y:21.99, Z:4.84 [[ 9.39520517e-01 -3.40642636e-01 -3.55498750e-02 1.31652625e+02] [ 3.40420553e-01 9.40192697e-01 -1.23101556e-02 2.19888742e+01] [ 3.76170967e-02 -5.36264344e-04 9.99292083e-01 4.84221134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82862385299998 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:131.71, Y:22.01, Z:4.84 [[ 9.41220868e-01 -3.35916131e-01 -3.55475862e-02 1.31707002e+02] [ 3.35690423e-01 9.41891839e-01 -1.23167615e-02 2.20101081e+01] [ 3.76193802e-02 -3.40191295e-04 9.99292083e-01 4.84347722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88862385299998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:131.76, Y:22.03, Z:4.85 [[ 9.42262082e-01 -3.32984540e-01 -3.55452547e-02 1.31761085e+02] [ 3.32756490e-01 9.42932261e-01 -1.23234862e-02 2.20309054e+01] [ 3.76202978e-02 -2.15960434e-04 9.99292083e-01 4.84550115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.948623853 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:22.05, Z:4.84 [[ 9.43687339e-01 -3.28923867e-01 -3.55428795e-02 1.31815001e+02] [ 3.28692676e-01 9.44356441e-01 -1.23303330e-02 2.20526688e+01] [ 3.76208880e-02 -4.67050720e-05 9.99292083e-01 4.84476035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.008623853 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:131.87, Y:22.07, Z:4.85 [[ 9.44268343e-01 -3.27252277e-01 -3.55421437e-02 1.31869205e+02] [ 3.27019822e-01 9.44937007e-01 -1.23324535e-02 2.20729093e+01] [ 3.76209104e-02 2.21599296e-05 9.99292083e-01 4.84691033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.068623853 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:22.09, Z:4.85 [[ 9.44371818e-01 -3.26953793e-01 -3.55399243e-02 1.31923203e+02] [ 3.26720886e-01 9.45040325e-01 -1.23388462e-02 2.20934900e+01] [ 3.76208941e-02 4.08230258e-05 9.99292083e-01 4.84872552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.128623853 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:22.11, Z:4.85 [[ 9.43944973e-01 -3.28184341e-01 -3.55376896e-02 1.31978241e+02] [ 3.27952063e-01 9.44613698e-01 -1.23452791e-02 2.21138342e+01] [ 3.76209156e-02 -1.39449235e-06 9.99292083e-01 4.85310856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188623853 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:22.13, Z:4.86 [[ 9.42944412e-01 -3.31048414e-01 -3.55356559e-02 1.32031924e+02] [ 3.30817947e-01 9.43613764e-01 -1.23511302e-02 2.21341643e+01] [ 3.76207561e-02 -1.09403557e-04 9.99292083e-01 4.85574792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248623853 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:132.09, Y:22.15, Z:4.86 [[ 9.41974215e-01 -3.33799112e-01 -3.55349359e-02 1.32086240e+02] [ 3.33570521e-01 9.42644210e-01 -1.23532012e-02 2.21531052e+01] [ 3.76202892e-02 -2.17010068e-04 9.99292083e-01 4.85954250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308623853 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:22.17, Z:4.86 [[ 9.41216166e-01 -3.35930893e-01 -3.55325710e-02 1.32139854e+02] [ 3.35703563e-01 9.41886590e-01 -1.23600000e-02 2.21722962e+01] [ 3.76197580e-02 -2.94978908e-04 9.99292083e-01 4.86015630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368623853 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:22.19, Z:4.86 [[ 9.41220000e-01 -3.35920259e-01 -3.55315508e-02 1.32194044e+02] [ 3.35692811e-01 9.41890383e-01 -1.23629322e-02 2.21913747e+01] [ 3.76197854e-02 -2.91447146e-04 9.99292083e-01 4.86478051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428623853 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:132.25, Y:22.21, Z:4.87 [[ 9.41540384e-01 -3.35021462e-01 -3.55292092e-02 1.32247937e+02] [ 3.34793120e-01 9.42210464e-01 -1.23696577e-02 2.22114082e+01] [ 3.76200935e-02 -2.48402568e-04 9.99292083e-01 4.86785585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488623853 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:132.30, Y:22.23, Z:4.87 [[ 9.41681324e-01 -3.34625349e-01 -3.55268912e-02 1.32302801e+02] [ 3.34396475e-01 9.42351222e-01 -1.23763117e-02 2.22311122e+01] [ 3.76202370e-02 -2.25525551e-04 9.99292083e-01 4.86972355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54862385299998 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:132.36, Y:22.25, Z:4.87 [[ 9.41861349e-01 -3.34118548e-01 -3.55245636e-02 1.32357408e+02] [ 3.33889061e-01 9.42531037e-01 -1.23829892e-02 2.22509291e+01] [ 3.76203902e-02 -1.98204243e-04 9.99292083e-01 4.87220815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60862385299998 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:132.41, Y:22.27, Z:4.88 [[ 9.41935165e-01 -3.33910638e-01 -3.55222489e-02 1.32411596e+02] [ 3.33680753e-01 9.42604717e-01 -1.23896257e-02 2.22712388e+01] [ 3.76204672e-02 -1.82866603e-04 9.99292083e-01 4.87614314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66862385299999 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:132.47, Y:22.29, Z:4.88 [[ 9.42027578e-01 -3.33650085e-01 -3.55198956e-02 1.32465778e+02] [ 3.33419761e-01 9.42696978e-01 -1.23963689e-02 2.22910487e+01] [ 3.76205477e-02 -1.65313754e-04 9.99292083e-01 4.87869528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.728623853 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:132.52, Y:22.31, Z:4.89 [[ 9.42175478e-01 -3.33232461e-01 -3.55175374e-02 1.32518579e+02] [ 3.33001585e-01 9.42844689e-01 -1.24031215e-02 2.23106246e+01] [ 3.76206443e-02 -1.41479283e-04 9.99292083e-01 4.88709334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.788623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:132.57, Y:22.33, Z:4.88 [[ 9.42548321e-01 -3.32176518e-01 -3.55165197e-02 1.32572763e+02] [ 3.31944783e-01 9.43217235e-01 -1.24060352e-02 2.23309534e+01] [ 3.76207871e-02 -9.62358102e-05 9.99292083e-01 4.88115717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.848623853 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:132.63, Y:22.35, Z:4.89 [[ 9.42943989e-01 -3.31051920e-01 -3.55142162e-02 1.32626101e+02] [ 3.30819139e-01 9.43612539e-01 -1.24126258e-02 2.23517452e+01] [ 3.76208833e-02 -4.43715513e-05 9.99292083e-01 4.88659394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.908623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:22.37, Z:4.88 [[ 9.43146494e-01 -3.30474722e-01 -3.55126545e-02 1.32679990e+02] [ 3.30241364e-01 9.43814843e-01 -1.24170922e-02 2.23729432e+01] [ 3.76209055e-02 -1.66105109e-05 9.99292083e-01 4.88232838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968623853 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:22.39, Z:4.88 [[ 9.42641208e-01 -3.31913493e-01 -3.55103732e-02 1.32734414e+02] [ 3.31680909e-01 9.43309826e-01 -1.24236128e-02 2.23918221e+01] [ 3.76208487e-02 -6.71035101e-05 9.99292083e-01 4.88390187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028623853 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:22.41, Z:4.89 [[ 9.41202442e-01 -3.35971940e-01 -3.55080185e-02 1.32788504e+02] [ 3.35741984e-01 9.41871969e-01 -1.24303393e-02 2.24113093e+01] [ 3.76202525e-02 -2.22066933e-04 9.99292083e-01 4.88770925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088623853 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:22.43, Z:4.89 [[ 9.39910892e-01 -3.39568473e-01 -3.55072913e-02 1.32842774e+02] [ 3.39341001e-01 9.40581267e-01 -1.24324161e-02 2.24296049e+01] [ 3.76191496e-02 -3.63716464e-04 9.99292083e-01 4.89019980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148623853 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:22.45, Z:4.89 [[ 9.38093323e-01 -3.44558068e-01 -3.55057146e-02 1.32898488e+02] [ 3.44333991e-01 9.38764840e-01 -1.24369173e-02 2.24467982e+01] [ 3.76167567e-02 -5.58835309e-04 9.99292083e-01 4.89298485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208623853 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:132.95, Y:22.46, Z:4.90 [[ 9.36894586e-01 -3.47804602e-01 -3.55034397e-02 1.32952963e+02] [ 3.47582606e-01 9.37566794e-01 -1.24434083e-02 2.24636109e+01] [ 3.76147208e-02 -6.82216274e-04 9.99292083e-01 4.90343344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26862385299998 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:133.01, Y:22.48, Z:4.90 [[ 9.36396814e-01 -3.49142640e-01 -3.55024559e-02 1.33008702e+02] [ 3.48921499e-01 9.37069303e-01 -1.24462145e-02 2.24811468e+01] [ 3.76137658e-02 -7.32974518e-04 9.99292083e-01 4.89808090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32862385299998 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:133.06, Y:22.50, Z:4.90 [[ 9.35741938e-01 -3.50894229e-01 -3.55002278e-02 1.33064080e+02] [ 3.50674105e-01 9.36414761e-01 -1.24525663e-02 2.24977748e+01] [ 3.76124710e-02 -7.96622129e-04 9.99292083e-01 4.89959394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38862385299998 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:133.12, Y:22.52, Z:4.90 [[ 9.35414933e-01 -3.51765258e-01 -3.54979922e-02 1.33118094e+02] [ 3.51545519e-01 9.36087882e-01 -1.24589360e-02 2.25152041e+01] [ 3.76118612e-02 -8.24885314e-04 9.99292083e-01 4.90202766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.448623853 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:22.53, Z:4.91 [[ 9.34791285e-01 -3.53419373e-01 -3.54964741e-02 1.33173829e+02] [ 3.53200661e-01 9.35464569e-01 -1.24632597e-02 2.25296503e+01] [ 3.76104513e-02 -8.86831605e-04 9.99292083e-01 4.90563758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.508623853 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:133.23, Y:22.55, Z:4.91 [[ 9.34192364e-01 -3.54999544e-01 -3.54957927e-02 1.33228969e+02] [ 3.54781897e-01 9.34865993e-01 -1.24652000e-02 2.25455650e+01] [ 3.76089498e-02 -9.48370019e-04 9.99292083e-01 4.90898206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.568623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:22.56, Z:4.91 [[ 9.33084011e-01 -3.57902701e-01 -3.54948575e-02 1.33285591e+02] [ 3.57687048e-01 9.33758281e-01 -1.24678625e-02 2.25582809e+01] [ 3.76058988e-02 -1.06248768e-03 9.99292083e-01 4.91046863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.628623853 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:133.34, Y:22.57, Z:4.91 [[ 9.32776545e-01 -3.58703475e-01 -3.54927202e-02 1.33340845e+02] [ 3.58488170e-01 9.33450927e-01 -1.24739439e-02 2.25724006e+01] [ 3.76051596e-02 -1.08831803e-03 9.99292083e-01 4.91092568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688623853 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:22.58, Z:4.91 [[ 9.33330404e-01 -3.57259974e-01 -3.54917929e-02 1.33398331e+02] [ 3.57043526e-01 9.34004419e-01 -1.24765817e-02 2.25837603e+01] [ 3.76068747e-02 -1.02734182e-03 9.99292083e-01 4.91340497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748623853 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:133.45, Y:22.60, Z:4.92 [[ 9.34256811e-01 -3.54830537e-01 -3.54894418e-02 1.33454565e+02] [ 3.54612083e-01 9.34930179e-01 -1.24832657e-02 2.25980161e+01] [ 3.76095941e-02 -9.22408894e-04 9.99292083e-01 4.91554267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808623853 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:133.51, Y:22.61, Z:4.92 [[ 9.35718263e-01 -3.50958689e-01 -3.54870455e-02 1.33512162e+02] [ 3.50737189e-01 9.36390635e-01 -1.24900743e-02 2.26093977e+01] [ 3.76132372e-02 -7.59435917e-04 9.99292083e-01 4.91869775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868623853 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:22.62, Z:4.92 [[ 9.36849142e-01 -3.47928910e-01 -3.54846297e-02 1.33568688e+02] [ 3.47704976e-01 9.37520707e-01 -1.24969339e-02 2.26241690e+01] [ 3.76156197e-02 -6.30440477e-04 9.99292083e-01 4.92017497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928623853 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:133.62, Y:22.64, Z:4.92 [[ 9.39199980e-01 -3.41532446e-01 -3.54821817e-02 1.33624480e+02] [ 3.41303676e-01 9.39869913e-01 -1.25038804e-02 2.26370317e+01] [ 3.76191159e-02 -3.66554849e-04 9.99292083e-01 4.92093513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988623853 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:133.68, Y:22.65, Z:4.92 [[ 9.41165864e-01 -3.36077234e-01 -3.54811229e-02 1.33679226e+02] [ 3.35844467e-01 9.41834419e-01 -1.25068843e-02 2.26543271e+01] [ 3.76206218e-02 -1.45086184e-04 9.99292083e-01 4.92246055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04862385299998 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:133.73, Y:22.67, Z:4.92 [[ 9.44030865e-01 -3.27943488e-01 -3.54795070e-02 1.33734346e+02] [ 3.27704788e-01 9.44697325e-01 -1.25114666e-02 2.26722797e+01] [ 3.76204493e-02 1.84406267e-04 9.99292083e-01 4.92357828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10862385299998 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:22.69, Z:4.93 [[ 9.45515548e-01 -3.23638253e-01 -3.54771624e-02 1.33789516e+02] [ 3.23396270e-01 9.46180823e-01 -1.25181113e-02 2.26912782e+01] [ 3.76191504e-02 3.62886873e-04 9.99292083e-01 4.92779023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16862385299999 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:133.84, Y:22.71, Z:4.93 [[ 9.46892363e-01 -3.19587858e-01 -3.54746999e-02 1.33843441e+02] [ 3.19342768e-01 9.47556499e-01 -1.25250859e-02 2.27089896e+01] [ 3.76171478e-02 5.31319366e-04 9.99292083e-01 4.92990264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.228623853 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:22.73, Z:4.93 [[ 9.47326887e-01 -3.18297643e-01 -3.54736359e-02 1.33896795e+02] [ 3.18051536e-01 9.47990647e-01 -1.25280985e-02 2.27294411e+01] [ 3.76163393e-02 5.85760127e-04 9.99292083e-01 4.93220817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.288623853 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:133.95, Y:22.75, Z:4.93 [[ 9.47075321e-01 -3.19045501e-01 -3.54725971e-02 1.33950188e+02] [ 3.18799808e-01 9.47739234e-01 -1.25310393e-02 2.27501258e+01] [ 3.76167437e-02 5.59180896e-04 9.99292083e-01 4.93475536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.348623853 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:134.01, Y:22.77, Z:4.94 [[ 9.45915021e-01 -3.22469505e-01 -3.54710041e-02 1.34005308e+02] [ 3.22226046e-01 9.46579756e-01 -1.25355469e-02 2.27689865e+01] [ 3.76184660e-02 4.27880713e-04 9.99292083e-01 4.93554101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.408623853 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:134.06, Y:22.79, Z:4.94 [[ 9.44574730e-01 -3.26374871e-01 -3.54686303e-02 1.34060039e+02] [ 3.26133909e-01 9.45240374e-01 -1.25422598e-02 2.27888635e+01] [ 3.76198598e-02 2.79578675e-04 9.99292083e-01 4.93756407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468623853 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:134.11, Y:22.81, Z:4.94 [[ 9.43207669e-01 -3.30305068e-01 -3.54662637e-02 1.34114825e+02] [ 3.30066627e-01 9.43874221e-01 -1.25489482e-02 2.28083306e+01] [ 3.76206732e-02 1.30034092e-04 9.99292083e-01 4.93961375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528623853 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:134.17, Y:22.83, Z:4.94 [[ 9.41711366e-01 -3.34547479e-01 -3.54638985e-02 1.34169016e+02] [ 3.34311790e-01 9.42378896e-01 -1.25556289e-02 2.28273206e+01] [ 3.76208835e-02 -3.22209271e-05 9.99292083e-01 4.94309630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:22.85, Z:4.95 [[ 9.41393501e-01 -3.35440963e-01 -3.54631675e-02 1.34223964e+02] [ 3.35205830e-01 9.42061227e-01 -1.25576933e-02 2.28467876e+01] [ 3.76208398e-02 -6.57296392e-05 9.99292083e-01 4.94530070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648623853 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:134.28, Y:22.87, Z:4.95 [[ 9.40855041e-01 -3.36948544e-01 -3.54608310e-02 1.34277195e+02] [ 3.36714232e-01 9.41523056e-01 -1.25642878e-02 2.28659357e+01] [ 3.76207084e-02 -1.18992936e-04 9.99292083e-01 4.94791599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708623853 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:22.89, Z:4.95 [[ 9.40819101e-01 -3.37048989e-01 -3.54598205e-02 1.34331470e+02] [ 3.36814641e-01 9.41487103e-01 -1.25671389e-02 2.28860052e+01] [ 3.76207051e-02 -1.19982388e-04 9.99292084e-01 4.94979649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76862385299998 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:22.91, Z:4.95 [[ 9.40930829e-01 -3.36737195e-01 -3.54575337e-02 1.34384583e+02] [ 3.36502383e-01 9.41598668e-01 -1.25735877e-02 2.29063996e+01] [ 3.76207612e-02 -1.00668322e-04 9.99292084e-01 4.95197518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82862385299998 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:134.44, Y:22.93, Z:4.96 [[ 9.40913172e-01 -3.36786633e-01 -3.54565406e-02 1.34438304e+02] [ 3.36551751e-01 9.41580986e-01 -1.25763877e-02 2.29281639e+01] [ 3.76207637e-02 -9.96719783e-05 9.99292084e-01 4.95554151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88862385299998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:134.49, Y:22.95, Z:4.96 [[ 9.40643972e-01 -3.37538013e-01 -3.54543004e-02 1.34492702e+02] [ 3.37303426e-01 9.41311890e-01 -1.25826999e-02 2.29486823e+01] [ 3.76206940e-02 -1.23016138e-04 9.99292084e-01 4.95803765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.948623853 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:134.55, Y:22.97, Z:4.96 [[ 9.40239663e-01 -3.38662851e-01 -3.54520707e-02 1.34545773e+02] [ 3.38428826e-01 9.40907778e-01 -1.25889788e-02 2.29683822e+01] [ 3.76205486e-02 -1.61345532e-04 9.99292084e-01 4.96045137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.008623853 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:134.60, Y:22.99, Z:4.96 [[ 9.40115440e-01 -3.39007639e-01 -3.54511065e-02 1.34600014e+02] [ 3.38773757e-01 9.40783605e-01 -1.25916935e-02 2.29887207e+01] [ 3.76205001e-02 -1.72259122e-04 9.99292084e-01 4.96193210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.068623853 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:134.65, Y:23.01, Z:4.96 [[ 9.39527005e-01 -3.40635260e-01 -3.54489136e-02 1.34653964e+02] [ 3.40402303e-01 9.40195494e-01 -1.25978641e-02 2.30078576e+01] [ 3.76201855e-02 -2.30858233e-04 9.99292084e-01 4.96420418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.128623853 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:134.71, Y:23.03, Z:4.97 [[ 9.38945173e-01 -3.42235889e-01 -3.54479635e-02 1.34709149e+02] [ 3.42003970e-01 9.39614022e-01 -1.26005369e-02 2.30270595e+01] [ 3.76197595e-02 -2.92130989e-04 9.99292084e-01 4.96557587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:134.76, Y:23.05, Z:4.97 [[ 9.38115114e-01 -3.44504902e-01 -3.54458076e-02 1.34764088e+02] [ 3.44274372e-01 9.38784443e-01 -1.26065985e-02 2.30453471e+01] [ 3.76190078e-02 -3.76642538e-04 9.99292084e-01 4.96663106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248623853 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:23.06, Z:4.97 [[ 9.38103998e-01 -3.44535391e-01 -3.54436669e-02 1.34817905e+02] [ 3.44304655e-01 9.38773256e-01 -1.26126143e-02 2.30638846e+01] [ 3.76190586e-02 -3.71475590e-04 9.99292084e-01 4.96828079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308623853 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:134.87, Y:23.08, Z:4.97 [[ 9.38722076e-01 -3.42847890e-01 -3.54427430e-02 1.34873139e+02] [ 3.42615853e-01 9.39390885e-01 -1.26152100e-02 2.30826666e+01] [ 3.76196879e-02 -3.01069531e-04 9.99292084e-01 4.97017255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368623853 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:134.93, Y:23.10, Z:4.97 [[ 9.39157417e-01 -3.41653818e-01 -3.54403098e-02 1.34926766e+02] [ 3.41420673e-01 9.39825839e-01 -1.26220421e-02 2.31014254e+01] [ 3.76200878e-02 -2.45969973e-04 9.99292084e-01 4.97065063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428623853 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:23.12, Z:4.97 [[ 9.39767325e-01 -3.39972697e-01 -3.54392565e-02 1.34981632e+02] [ 3.39738244e-01 9.40435290e-01 -1.26249988e-02 2.31204977e+01] [ 3.76204823e-02 -1.75509412e-04 9.99292084e-01 4.97388275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:135.04, Y:23.14, Z:4.98 [[ 9.40195349e-01 -3.38787450e-01 -3.54368240e-02 1.35035348e+02] [ 3.38551899e-01 9.40862928e-01 -1.26318228e-02 2.31404244e+01] [ 3.76206970e-02 -1.20822970e-04 9.99292084e-01 4.97621691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54862385299998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:23.16, Z:4.98 [[ 9.40778555e-01 -3.37164671e-01 -3.54357737e-02 1.35088626e+02] [ 3.36927857e-01 9.41445687e-01 -1.26347685e-02 2.31601895e+01] [ 3.76208539e-02 -5.27800047e-05 9.99292084e-01 4.97809483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60862385299998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:23.18, Z:4.98 [[ 9.41114883e-01 -3.36224859e-01 -3.54347382e-02 1.35142854e+02] [ 3.35987269e-01 9.41781739e-01 -1.26376721e-02 2.31794459e+01] [ 3.76208888e-02 -1.21196459e-05 9.99292084e-01 4.98030208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66862385299999 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:23.20, Z:4.98 [[ 9.41846011e-01 -3.34171575e-01 -3.54323162e-02 1.35195604e+02] [ 3.33932277e-01 9.42512256e-01 -1.26444589e-02 2.31998619e+01] [ 3.76208110e-02 7.71391862e-05 9.99292084e-01 4.98116524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.728623853 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:135.25, Y:23.22, Z:4.98 [[ 9.42084604e-01 -3.33498462e-01 -3.54312667e-02 1.35249824e+02] [ 3.33258577e-01 9.42750637e-01 -1.26473989e-02 2.32212007e+01] [ 3.76207374e-02 1.07146289e-04 9.99292084e-01 4.98330925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.788623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:23.24, Z:4.98 [[ 9.42002532e-01 -3.33730472e-01 -3.54288348e-02 1.35302724e+02] [ 3.33490495e-01 9.42668532e-01 -1.26542077e-02 2.32435533e+01] [ 3.76207424e-02 1.05116060e-04 9.99292084e-01 4.98432759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.848623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:135.36, Y:23.27, Z:4.99 [[ 9.41565459e-01 -3.34961727e-01 -3.54277843e-02 1.35356946e+02] [ 3.34722510e-01 9.42231733e-01 -1.26571483e-02 2.32655022e+01] [ 3.76208428e-02 5.90567567e-05 9.99292084e-01 4.98572241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.908623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:135.41, Y:23.29, Z:4.99 [[ 9.40528756e-01 -3.37861950e-01 -3.54254321e-02 1.35410766e+02] [ 3.37624539e-01 9.41195676e-01 -1.26637283e-02 2.32861270e+01] [ 3.76208554e-02 -4.98945965e-05 9.99292084e-01 4.98863920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968623853 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:135.46, Y:23.31, Z:4.99 [[ 9.39740357e-01 -3.40048929e-01 -3.54229682e-02 1.35463976e+02] [ 3.39812811e-01 9.40407735e-01 -1.26706164e-02 2.33068474e+01] [ 3.76206629e-02 -1.30088860e-04 9.99292084e-01 4.98929837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:23.33, Z:4.99 [[ 9.38238080e-01 -3.44172332e-01 -3.54219009e-02 1.35519300e+02] [ 3.43939034e-01 9.38906449e-01 -1.26735996e-02 2.33273917e+01] [ 3.76197535e-02 -2.92120575e-04 9.99292084e-01 4.99372804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:23.35, Z:5.00 [[ 9.37034170e-01 -3.47436904e-01 -3.54197945e-02 1.35573274e+02] [ 3.47205713e-01 9.37703271e-01 -1.26794836e-02 2.33467031e+01] [ 3.76185777e-02 -4.16845593e-04 9.99292084e-01 4.99666154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:23.37, Z:5.00 [[ 9.35533510e-01 -3.51457828e-01 -3.54181630e-02 1.35627922e+02] [ 3.51229339e-01 9.36203539e-01 -1.26840393e-02 2.33651924e+01] [ 3.76165145e-02 -5.73554136e-04 9.99292084e-01 4.99822868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:23.38, Z:5.00 [[ 9.34916862e-01 -3.53095147e-01 -3.54157925e-02 1.35681622e+02] [ 3.52867581e-01 9.35587205e-01 -1.26906549e-02 2.33832869e+01] [ 3.76155709e-02 -6.32377796e-04 9.99292084e-01 5.00010353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:135.74, Y:23.40, Z:5.00 [[ 9.34734156e-01 -3.53578637e-01 -3.54147680e-02 1.35736626e+02] [ 3.53351309e-01 9.35404579e-01 -1.26935131e-02 2.34028800e+01] [ 3.76152912e-02 -6.48794372e-04 9.99292084e-01 5.00172822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:23.42, Z:5.00 [[ 9.34762230e-01 -3.53504643e-01 -3.54124450e-02 1.35791310e+02] [ 3.53277017e-01 9.35432552e-01 -1.26999905e-02 2.34217658e+01] [ 3.76154594e-02 -6.38931493e-04 9.99292084e-01 5.00437011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:23.44, Z:5.01 [[ 9.35327507e-01 -3.52006502e-01 -3.54101360e-02 1.35845563e+02] [ 3.51777559e-01 9.35997380e-01 -1.27064251e-02 2.34404171e+01] [ 3.76165388e-02 -5.71822368e-04 9.99292084e-01 5.00708327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.448623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:23.46, Z:5.01 [[ 9.35726147e-01 -3.50945539e-01 -3.54091358e-02 1.35900410e+02] [ 3.50715731e-01 9.36395724e-01 -1.27092117e-02 2.34598622e+01] [ 3.76172046e-02 -5.26199243e-04 9.99292084e-01 5.01009125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.508623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:135.95, Y:23.48, Z:5.01 [[ 9.35874145e-01 -3.50550907e-01 -3.54068581e-02 1.35954996e+02] [ 3.50320577e-01 9.36543543e-01 -1.27155542e-02 2.34783214e+01] [ 3.76175134e-02 -5.03592508e-04 9.99292084e-01 5.01128387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.568623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:136.01, Y:23.50, Z:5.01 [[ 9.36136240e-01 -3.49850637e-01 -3.54043983e-02 1.36009214e+02] [ 3.49619547e-01 9.36805376e-01 -1.27223995e-02 2.34964987e+01] [ 3.76179702e-02 -4.68170499e-04 9.99292084e-01 5.01225279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.628623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:136.06, Y:23.52, Z:5.02 [[ 9.36616051e-01 -3.48564165e-01 -3.54033373e-02 1.36064324e+02] [ 3.48332045e-01 9.37284830e-01 -1.27253513e-02 2.35156166e+01] [ 3.76186124e-02 -4.13348551e-04 9.99292084e-01 5.01540043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:23.53, Z:5.02 [[ 9.36929996e-01 -3.47719653e-01 -3.54009394e-02 1.36119406e+02] [ 3.47486678e-01 9.37598477e-01 -1.27320186e-02 2.35341580e+01] [ 3.76190399e-02 -3.72344642e-04 9.99292084e-01 5.01810207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:23.55, Z:5.02 [[ 9.37177868e-01 -3.47051275e-01 -3.53985406e-02 1.36173533e+02] [ 3.46817571e-01 9.37846095e-01 -1.27386844e-02 2.35522593e+01] [ 3.76193597e-02 -3.38422795e-04 9.99292084e-01 5.01953993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:136.23, Y:23.57, Z:5.02 [[ 9.37762127e-01 -3.45469551e-01 -3.53975022e-02 1.36228777e+02] [ 3.45234612e-01 9.38429920e-01 -1.27415692e-02 2.35686816e+01] [ 3.76198993e-02 -2.71881894e-04 9.99292084e-01 5.02220334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:23.59, Z:5.02 [[ 9.38065814e-01 -3.44644345e-01 -3.53949804e-02 1.36283842e+02] [ 3.44408554e-01 9.38733307e-01 -1.27485705e-02 2.35876212e+01] [ 3.76201698e-02 -2.31335829e-04 9.99292084e-01 5.02491469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:136.34, Y:23.60, Z:5.03 [[ 9.38234080e-01 -3.44186261e-01 -3.53924820e-02 1.36339279e+02] [ 3.43949883e-01 9.38901366e-01 -1.27555030e-02 2.36040713e+01] [ 3.76203186e-02 -2.05592406e-04 9.99292084e-01 5.02834768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:23.62, Z:5.03 [[ 9.37927702e-01 -3.45020366e-01 -3.53917117e-02 1.36394314e+02] [ 3.44784500e-01 9.38595169e-01 -1.27576399e-02 2.36211192e+01] [ 3.76201352e-02 -2.36769768e-04 9.99292084e-01 5.03150594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:136.45, Y:23.64, Z:5.03 [[ 9.37515564e-01 -3.46138936e-01 -3.53893106e-02 1.36450072e+02] [ 3.45903616e-01 9.38183224e-01 -1.27642968e-02 2.36378619e+01] [ 3.76198777e-02 -2.74563573e-04 9.99292084e-01 5.03384417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:23.65, Z:5.03 [[ 9.36911981e-01 -3.47769620e-01 -3.53868826e-02 1.36505786e+02] [ 3.47535207e-01 9.37579960e-01 -1.27710247e-02 2.36532431e+01] [ 3.76194063e-02 -3.32861562e-04 9.99292084e-01 5.03436609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:136.56, Y:23.67, Z:5.04 [[ 9.36522197e-01 -3.48818168e-01 -3.53844725e-02 1.36561152e+02] [ 3.48584251e-01 9.37190349e-01 -1.27776987e-02 2.36695681e+01] [ 3.76190796e-02 -3.67871440e-04 9.99292084e-01 5.03568318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:23.69, Z:5.04 [[ 9.35932299e-01 -3.50398119e-01 -3.53820489e-02 1.36616038e+02] [ 3.50165076e-01 9.36600757e-01 -1.27844062e-02 2.36851375e+01] [ 3.76184857e-02 -4.24219146e-04 9.99292084e-01 5.03529172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.288623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:23.70, Z:5.04 [[ 9.35606255e-01 -3.51267934e-01 -3.53804066e-02 1.36671726e+02] [ 3.51035341e-01 9.36274870e-01 -1.27889497e-02 2.37018504e+01] [ 3.76181335e-02 -4.54351748e-04 9.99292084e-01 5.03705669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.348623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.73, Y:23.72, Z:5.04 [[ 9.35153796e-01 -3.52470950e-01 -3.53780621e-02 1.36727670e+02] [ 3.52238972e-01 9.35822624e-01 -1.27954321e-02 2.37162211e+01] [ 3.76176090e-02 -4.95835299e-04 9.99292084e-01 5.04141688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.408623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:136.78, Y:23.73, Z:5.04 [[ 9.34748763e-01 -3.53543929e-01 -3.53756943e-02 1.36782972e+02] [ 3.53312471e-01 9.35417772e-01 -1.28019749e-02 2.37323534e+01] [ 3.76171137e-02 -5.32043731e-04 9.99292084e-01 5.04431595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:136.84, Y:23.75, Z:5.05 [[ 9.34381808e-01 -3.54512863e-01 -3.53732591e-02 1.36838579e+02] [ 3.54281845e-01 9.35050967e-01 -1.28087002e-02 2.37488459e+01] [ 3.76166491e-02 -5.63887050e-04 9.99292084e-01 5.04731717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:23.76, Z:5.05 [[ 9.33931522e-01 -3.55697650e-01 -3.53708035e-02 1.36894774e+02] [ 3.55467224e-01 9.34600886e-01 -1.28154775e-02 2.37625117e+01] [ 3.76160196e-02 -6.04382900e-04 9.99292084e-01 5.05004192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:23.78, Z:5.05 [[ 9.33602550e-01 -3.56560457e-01 -3.53683354e-02 1.36950486e+02] [ 3.56330392e-01 9.34272038e-01 -1.28222855e-02 2.37755590e+01] [ 3.76155668e-02 -6.31894326e-04 9.99292084e-01 5.05112980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:137.01, Y:23.79, Z:5.05 [[ 9.33390952e-01 -3.57114110e-01 -3.53672696e-02 1.37005911e+02] [ 3.56884330e-01 9.34060538e-01 -1.28252246e-02 2.37915793e+01] [ 3.76152395e-02 -6.51075779e-04 9.99292084e-01 5.05179647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.06, Y:23.81, Z:5.05 [[ 9.33362817e-01 -3.57187877e-01 -3.53648464e-02 1.37062770e+02] [ 3.56957897e-01 9.34032335e-01 -1.28319031e-02 2.38052016e+01] [ 3.76153102e-02 -6.46939993e-04 9.99292084e-01 5.05131744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:137.12, Y:23.82, Z:5.05 [[ 9.33529504e-01 -3.56752080e-01 -3.53640995e-02 1.37118561e+02] [ 3.56521709e-01 9.34198887e-01 -1.28339611e-02 2.38205323e+01] [ 3.76156447e-02 -6.27187890e-04 9.99292084e-01 5.05217063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:23.84, Z:5.06 [[ 9.34368546e-01 -3.54548801e-01 -3.53633615e-02 1.37175270e+02] [ 3.54316775e-01 9.35037358e-01 -1.28359943e-02 2.38350164e+01] [ 3.76170505e-02 -5.36282858e-04 9.99292084e-01 5.05644228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:23.85, Z:5.06 [[ 9.35302155e-01 -3.52078795e-01 -3.53610016e-02 1.37229296e+02] [ 3.51844757e-01 9.35970265e-01 -1.28424922e-02 2.38521589e+01] [ 3.76184152e-02 -4.29972435e-04 9.99292084e-01 5.05832449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.948623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:137.29, Y:23.87, Z:5.06 [[ 9.35766302e-01 -3.50843413e-01 -3.53599833e-02 1.37285084e+02] [ 3.50608387e-01 9.36434065e-01 -1.28452951e-02 2.38689343e+01] [ 3.76189801e-02 -3.77312420e-04 9.99292084e-01 5.06087231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.008623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:137.34, Y:23.88, Z:5.06 [[ 9.35531707e-01 -3.51468721e-01 -3.53576350e-02 1.37342536e+02] [ 3.51233898e-01 9.36199542e-01 -1.28517558e-02 2.38812416e+01] [ 3.76187919e-02 -3.95574900e-04 9.99292084e-01 5.06261447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:23.90, Z:5.07 [[ 9.34928554e-01 -3.53070251e-01 -3.53552928e-02 1.37398748e+02] [ 3.52836328e-01 9.35596704e-01 -1.28581961e-02 2.38952811e+01] [ 3.76181419e-02 -4.53136949e-04 9.99292084e-01 5.06556849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.128623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.46, Y:23.91, Z:5.07 [[ 9.33707324e-01 -3.56287366e-01 -3.53545676e-02 1.37456429e+02] [ 3.56055670e-01 9.34376249e-01 -1.28601898e-02 2.39073415e+01] [ 3.76163914e-02 -5.80540826e-04 9.99292084e-01 5.06748620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:23.92, Z:5.07 [[ 9.33117166e-01 -3.57830386e-01 -3.53520921e-02 1.37512305e+02] [ 3.57599537e-01 9.33786384e-01 -1.28669913e-02 2.39211706e+01] [ 3.76155027e-02 -6.35481368e-04 9.99292084e-01 5.07038665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:137.57, Y:23.93, Z:5.07 [[ 9.33294269e-01 -3.57368314e-01 -3.53510206e-02 1.37569524e+02] [ 3.57137024e-01 9.33963335e-01 -1.28699342e-02 2.39334659e+01] [ 3.76158638e-02 -6.13722423e-04 9.99292084e-01 5.07357985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:137.63, Y:23.95, Z:5.08 [[ 9.33788536e-01 -3.56075058e-01 -3.53485933e-02 1.37625315e+02] [ 3.55842589e-01 9.34457193e-01 -1.28765977e-02 2.39485028e+01] [ 3.76167826e-02 -5.54515665e-04 9.99292085e-01 5.08061735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:23.96, Z:5.08 [[ 9.34637075e-01 -3.53842035e-01 -3.53461739e-02 1.37682139e+02] [ 3.53607717e-01 9.35305087e-01 -1.28832357e-02 2.39630359e+01] [ 3.76180865e-02 -4.57530111e-04 9.99292085e-01 5.08009868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:23.98, Z:5.08 [[ 9.35520533e-01 -3.51499692e-01 -3.53454297e-02 1.37738459e+02] [ 3.51263624e-01 9.36187928e-01 -1.28852770e-02 2.39783316e+01] [ 3.76191355e-02 -3.61122528e-04 9.99292085e-01 5.08386893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:137.79, Y:23.99, Z:5.08 [[ 9.37114861e-01 -3.47227021e-01 -3.53430690e-02 1.37794065e+02] [ 3.46987665e-01 9.37781085e-01 -1.28917488e-02 2.39918394e+01] [ 3.76204251e-02 -1.82559598e-04 9.99292085e-01 5.08468371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.85, Y:24.01, Z:5.09 [[ 9.38403424e-01 -3.43729537e-01 -3.53414699e-02 1.37849342e+02] [ 3.43487534e-01 9.39068690e-01 -1.28961311e-02 2.40087696e+01] [ 3.76208490e-02 -3.75807854e-05 9.99292085e-01 5.08527403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:137.90, Y:24.03, Z:5.09 [[ 9.40281054e-01 -3.38559718e-01 -3.53391618e-02 1.37904510e+02] [ 3.38313819e-01 9.40944890e-01 -1.29024531e-02 2.40259061e+01] [ 3.76204546e-02 1.76205408e-04 9.99292085e-01 5.08719896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.96, Y:24.04, Z:5.09 [[ 9.41342272e-01 -3.35598042e-01 -3.53366917e-02 1.37959958e+02] [ 3.35349801e-01 9.42005235e-01 -1.29092143e-02 2.40425431e+01] [ 3.76196557e-02 3.01836564e-04 9.99292085e-01 5.08887839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.728623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:138.02, Y:24.06, Z:5.09 [[ 9.42484741e-01 -3.32376300e-01 -3.53342402e-02 1.38015557e+02] [ 3.32125542e-01 9.43146756e-01 -1.29159211e-02 2.40607203e+01] [ 3.76183201e-02 4.37654887e-04 9.99292085e-01 5.09119906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.788623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:24.08, Z:5.09 [[ 9.43036755e-01 -3.30807111e-01 -3.53317713e-02 1.38069910e+02] [ 3.30554998e-01 9.43698256e-01 -1.29226713e-02 2.40803702e+01] [ 3.76174425e-02 5.07460443e-04 9.99292085e-01 5.09348536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.12, Y:24.10, Z:5.10 [[ 9.43492295e-01 -3.29505704e-01 -3.53310107e-02 1.38124529e+02] [ 3.29252601e-01 9.44153417e-01 -1.29247503e-02 2.41004645e+01] [ 3.76166735e-02 5.61575113e-04 9.99292085e-01 5.09656038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.908623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:138.18, Y:24.12, Z:5.10 [[ 9.43830766e-01 -3.28535200e-01 -3.53285747e-02 1.38177871e+02] [ 3.28281168e-01 9.44491532e-01 -1.29314056e-02 2.41194681e+01] [ 3.76159615e-02 6.07352643e-04 9.99292085e-01 5.10001267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.23, Y:24.14, Z:5.10 [[ 9.44074723e-01 -3.27833686e-01 -3.53269295e-02 1.38232052e+02] [ 3.27578995e-01 9.44735235e-01 -1.29358985e-02 2.41405910e+01] [ 3.76154183e-02 6.40094753e-04 9.99292085e-01 5.10245874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.29, Y:24.16, Z:5.11 [[ 9.43885642e-01 -3.28377763e-01 -3.53261966e-02 1.38285193e+02] [ 3.28123378e-01 9.44546272e-01 -1.29378997e-02 2.41628319e+01] [ 3.76157458e-02 6.20546847e-04 9.99292085e-01 5.10624769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.34, Y:24.18, Z:5.11 [[ 9.43107877e-01 -3.30605137e-01 -3.53238578e-02 1.38338011e+02] [ 3.30352073e-01 9.43769015e-01 -1.29442819e-02 2.41841727e+01] [ 3.76170086e-02 5.38544562e-04 9.99292085e-01 5.10766244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:24.21, Z:5.11 [[ 9.42487884e-01 -3.32368599e-01 -3.53228444e-02 1.38392180e+02] [ 3.32116669e-01 9.43149454e-01 -1.29470468e-02 2.42059496e+01] [ 3.76179132e-02 4.71129346e-04 9.99292085e-01 5.11183043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.44, Y:24.23, Z:5.11 [[ 9.41693178e-01 -3.34613847e-01 -3.53204190e-02 1.38444917e+02] [ 3.34363246e-01 9.42355253e-01 -1.29536600e-02 2.42299658e+01] [ 3.76188564e-02 3.88523331e-04 9.99292085e-01 5.11419866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.50, Y:24.25, Z:5.12 [[ 9.41131608e-01 -3.36190326e-01 -3.53180028e-02 1.38498814e+02] [ 3.35940587e-01 9.41794008e-01 -1.29602445e-02 2.42526089e+01] [ 3.76193922e-02 3.32545111e-04 9.99292085e-01 5.11654353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.55, Y:24.28, Z:5.12 [[ 9.40016119e-01 -3.39297075e-01 -3.53155824e-02 1.38550210e+02] [ 3.39049278e-01 9.40679248e-01 -1.29668365e-02 2.42787078e+01] [ 3.76202452e-02 2.15312555e-04 9.99292085e-01 5.11800330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.60, Y:24.30, Z:5.12 [[ 9.38931606e-01 -3.42286902e-01 -3.53145332e-02 1.38603397e+02] [ 3.42041109e-01 9.39595480e-01 -1.29696934e-02 2.43017281e+01] [ 3.76207319e-02 9.86329516e-05 9.99292085e-01 5.11919950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.66, Y:24.32, Z:5.12 [[ 9.37161581e-01 -3.47104056e-01 -3.53121187e-02 1.38655479e+02] [ 3.46861428e-01 9.37826618e-01 -1.29762640e-02 2.43239920e+01] [ 3.76207587e-02 -8.75558604e-05 9.99292085e-01 5.12172883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.71, Y:24.35, Z:5.13 [[ 9.35984591e-01 -3.50265575e-01 -3.53110720e-02 1.38709083e+02] [ 3.50025086e-01 9.36650406e-01 -1.29791115e-02 2.43469670e+01] [ 3.76202659e-02 -2.11512591e-04 9.99292085e-01 5.12511271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.568623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:138.76, Y:24.37, Z:5.13 [[ 9.35202362e-01 -3.52349033e-01 -3.53086689e-02 1.38761288e+02] [ 3.52109780e-01 9.35868621e-01 -1.29856456e-02 2.43701267e+01] [ 3.76197550e-02 -2.88321224e-04 9.99292085e-01 5.12681492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.628623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:24.39, Z:5.13 [[ 9.33999911e-01 -3.55524313e-01 -3.53076280e-02 1.38814981e+02] [ 3.55287218e-01 9.34666942e-01 -1.29884753e-02 2.43930433e+01] [ 3.76185914e-02 -4.13114152e-04 9.99292085e-01 5.12851259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688623853 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:138.87, Y:24.42, Z:5.14 [[ 9.33246507e-01 -3.57497555e-01 -3.53051677e-02 1.38868760e+02] [ 3.57261618e-01 9.33913948e-01 -1.29951595e-02 2.44157847e+01] [ 3.76177263e-02 -4.85494113e-04 9.99292085e-01 5.13880292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.92, Y:24.44, Z:5.13 [[ 9.32520199e-01 -3.59388073e-01 -3.53028679e-02 1.38922103e+02] [ 3.59153252e-01 9.33188033e-01 -1.30014040e-02 2.44380322e+01] [ 3.76167634e-02 -5.55067970e-04 9.99292085e-01 5.13484414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:24.46, Z:5.14 [[ 9.31432327e-01 -3.62198268e-01 -3.53020577e-02 1.38975888e+02] [ 3.61965379e-01 9.32100837e-01 -1.30036037e-02 2.44602093e+01] [ 3.76149602e-02 -6.66145867e-04 9.99292085e-01 5.13801998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:24.48, Z:5.14 [[ 9.30520578e-01 -3.64534325e-01 -3.53012803e-02 1.39030050e+02] [ 3.64303034e-01 9.31189643e-01 -1.30057137e-02 2.44796243e+01] [ 3.76132157e-02 -7.58279325e-04 9.99292085e-01 5.14092496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928623853 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:24.50, Z:5.14 [[ 9.29455676e-01 -3.67241256e-01 -3.52988082e-02 1.39083359e+02] [ 3.67011659e-01 9.30125324e-01 -1.30124198e-02 2.44986741e+01] [ 3.76110128e-02 -8.60606698e-04 9.99292085e-01 5.14183183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:24.52, Z:5.14 [[ 9.29301843e-01 -3.67630460e-01 -3.52977341e-02 1.39137758e+02] [ 3.67401033e-01 9.29971549e-01 -1.30153327e-02 2.45191524e+01] [ 3.76107212e-02 -8.73251272e-04 9.99292085e-01 5.14275952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:24.54, Z:5.14 [[ 9.29606150e-01 -3.66860536e-01 -3.52952394e-02 1.39191624e+02] [ 3.66630297e-01 9.30275578e-01 -1.30220945e-02 2.45393121e+01] [ 3.76115917e-02 -8.34884991e-04 9.99292085e-01 5.14390296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:24.56, Z:5.15 [[ 9.30465380e-01 -3.64676016e-01 -3.52927709e-02 1.39244720e+02] [ 3.64443953e-01 9.31134177e-01 -1.30287813e-02 2.45590623e+01] [ 3.76135892e-02 -7.39406995e-04 9.99292085e-01 5.14594307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:24.58, Z:5.15 [[ 9.30718788e-01 -3.64028890e-01 -3.52917085e-02 1.39299043e+02] [ 3.63796252e-01 9.31387386e-01 -1.30316584e-02 2.45789399e+01] [ 3.76141522e-02 -7.10181940e-04 9.99292085e-01 5.14892888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.228623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.35, Y:24.60, Z:5.15 [[ 9.30972778e-01 -3.63379078e-01 -3.52892824e-02 1.39353893e+02] [ 3.63145724e-01 9.31641126e-01 -1.30382247e-02 2.45970039e+01] [ 3.76147649e-02 -6.76919707e-04 9.99292085e-01 5.15089481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.41, Y:24.62, Z:5.15 [[ 9.31032924e-01 -3.63225186e-01 -3.52868041e-02 1.39407368e+02] [ 3.62991468e-01 9.31701145e-01 -1.30449286e-02 2.46159167e+01] [ 3.76150024e-02 -6.63550823e-04 9.99292085e-01 5.15214432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.348623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.46, Y:24.63, Z:5.15 [[ 9.31524450e-01 -3.61962867e-01 -3.52857321e-02 1.39462484e+02] [ 3.61728133e-01 9.32192315e-01 -1.30478277e-02 2.46340124e+01] [ 3.76159174e-02 -6.09471513e-04 9.99292085e-01 5.15497758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.408623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.52, Y:24.65, Z:5.15 [[ 9.32469829e-01 -3.59520671e-01 -3.52832205e-02 1.39516977e+02] [ 3.59283932e-01 9.33136985e-01 -1.30546159e-02 2.46527234e+01] [ 3.76174823e-02 -5.03658775e-04 9.99292085e-01 5.15477359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.57, Y:24.67, Z:5.16 [[ 9.33668566e-01 -3.56396069e-01 -3.52824446e-02 1.39571950e+02] [ 3.56157018e-01 9.34334898e-01 -1.30567126e-02 2.46716587e+01] [ 3.76189803e-02 -3.75448160e-04 9.99292085e-01 5.15812964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:24.69, Z:5.16 [[ 9.36041715e-01 -3.50116025e-01 -3.52799815e-02 1.39625814e+02] [ 3.49872252e-01 9.36706334e-01 -1.30633646e-02 2.46918504e+01] [ 3.76206754e-02 -1.15632317e-04 9.99292085e-01 5.16163030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:24.71, Z:5.17 [[ 9.37320400e-01 -3.46678300e-01 -3.52792218e-02 1.39680030e+02] [ 3.46432012e-01 9.37984091e-01 -1.30654159e-02 2.47129432e+01] [ 3.76208450e-02 2.46290526e-05 9.99292085e-01 5.16588286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.73, Y:24.74, Z:5.17 [[ 9.38628901e-01 -3.43119997e-01 -3.52768249e-02 1.39733848e+02] [ 3.42870950e-01 9.39291562e-01 -1.30718844e-02 2.47354863e+01] [ 3.76204489e-02 1.74249997e-04 9.99292085e-01 5.16940710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:24.76, Z:5.17 [[ 9.39127144e-01 -3.41754183e-01 -3.52744467e-02 1.39786763e+02] [ 3.41503931e-01 9.39789350e-01 -1.30782988e-02 2.47556284e+01] [ 3.76201127e-02 2.35823195e-04 9.99292085e-01 5.16959680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.84, Y:24.78, Z:5.17 [[ 9.39309178e-01 -3.41253650e-01 -3.52734216e-02 1.39839608e+02] [ 3.41002942e-01 9.39971212e-01 -1.30810629e-02 2.47780168e+01] [ 3.76199614e-02 2.58821929e-04 9.99292085e-01 5.17056323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.89, Y:24.80, Z:5.17 [[ 9.39000439e-01 -3.42102371e-01 -3.52724090e-02 1.39893589e+02] [ 3.41852158e-01 9.39662661e-01 -1.30837929e-02 2.47982777e+01] [ 3.76201623e-02 2.27738128e-04 9.99292085e-01 5.17192942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.95, Y:24.82, Z:5.18 [[ 9.38364130e-01 -3.43844120e-01 -3.52701082e-02 1.39946718e+02] [ 3.43594904e-01 9.39026727e-01 -1.30899924e-02 2.48198847e+01] [ 3.76204911e-02 1.64549877e-04 9.99292085e-01 5.17586179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.948623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.00, Y:24.84, Z:5.18 [[ 9.37615221e-01 -3.45881145e-01 -3.52693972e-02 1.40000432e+02] [ 3.45633296e-01 9.38278331e-01 -1.30919077e-02 2.48407430e+01] [ 3.76207552e-02 8.48938935e-05 9.99292085e-01 5.17988581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:24.86, Z:5.18 [[ 9.36139257e-01 -3.49856451e-01 -3.52669046e-02 1.40054209e+02] [ 3.49611166e-01 9.36803319e-01 -1.30986188e-02 2.48612815e+01] [ 3.76207896e-02 -6.75723718e-05 9.99292085e-01 5.18110673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.11, Y:24.88, Z:5.18 [[ 9.35217981e-01 -3.52312006e-01 -3.52643916e-02 1.40107880e+02] [ 3.52068210e-01 9.35882591e-01 -1.31053808e-02 2.48804641e+01] [ 3.76205132e-02 -1.59083446e-04 9.99292085e-01 5.18324828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:24.90, Z:5.19 [[ 9.34938374e-01 -3.53053508e-01 -3.52626817e-02 1.40161584e+02] [ 3.52810064e-01 9.35603114e-01 -1.31099800e-02 2.49011685e+01] [ 3.76203993e-02 -1.84005636e-04 9.99292085e-01 5.18555931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:24.92, Z:5.19 [[ 9.35420717e-01 -3.51773796e-01 -3.52601712e-02 1.40214693e+02] [ 3.51529189e-01 9.36085029e-01 -1.31167288e-02 2.49218842e+01] [ 3.76206398e-02 -1.25319476e-04 9.99292085e-01 5.18755781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:24.94, Z:5.19 [[ 9.36684595e-01 -3.48394617e-01 -3.52584752e-02 1.40269423e+02] [ 3.48147442e-01 9.37347956e-01 -1.31212862e-02 2.49414268e+01] [ 3.76208451e-02 1.53587454e-05 9.99292085e-01 5.19007122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:24.96, Z:5.19 [[ 9.37464828e-01 -3.46289926e-01 -3.52559751e-02 1.40323857e+02] [ 3.46041009e-01 9.38127537e-01 -1.31280002e-02 2.49623759e+01] [ 3.76206953e-02 1.07025296e-04 9.99292085e-01 5.19077002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:24.98, Z:5.19 [[ 9.38449178e-01 -3.43613461e-01 -3.52552058e-02 1.40376905e+02] [ 3.43362576e-01 9.39111145e-01 -1.31300660e-02 2.49847621e+01] [ 3.76202241e-02 2.16581404e-04 9.99292085e-01 5.19291195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:25.01, Z:5.20 [[ 9.39029000e-01 -3.42025819e-01 -3.52544498e-02 1.40431076e+02] [ 3.41773739e-01 9.39690512e-01 -1.31320955e-02 2.50063389e+01] [ 3.76197877e-02 2.82373346e-04 9.99292085e-01 5.19803119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.48, Y:25.03, Z:5.20 [[ 9.39632241e-01 -3.40365321e-01 -3.52519649e-02 1.40483496e+02] [ 3.40111822e-01 9.40293211e-01 -1.31387625e-02 2.50275462e+01] [ 3.76191624e-02 3.55994819e-04 9.99292085e-01 5.19989534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:25.05, Z:5.20 [[ 9.39926494e-01 -3.39552001e-01 -3.52508888e-02 1.40536865e+02] [ 3.39297822e-01 9.40587202e-01 -1.31416491e-02 2.50501856e+01] [ 3.76188081e-02 3.91634422e-04 9.99292085e-01 5.20124846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:25.07, Z:5.20 [[ 9.39605561e-01 -3.40439330e-01 -3.52484419e-02 1.40590480e+02] [ 3.40185528e-01 9.40266415e-01 -1.31482089e-02 2.50724837e+01] [ 3.76190935e-02 3.63120416e-04 9.99292085e-01 5.20425096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.64, Y:25.09, Z:5.21 [[ 9.39062050e-01 -3.41935946e-01 -3.52459328e-02 1.40643933e+02] [ 3.41682946e-01 9.39723211e-01 -1.31549316e-02 2.50933950e+01] [ 3.76195651e-02 3.10362937e-04 9.99292085e-01 5.20556359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.70, Y:25.12, Z:5.21 [[ 9.38163038e-01 -3.44395000e-01 -3.52448450e-02 1.40697809e+02] [ 3.44143623e-01 9.38824817e-01 -1.31578454e-02 2.51156372e+01] [ 3.76202313e-02 2.14915613e-04 9.99292085e-01 5.20922547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:25.14, Z:5.21 [[ 9.37698669e-01 -3.45657431e-01 -3.52440977e-02 1.40752075e+02] [ 3.45406870e-01 9.38360758e-01 -1.31598467e-02 2.51372738e+01] [ 3.76204770e-02 1.66417247e-04 9.99292085e-01 5.21171291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:25.16, Z:5.21 [[ 9.36927400e-01 -3.47742819e-01 -3.52417073e-02 1.40805681e+02] [ 3.47493491e-01 9.37589955e-01 -1.31662451e-02 2.51588403e+01] [ 3.76207379e-02 8.95518779e-05 9.99292085e-01 5.21476530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.86, Y:25.18, Z:5.22 [[ 9.36302103e-01 -3.49423195e-01 -3.52392196e-02 1.40859532e+02] [ 3.49174806e-01 9.36965010e-01 -1.31728999e-02 2.51791495e+01] [ 3.76208325e-02 2.91661951e-05 9.99292085e-01 5.21757526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.91, Y:25.20, Z:5.22 [[ 9.35520891e-01 -3.51509480e-01 -3.52384497e-02 1.40913633e+02] [ 3.51262491e-01 9.36184321e-01 -1.31749592e-02 2.51997251e+01] [ 3.76208071e-02 -5.24960958e-05 9.99292085e-01 5.22165701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:25.22, Z:5.22 [[ 9.34859300e-01 -3.53265509e-01 -3.52359179e-02 1.40966946e+02] [ 3.53019511e-01 9.35523098e-01 -1.31817270e-02 2.52201948e+01] [ 3.76206645e-02 -1.15906452e-04 9.99292086e-01 5.22389821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:141.02, Y:25.24, Z:5.23 [[ 9.34598716e-01 -3.53954442e-01 -3.52348169e-02 1.41021149e+02] [ 3.53708823e-01 9.35262655e-01 -1.31846693e-02 2.52400850e+01] [ 3.76205806e-02 -1.40490575e-04 9.99292086e-01 5.22606972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:25.26, Z:5.23 [[ 9.34759364e-01 -3.53530233e-01 -3.52321533e-02 1.41075142e+02] [ 3.53284045e-01 9.35423092e-01 -1.31917831e-02 2.52603320e+01] [ 3.76206639e-02 -1.15814793e-04 9.99292086e-01 5.22558210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:25.28, Z:5.23 [[ 9.34950721e-01 -3.53023981e-01 -3.52309116e-02 1.41128382e+02] [ 3.52777308e-01 9.35614269e-01 -1.31950983e-02 2.52805491e+01] [ 3.76207298e-02 -9.18995016e-05 9.99292086e-01 5.22667860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:141.18, Y:25.30, Z:5.23 [[ 9.35619197e-01 -3.51248598e-01 -3.52298312e-02 1.41182140e+02] [ 3.51000558e-01 9.36282234e-01 -1.31979824e-02 2.53024422e+01] [ 3.76208379e-02 -1.74046553e-05 9.99292086e-01 5.23057198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:141.24, Y:25.32, Z:5.23 [[ 9.35734751e-01 -3.50940897e-01 -3.52273115e-02 1.41235612e+02] [ 3.50692385e-01 9.36397612e-01 -1.32047043e-02 2.53235564e+01] [ 3.76208411e-02 2.15083956e-06 9.99292086e-01 5.23239433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38862385299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:141.29, Y:25.34, Z:5.23 [[ 9.35159361e-01 -3.52471362e-01 -3.52265309e-02 1.41290242e+02] [ 3.52223856e-01 9.35822599e-01 -1.32067864e-02 2.53426927e+01] [ 3.76207977e-02 -5.71746698e-05 9.99292086e-01 5.23398906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.448623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:141.35, Y:25.36, Z:5.24 [[ 9.34903108e-01 -3.53150737e-01 -3.52240806e-02 1.41345510e+02] [ 3.52903467e-01 9.35566433e-01 -1.32133184e-02 2.53639977e+01] [ 3.76207606e-02 -7.75277216e-05 9.99292086e-01 5.23503965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.40, Y:25.39, Z:5.24 [[ 9.35026746e-01 -3.52823486e-01 -3.52217602e-02 1.41398528e+02] [ 3.52575751e-01 9.35689898e-01 -1.32195009e-02 2.53852799e+01] [ 3.76207956e-02 -5.77516658e-05 9.99292086e-01 5.23598800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.568623853 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:25.41, Z:5.24 [[ 9.35186107e-01 -3.52400984e-01 -3.52206118e-02 1.41452291e+02] [ 3.52152835e-01 9.35849104e-01 -1.32225599e-02 2.54070376e+01] [ 3.76208211e-02 -3.74839385e-05 9.99292086e-01 5.24050120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.628623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:25.43, Z:5.24 [[ 9.35059201e-01 -3.52737837e-01 -3.52180214e-02 1.41506769e+02] [ 3.52489667e-01 9.35722190e-01 -1.32294558e-02 2.54276818e+01] [ 3.76208137e-02 -4.36642183e-05 9.99292086e-01 5.24279292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:25.45, Z:5.25 [[ 9.34952443e-01 -3.53020788e-01 -3.52172228e-02 1.41560876e+02] [ 3.52772738e-01 9.35615477e-01 -1.32315814e-02 2.54482194e+01] [ 3.76208020e-02 -5.27767123e-05 9.99292086e-01 5.24561492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:25.47, Z:5.25 [[ 9.34972805e-01 -3.52966930e-01 -3.52164735e-02 1.41614699e+02] [ 3.52718767e-01 9.35635797e-01 -1.32335754e-02 2.54692085e+01] [ 3.76208077e-02 -4.84779807e-05 9.99292086e-01 5.24931221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:141.67, Y:25.49, Z:5.25 [[ 9.34980873e-01 -3.52945807e-01 -3.52139739e-02 1.41669189e+02] [ 3.52697378e-01 9.35643765e-01 -1.32402232e-02 2.54904799e+01] [ 3.76208164e-02 -4.05208221e-05 9.99292086e-01 5.25041576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868623853 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:141.72, Y:25.51, Z:5.25 [[ 9.35244334e-01 -3.52247343e-01 -3.52114416e-02 1.41722760e+02] [ 3.51998166e-01 9.35906945e-01 -1.32469543e-02 2.55124122e+01] [ 3.76208372e-02 -5.22385751e-06 9.99292086e-01 5.25320404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:25.53, Z:5.26 [[ 9.35272041e-01 -3.52174020e-01 -3.52089205e-02 1.41775332e+02] [ 3.51924539e-01 9.35934538e-01 -1.32536517e-02 2.55332792e+01] [ 3.76208366e-02 4.88675870e-06 9.99292086e-01 5.25517895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:141.83, Y:25.55, Z:5.26 [[ 9.34963479e-01 -3.52992495e-01 -3.52078320e-02 1.41829136e+02] [ 3.52743485e-01 9.35626153e-01 -1.32565426e-02 2.55540920e+01] [ 3.76208285e-02 -2.49502133e-05 9.99292086e-01 5.25764582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:141.88, Y:25.57, Z:5.26 [[ 9.34591743e-01 -3.53975800e-01 -3.52052232e-02 1.41883401e+02] [ 3.53727227e-01 9.35254580e-01 -1.32634672e-02 2.55745163e+01] [ 3.76207927e-02 -5.71190834e-05 9.99292086e-01 5.25963442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10862385299998 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:141.94, Y:25.59, Z:5.27 [[ 9.33209787e-01 -3.57603332e-01 -3.52044156e-02 1.41937656e+02] [ 3.57357254e-01 9.33873555e-01 -1.32656105e-02 2.55945991e+01] [ 3.76202992e-02 -2.00955699e-04 9.99292086e-01 5.26870835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:25.61, Z:5.26 [[ 9.31946857e-01 -3.60882091e-01 -3.52018748e-02 1.41992496e+02] [ 3.60638094e-01 9.32611393e-01 -1.32723494e-02 2.56139155e+01] [ 3.76194227e-02 -3.26012771e-04 9.99292086e-01 5.26377653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.228623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:25.63, Z:5.26 [[ 9.30622290e-01 -3.64284451e-01 -3.51993266e-02 1.42046249e+02] [ 3.64042628e-01 9.31287620e-01 -1.32791039e-02 2.56329739e+01] [ 3.76180682e-02 -4.56225260e-04 9.99292086e-01 5.26325785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.288623853 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:25.65, Z:5.28 [[ 9.30321063e-01 -3.65053154e-01 -3.51982232e-02 1.42100394e+02] [ 3.64811770e-01 9.30986552e-01 -1.32820281e-02 2.56521413e+01] [ 3.76177187e-02 -4.84175627e-04 9.99292086e-01 5.27540710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.348623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:142.16, Y:25.67, Z:5.27 [[ 9.30369159e-01 -3.64930797e-01 -3.51957413e-02 1.42156624e+02] [ 3.64689077e-01 9.31034527e-01 -1.32886014e-02 2.56703690e+01] [ 3.76178703e-02 -4.72197510e-04 9.99292086e-01 5.27073517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.408623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:25.69, Z:5.27 [[ 9.30678945e-01 -3.64140240e-01 -3.51935569e-02 1.42211391e+02] [ 3.63897736e-01 9.31344027e-01 -1.32943841e-02 2.56899714e+01] [ 3.76183293e-02 -4.34052344e-04 9.99292086e-01 5.27297360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:25.71, Z:5.27 [[ 9.31445225e-01 -3.62175897e-01 -3.51910808e-02 1.42265359e+02] [ 3.61931742e-01 9.32109703e-01 -1.33009353e-02 2.57082810e+01] [ 3.76192261e-02 -3.47676489e-04 9.99292086e-01 5.27451636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:25.73, Z:5.28 [[ 9.32541288e-01 -3.59344476e-01 -3.51894021e-02 1.42319534e+02] [ 3.59098137e-01 9.33204959e-01 -1.33053752e-02 2.57280270e+01] [ 3.76201376e-02 -2.28637045e-04 9.99292086e-01 5.27708432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:25.75, Z:5.28 [[ 9.33385665e-01 -3.57145739e-01 -3.51869544e-02 1.42373545e+02] [ 3.56897593e-01 9.34048662e-01 -1.33118452e-02 2.57480682e+01] [ 3.76205964e-02 -1.33053848e-04 9.99292086e-01 5.28049664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:25.77, Z:5.28 [[ 9.34912869e-01 -3.53128839e-01 -3.51845152e-02 1.42428019e+02] [ 3.52877601e-01 9.35574701e-01 -1.33182890e-02 2.57678671e+01] [ 3.76208142e-02 3.56124681e-05 9.99292086e-01 5.28432039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:25.79, Z:5.28 [[ 9.35973439e-01 -3.50308367e-01 -3.51819643e-02 1.42481041e+02] [ 3.50054881e-01 9.36634413e-01 -1.33250240e-02 2.57878221e+01] [ 3.76205059e-02 1.56250221e-04 9.99292086e-01 5.28445891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76862385299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:25.81, Z:5.29 [[ 9.37092097e-01 -3.47304921e-01 -3.51808635e-02 1.42534695e+02] [ 3.47049208e-01 9.37752213e-01 -1.33279299e-02 2.58100793e+01] [ 3.76197882e-02 2.80006991e-04 9.99292086e-01 5.28755514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82862385299998 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:25.83, Z:5.29 [[ 9.37576740e-01 -3.45994703e-01 -3.51784213e-02 1.42588617e+02] [ 3.45737826e-01 9.38236404e-01 -1.33343727e-02 2.58316030e+01] [ 3.76192979e-02 3.39486729e-04 9.99292086e-01 5.28927362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88862385299998 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:142.64, Y:25.85, Z:5.30 [[ 9.37909954e-01 -3.45090664e-01 -3.51760085e-02 1.42642617e+02] [ 3.44832912e-01 9.38569277e-01 -1.33407346e-02 2.58532669e+01] [ 3.76188838e-02 3.82562328e-04 9.99292086e-01 5.29905690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.948623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:142.70, Y:25.87, Z:5.30 [[ 9.37702500e-01 -3.45654231e-01 -3.51734873e-02 1.42696589e+02] [ 3.45396627e-01 9.38361880e-01 -1.33473786e-02 2.58746963e+01] [ 3.76190376e-02 3.67066378e-04 9.99292086e-01 5.29526965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.008623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:142.75, Y:25.90, Z:5.30 [[ 9.37669659e-01 -3.45743577e-01 -3.51708613e-02 1.42750020e+02] [ 3.45485776e-01 9.38328962e-01 -1.33542947e-02 2.58976484e+01] [ 3.76189994e-02 3.70884642e-04 9.99292086e-01 5.29681154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.068623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:25.92, Z:5.30 [[ 9.37637972e-01 -3.45829584e-01 -3.51700514e-02 1.42803509e+02] [ 3.45571763e-01 9.38297268e-01 -1.33564273e-02 2.59188742e+01] [ 3.76190108e-02 3.69716683e-04 9.99292086e-01 5.30028172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.128623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:25.94, Z:5.30 [[ 9.37602672e-01 -3.45925538e-01 -3.51674677e-02 1.42856383e+02] [ 3.45667530e-01 9.38261894e-01 -1.33632267e-02 2.59396974e+01] [ 3.76189763e-02 3.73145323e-04 9.99292086e-01 5.30207227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:142.91, Y:25.96, Z:5.30 [[ 9.37456384e-01 -3.46321960e-01 -3.51657141e-02 1.42908237e+02] [ 3.46064058e-01 9.38115648e-01 -1.33678398e-02 2.59629360e+01] [ 3.76190831e-02 3.62177030e-04 9.99292086e-01 5.30447417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:142.96, Y:25.99, Z:5.31 [[ 9.37496055e-01 -3.46214667e-01 -3.51646388e-02 1.42961543e+02] [ 3.45956583e-01 9.38155247e-01 -1.33706679e-02 2.59865951e+01] [ 3.76190117e-02 3.69510147e-04 9.99292086e-01 5.30694679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:26.01, Z:5.31 [[ 9.37835331e-01 -3.45294832e-01 -3.51620726e-02 1.43014164e+02] [ 3.45035848e-01 9.38494171e-01 -1.33774131e-02 2.60122813e+01] [ 3.76185517e-02 4.13635091e-04 9.99292086e-01 5.30791379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:26.04, Z:5.31 [[ 9.38247834e-01 -3.44172649e-01 -3.51594896e-02 1.43065549e+02] [ 3.43912624e-01 9.38906263e-01 -1.33841984e-02 2.60365590e+01] [ 3.76179400e-02 4.65902893e-04 9.99292086e-01 5.30912209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.12, Y:26.06, Z:5.31 [[ 9.38291755e-01 -3.44053005e-01 -3.51583747e-02 1.43117045e+02] [ 3.43792786e-01 9.38950108e-01 -1.33871264e-02 2.60637558e+01] [ 3.76178408e-02 4.73834752e-04 9.99292086e-01 5.31198948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:26.09, Z:5.31 [[ 9.37869462e-01 -3.45202752e-01 -3.51558324e-02 1.43168801e+02] [ 3.44943090e-01 9.38528034e-01 -1.33937993e-02 2.60881428e+01] [ 3.76183107e-02 4.34873885e-04 9.99292086e-01 5.31399922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54862385299998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:143.22, Y:26.11, Z:5.32 [[ 9.36332954e-01 -3.49349030e-01 -3.51547298e-02 1.43220705e+02] [ 3.49092175e-01 9.36992626e-01 -1.33966928e-02 2.61141159e+01] [ 3.76198442e-02 2.71523877e-04 9.99292086e-01 5.31633260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:143.27, Y:26.14, Z:5.32 [[ 9.34861498e-01 -3.53268031e-01 -3.51522021e-02 1.43272893e+02] [ 3.53013692e-01 9.35522145e-01 -1.34033219e-02 2.61378593e+01] [ 3.76206287e-02 1.21040944e-04 9.99292086e-01 5.31849815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:143.32, Y:26.16, Z:5.32 [[ 9.32550421e-01 -3.59324521e-01 -3.51511099e-02 1.43324477e+02] [ 3.59074366e-01 9.33212663e-01 -1.34061859e-02 2.61623669e+01] [ 3.76206322e-02 -1.19918205e-04 9.99292086e-01 5.31914628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.728623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:26.19, Z:5.32 [[ 9.31092020e-01 -3.63087000e-01 -3.51494111e-02 1.43377653e+02] [ 3.62839353e-01 9.31755203e-01 -1.34106384e-02 2.61859429e+01] [ 3.76198751e-02 -2.67051203e-04 9.99292086e-01 5.32293231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.788623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:143.43, Y:26.21, Z:5.32 [[ 9.28711127e-01 -3.69134574e-01 -3.51469527e-02 1.43431229e+02] [ 3.68891001e-01 9.29375818e-01 -1.34170784e-02 2.62078617e+01] [ 3.76174354e-02 -5.04804511e-04 9.99292086e-01 5.31996756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:26.23, Z:5.32 [[ 9.27031822e-01 -3.73332111e-01 -3.51445032e-02 1.43484753e+02] [ 3.73091304e-01 9.27697520e-01 -1.34234915e-02 2.62298043e+01] [ 3.76148889e-02 -6.68104737e-04 9.99292086e-01 5.32403282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:26.25, Z:5.33 [[ 9.24760822e-01 -3.78922776e-01 -3.51418799e-02 1.43539313e+02] [ 3.78685733e-01 9.25427869e-01 -1.34303556e-02 2.62497905e+01] [ 3.76103427e-02 -8.87861815e-04 9.99292086e-01 5.32667119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:143.59, Y:26.27, Z:5.33 [[ 9.23366792e-01 -3.82307300e-01 -3.51410696e-02 1.43593547e+02] [ 3.82072621e-01 9.24034675e-01 -1.34324754e-02 2.62689675e+01] [ 3.76069002e-02 -1.02333880e-03 9.99292086e-01 5.33038816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:143.65, Y:26.29, Z:5.33 [[ 9.21685344e-01 -3.86343651e-01 -3.51384392e-02 1.43647783e+02] [ 3.86111634e-01 9.22354156e-01 -1.34393529e-02 2.62865365e+01] [ 3.76022941e-02 -1.18050559e-03 9.99292086e-01 5.33115078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:143.70, Y:26.30, Z:5.33 [[ 9.20879139e-01 -3.88261485e-01 -3.51373050e-02 1.43702953e+02] [ 3.88030748e-01 9.21548394e-01 -1.34423176e-02 2.63038137e+01] [ 3.75998612e-02 -1.25560485e-03 9.99292086e-01 5.33155040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.76, Y:26.32, Z:5.33 [[ 9.20839565e-01 -3.88355556e-01 -3.51348663e-02 1.43758966e+02] [ 3.88124644e-01 9.21508759e-01 -1.34486886e-02 2.63203711e+01] [ 3.75999600e-02 -1.25262290e-03 9.99292086e-01 5.33410410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:143.81, Y:26.34, Z:5.34 [[ 9.22208351e-01 -3.85094119e-01 -3.51322824e-02 1.43814207e+02] [ 3.84860584e-01 9.22876634e-01 -1.34554354e-02 2.63380639e+01] [ 3.76043715e-02 -1.11231580e-03 9.99292086e-01 5.33672813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26862385299998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:143.87, Y:26.36, Z:5.34 [[ 9.22979904e-01 -3.83241441e-01 -3.51296904e-02 1.43869021e+02] [ 3.83006307e-01 9.23647627e-01 -1.34621991e-02 2.63556353e+01] [ 3.76067278e-02 -1.02955373e-03 9.99292086e-01 5.33991388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32862385299998 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:143.92, Y:26.37, Z:5.35 [[ 9.23774506e-01 -3.81322380e-01 -3.51269729e-02 1.43924276e+02] [ 3.81085589e-01 9.24441643e-01 -1.34692861e-02 2.63711830e+01] [ 3.76089768e-02 -9.43800033e-04 9.99292086e-01 5.34830683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:143.98, Y:26.39, Z:5.34 [[ 9.24490746e-01 -3.79582718e-01 -3.51257954e-02 1.43980423e+02] [ 3.79344555e-01 9.25157394e-01 -1.34723562e-02 2.63870456e+01] [ 3.76107629e-02 -8.69710634e-04 9.99292086e-01 5.34357514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.448623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.04, Y:26.40, Z:5.35 [[ 9.25983258e-01 -3.75927174e-01 -3.51249935e-02 1.44037304e+02] [ 3.75686300e-01 9.26648932e-01 -1.34744467e-02 2.64014282e+01] [ 3.76139484e-02 -7.18866750e-04 9.99292086e-01 5.34547984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.09, Y:26.42, Z:5.35 [[ 9.27383874e-01 -3.72458806e-01 -3.51224708e-02 1.44092169e+02] [ 3.72215194e-01 9.28048550e-01 -1.34810192e-02 2.64192570e+01] [ 3.76164824e-02 -5.71037483e-04 9.99292087e-01 5.34845236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.568623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:144.15, Y:26.44, Z:5.35 [[ 9.28843723e-01 -3.68803383e-01 -3.51198214e-02 1.44147064e+02] [ 3.68556894e-01 9.29507338e-01 -1.34879176e-02 2.64372865e+01] [ 3.76185213e-02 -4.15484744e-04 9.99292087e-01 5.35183238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.628623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.20, Y:26.45, Z:5.35 [[ 9.30445075e-01 -3.64744592e-01 -3.51190106e-02 1.44202635e+02] [ 3.64495128e-01 9.31107577e-01 -1.34900282e-02 2.64526789e+01] [ 3.76199918e-02 -2.48977944e-04 9.99292087e-01 5.35448275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.26, Y:26.47, Z:5.36 [[ 9.31684900e-01 -3.61565981e-01 -3.51182125e-02 1.44258385e+02] [ 3.61314179e-01 9.32346517e-01 -1.34921057e-02 2.64696392e+01] [ 3.76206295e-02 -1.18316906e-04 9.99292087e-01 5.35736884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:26.49, Z:5.36 [[ 9.32582477e-01 -3.59244775e-01 -3.51157308e-02 1.44313149e+02] [ 3.58991083e-01 9.33243372e-01 -1.34985616e-02 2.64881612e+01] [ 3.76208108e-02 -1.77121801e-05 9.99292087e-01 5.36020872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:26.51, Z:5.36 [[ 9.34207244e-01 -3.54998439e-01 -3.51131448e-02 1.44366651e+02] [ 3.54741491e-01 9.34866879e-01 -1.35052851e-02 2.65064577e+01] [ 3.76204713e-02 1.60645845e-04 9.99292087e-01 5.36163062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.42, Y:26.53, Z:5.36 [[ 9.35134962e-01 -3.52547512e-01 -3.51120291e-02 1.44420701e+02] [ 3.52288725e-01 9.35793879e-01 -1.35081853e-02 2.65266072e+01] [ 3.76198990e-02 2.62404396e-04 9.99292087e-01 5.36257181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.47, Y:26.55, Z:5.36 [[ 9.36013924e-01 -3.50207448e-01 -3.51095019e-02 1.44474640e+02] [ 3.49946768e-01 9.36672094e-01 -1.35147505e-02 2.65479104e+01] [ 3.76190570e-02 3.63537949e-04 9.99292087e-01 5.36377653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.53, Y:26.57, Z:5.37 [[ 9.36221318e-01 -3.49652894e-01 -3.51069409e-02 1.44528305e+02] [ 3.49391575e-01 9.36879234e-01 -1.35213999e-02 2.65689358e+01] [ 3.76187605e-02 3.92953488e-04 9.99292087e-01 5.36598980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:26.59, Z:5.37 [[ 9.36272768e-01 -3.49515360e-01 -3.51043820e-02 1.44581236e+02] [ 3.49253695e-01 9.36930546e-01 -1.35280401e-02 2.65892437e+01] [ 3.76186256e-02 4.05600434e-04 9.99292087e-01 5.36768093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:26.61, Z:5.37 [[ 9.36062316e-01 -3.50078707e-01 -3.51032723e-02 1.44635217e+02] [ 3.49817330e-01 9.36720209e-01 -1.35309190e-02 2.66104005e+01] [ 3.76188312e-02 3.86050425e-04 9.99292087e-01 5.36985154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16862385299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:144.69, Y:26.63, Z:5.37 [[ 9.35549088e-01 -3.51448208e-01 -3.51007335e-02 1.44688553e+02] [ 3.51187547e-01 9.36207265e-01 -1.35375018e-02 2.66298275e+01] [ 3.76192924e-02 3.38056975e-04 9.99292087e-01 5.37152812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.228623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:144.74, Y:26.65, Z:5.38 [[ 9.34747700e-01 -3.53574255e-01 -3.50996378e-02 1.44742792e+02] [ 3.53314984e-01 9.35406426e-01 -1.35403421e-02 2.66518363e+01] [ 3.76199431e-02 2.55575701e-04 9.99292087e-01 5.37659069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.80, Y:26.67, Z:5.38 [[ 9.34465745e-01 -3.54318981e-01 -3.50974528e-02 1.44796171e+02] [ 3.54060022e-01 9.35124594e-01 -1.35460033e-02 2.66746020e+01] [ 3.76200974e-02 2.31671167e-04 9.99292087e-01 5.37961600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.85, Y:26.70, Z:5.38 [[ 9.34863674e-01 -3.53267972e-01 -3.50948734e-02 1.44848114e+02] [ 3.53008022e-01 9.35522133e-01 -1.35526828e-02 2.66975897e+01] [ 3.76197596e-02 2.81139023e-04 9.99292087e-01 5.38042791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.408623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:144.90, Y:26.72, Z:5.38 [[ 9.35121709e-01 -3.52584547e-01 -3.50931225e-02 1.44901011e+02] [ 3.52323946e-01 9.35779910e-01 -1.35572151e-02 2.67208500e+01] [ 3.76195035e-02 3.13498829e-04 9.99292087e-01 5.38233062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:144.95, Y:26.75, Z:5.38 [[ 9.35384760e-01 -3.51886350e-01 -3.50905563e-02 1.44953702e+02] [ 3.51625009e-01 9.36042667e-01 -1.35638538e-02 2.67453970e+01] [ 3.76191930e-02 3.48704968e-04 9.99292087e-01 5.38452770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:26.77, Z:5.38 [[ 9.35545326e-01 -3.51459493e-01 -3.50879953e-02 1.45005898e+02] [ 3.51197603e-01 9.36203015e-01 -1.35704757e-02 2.67713827e+01] [ 3.76189595e-02 3.72975262e-04 9.99292087e-01 5.38431135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.06, Y:26.80, Z:5.39 [[ 9.35032350e-01 -3.52822042e-01 -3.50872052e-02 1.45059288e+02] [ 3.52561034e-01 9.35690389e-01 -1.35725183e-02 2.67951213e+01] [ 3.76194443e-02 3.20362312e-04 9.99292087e-01 5.38630876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:26.82, Z:5.39 [[ 9.33469451e-01 -3.56936768e-01 -3.50845806e-02 1.45112079e+02] [ 3.56678406e-01 9.34128534e-01 -1.35792994e-02 2.68195081e+01] [ 3.76204591e-02 1.61948862e-04 9.99292087e-01 5.38987208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:26.84, Z:5.39 [[ 9.31551496e-01 -3.61913062e-01 -3.50819787e-02 1.45163982e+02] [ 3.61657968e-01 9.32211851e-01 -1.35860180e-02 2.68438765e+01] [ 3.76207937e-02 -3.16017128e-05 9.99292087e-01 5.39071373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:26.87, Z:5.39 [[ 9.29985200e-01 -3.65919200e-01 -3.50808573e-02 1.45217655e+02] [ 3.65666841e-01 9.30646605e-01 -1.35889130e-02 2.68659315e+01] [ 3.76203249e-02 -1.90418249e-04 9.99292087e-01 5.39320365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:26.89, Z:5.40 [[ 9.27457171e-01 -3.72280415e-01 -3.50783082e-02 1.45272193e+02] [ 3.72032344e-01 9.28120196e-01 -1.35954900e-02 2.68859754e+01] [ 3.76182210e-02 -4.41030492e-04 9.99292087e-01 5.39582586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:26.91, Z:5.40 [[ 9.25894836e-01 -3.76149506e-01 -3.50756657e-02 1.45325423e+02] [ 3.75903947e-01 9.26558795e-01 -1.36023043e-02 2.69055462e+01] [ 3.76161665e-02 -5.90777861e-04 9.99292087e-01 5.39760583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.948623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:26.92, Z:5.40 [[ 9.23991972e-01 -3.80799966e-01 -3.50745166e-02 1.45380490e+02] [ 3.80557635e-01 9.24657116e-01 -1.36052665e-02 2.69236201e+01] [ 3.76127864e-02 -7.76718125e-04 9.99292087e-01 5.39930430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:26.94, Z:5.40 [[ 9.23223725e-01 -3.82659009e-01 -3.50718833e-02 1.45434698e+02] [ 3.82417760e-01 9.23889262e-01 -1.36120514e-02 2.69422078e+01] [ 3.76113105e-02 -8.45142297e-04 9.99292087e-01 5.40124266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.068623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.49, Y:26.96, Z:5.40 [[ 9.22923779e-01 -3.83381977e-01 -3.50707431e-02 1.45489316e+02] [ 3.83141138e-01 9.23589465e-01 -1.36149883e-02 2.69606759e+01] [ 3.76107100e-02 -8.71448005e-04 9.99292087e-01 5.40437836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.54, Y:26.98, Z:5.41 [[ 9.23645865e-01 -3.81639286e-01 -3.50680849e-02 1.45543459e+02] [ 3.81396932e-01 9.24311001e-01 -1.36218316e-02 2.69778590e+01] [ 3.76124428e-02 -7.93111528e-04 9.99292087e-01 5.40592013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:26.99, Z:5.41 [[ 9.25677118e-01 -3.76685788e-01 -3.50669347e-02 1.45598497e+02] [ 3.76439761e-01 9.26340904e-01 -1.36247921e-02 2.69940299e+01] [ 3.76162015e-02 -5.88430222e-04 9.99292087e-01 5.40758659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:145.65, Y:27.01, Z:5.41 [[ 9.27558388e-01 -3.72029336e-01 -3.50658086e-02 1.45652588e+02] [ 3.71779868e-01 9.28220888e-01 -1.36276895e-02 2.70130733e+01] [ 3.76187163e-02 -3.96284001e-04 9.99292087e-01 5.41032767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.71, Y:27.03, Z:5.42 [[ 9.31147408e-01 -3.62953185e-01 -3.50640707e-02 1.45707614e+02] [ 3.62697091e-01 9.31807375e-01 -1.36321598e-02 2.70338776e+01] [ 3.76207955e-02 -2.40861888e-05 9.99292087e-01 5.41511723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:27.05, Z:5.42 [[ 9.33435493e-01 -3.57027793e-01 -3.50618706e-02 1.45760294e+02] [ 3.56767297e-01 9.34093735e-01 -1.36378160e-02 2.70548997e+01] [ 3.76201530e-02 2.21092747e-04 9.99292087e-01 5.41659565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:145.81, Y:27.08, Z:5.42 [[ 9.35308588e-01 -3.52091730e-01 -3.50607877e-02 1.45814698e+02] [ 3.51827656e-01 9.35965403e-01 -1.36405994e-02 2.70756453e+01] [ 3.76184265e-02 4.22814981e-04 9.99292087e-01 5.41879995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:27.10, Z:5.42 [[ 9.37405746e-01 -3.46469885e-01 -3.50583284e-02 1.45868171e+02] [ 3.46201636e-01 9.38060866e-01 -1.36469172e-02 2.70975357e+01] [ 3.76150918e-02 6.55447969e-04 9.99292087e-01 5.42093890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:27.12, Z:5.42 [[ 9.38352083e-01 -3.43898917e-01 -3.50557175e-02 1.45921194e+02] [ 3.43628623e-01 9.39006362e-01 -1.36536208e-02 2.71207624e+01] [ 3.76130072e-02 7.65755623e-04 9.99292087e-01 5.42034229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.97, Y:27.15, Z:5.42 [[ 9.39245048e-01 -3.41452622e-01 -3.50549147e-02 1.45973143e+02] [ 3.41180546e-01 9.39898589e-01 -1.36556816e-02 2.71458581e+01] [ 3.76108332e-02 8.65976323e-04 9.99292087e-01 5.42149210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:27.17, Z:5.42 [[ 9.39499282e-01 -3.40752724e-01 -3.50525382e-02 1.46025477e+02] [ 3.40479934e-01 9.40152525e-01 -1.36617791e-02 2.71701058e+01] [ 3.76100207e-02 9.00545780e-04 9.99292087e-01 5.42467227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.728623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:27.20, Z:5.43 [[ 9.39119677e-01 -3.41797771e-01 -3.50501948e-02 1.46077514e+02] [ 3.41525484e-01 9.39773130e-01 -1.36677887e-02 2.71973498e+01] [ 3.76108509e-02 8.65154622e-04 9.99292087e-01 5.42610166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.13, Y:27.22, Z:5.43 [[ 9.38387352e-01 -3.43803469e-01 -3.50478487e-02 1.46129855e+02] [ 3.43532354e-01 9.39041292e-01 -1.36738020e-02 2.72224838e+01] [ 3.76124777e-02 7.91252826e-04 9.99292087e-01 5.42895133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.18, Y:27.25, Z:5.43 [[ 9.36672998e-01 -3.48447293e-01 -3.50453745e-02 1.46181475e+02] [ 3.48179184e-01 9.37328176e-01 -1.36801403e-02 2.72487504e+01] [ 3.76158248e-02 6.11748104e-04 9.99292087e-01 5.43209754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.23, Y:27.27, Z:5.43 [[ 9.36055563e-01 -3.50102640e-01 -3.50446082e-02 1.46233724e+02] [ 3.49835616e-01 9.36711184e-01 -1.36821030e-02 2.72718547e+01] [ 3.76168168e-02 5.47356486e-04 9.99292087e-01 5.43396406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:27.30, Z:5.44 [[ 9.34007198e-01 -3.55531358e-01 -3.50429399e-02 1.46284903e+02] [ 3.55267984e-01 9.34664294e-01 -1.36863747e-02 2.72993372e+01] [ 3.76193200e-02 3.33537846e-04 9.99292087e-01 5.43612193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:27.32, Z:5.44 [[ 9.32439419e-01 -3.59623257e-01 -3.50406011e-02 1.46336627e+02] [ 3.59362542e-01 9.33097574e-01 -1.36923600e-02 2.73246296e+01] [ 3.76203910e-02 1.75016675e-04 9.99292087e-01 5.43807187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.39, Y:27.35, Z:5.44 [[ 9.30156552e-01 -3.65487367e-01 -3.50395876e-02 1.46388790e+02] [ 3.65230704e-01 9.30816298e-01 -1.36949530e-02 2.73508930e+01] [ 3.76207516e-02 -5.90829916e-05 9.99292087e-01 5.43966136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.44, Y:27.38, Z:5.44 [[ 9.28544131e-01 -3.69564879e-01 -3.50370743e-02 1.46441714e+02] [ 3.69310871e-01 9.29204903e-01 -1.37013801e-02 2.73750892e+01] [ 3.76201701e-02 -2.17236400e-04 9.99292087e-01 5.44123002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.49, Y:27.40, Z:5.44 [[ 9.26003336e-01 -3.75886163e-01 -3.50344610e-02 1.46494240e+02] [ 3.75636413e-01 9.26665730e-01 -1.37080591e-02 2.74001582e+01] [ 3.76179041e-02 -4.66510815e-04 9.99292087e-01 5.44305178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.55, Y:27.42, Z:5.45 [[ 9.24289529e-01 -3.80081095e-01 -3.50318199e-02 1.46546661e+02] [ 3.79834095e-01 9.24952953e-01 -1.37148051e-02 2.74228940e+01] [ 3.76155234e-02 -6.29828900e-04 9.99292087e-01 5.44514677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.60, Y:27.44, Z:5.45 [[ 9.22189969e-01 -3.85147392e-01 -3.50306735e-02 1.46599114e+02] [ 3.84903925e-01 9.22854697e-01 -1.37177329e-02 2.74438770e+01] [ 3.76115706e-02 -8.33088091e-04 9.99292087e-01 5.44815562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:27.46, Z:5.45 [[ 9.21211848e-01 -3.87481175e-01 -3.50295612e-02 1.46653423e+02] [ 3.87239283e-01 9.21877152e-01 -1.37205725e-02 2.74648514e+01] [ 3.76094157e-02 -9.25268201e-04 9.99292087e-01 5.45042531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.448623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:27.49, Z:5.45 [[ 9.20633111e-01 -3.88854450e-01 -3.50270197e-02 1.46706879e+02] [ 3.88613305e-01 9.21298685e-01 -1.37270576e-02 2.74863070e+01] [ 3.76081746e-02 -9.74382125e-04 9.99292087e-01 5.45318709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:27.51, Z:5.46 [[ 9.20713939e-01 -3.88663258e-01 -3.50244957e-02 1.46760345e+02] [ 3.88421729e-01 9.21379374e-01 -1.37334947e-02 2.75073965e+01] [ 3.76085527e-02 -9.59655220e-04 9.99292087e-01 5.45639521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.568623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:146.81, Y:27.53, Z:5.46 [[ 9.20946249e-01 -3.88112712e-01 -3.50218469e-02 1.46813498e+02] [ 3.87870529e-01 9.21611446e-01 -1.37402461e-02 2.75265618e+01] [ 3.76092991e-02 -9.29914186e-04 9.99292087e-01 5.45820281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:27.55, Z:5.46 [[ 9.21284843e-01 -3.87308405e-01 -3.50205336e-02 1.46866773e+02] [ 3.87065514e-01 9.21949782e-01 -1.37435924e-02 2.75462704e+01] [ 3.76101822e-02 -8.93477452e-04 9.99292087e-01 5.45847866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:27.57, Z:5.46 [[ 9.22462301e-01 -3.84495695e-01 -3.50194646e-02 1.46921379e+02] [ 3.84250674e-01 9.23126459e-01 -1.37463157e-02 2.75666066e+01] [ 3.76127936e-02 -7.75794837e-04 9.99292087e-01 5.46139778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:27.59, Z:5.46 [[ 9.23590396e-01 -3.81778192e-01 -3.50170334e-02 1.46974329e+02] [ 3.81530982e-01 9.24253741e-01 -1.37525061e-02 2.75870532e+01] [ 3.76150311e-02 -6.58400599e-04 9.99292087e-01 5.46336273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.03, Y:27.61, Z:5.46 [[ 9.24671087e-01 -3.79153349e-01 -3.50159795e-02 1.47028805e+02] [ 3.78904154e-01 9.25333689e-01 -1.37551890e-02 2.76082168e+01] [ 3.76167915e-02 -5.48674508e-04 9.99292087e-01 5.46429172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:147.08, Y:27.63, Z:5.47 [[ 9.25940608e-01 -3.76042603e-01 -3.50135891e-02 1.47082545e+02] [ 3.75790952e-01 9.26602282e-01 -1.37612711e-02 2.76285468e+01] [ 3.76184957e-02 -4.15670284e-04 9.99292087e-01 5.46981421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:27.65, Z:5.47 [[ 9.26462630e-01 -3.74754888e-01 -3.50109984e-02 1.47136025e+02] [ 3.74502068e-01 9.27123857e-01 -1.37678590e-02 2.76495842e+01] [ 3.76191044e-02 -3.56284463e-04 9.99292087e-01 5.47238640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988623853 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:147.19, Y:27.67, Z:5.48 [[ 9.27218389e-01 -3.72881312e-01 -3.50083696e-02 1.47189830e+02] [ 3.72626904e-01 9.27879007e-01 -1.37745402e-02 2.76714899e+01] [ 3.76197999e-02 -2.73053375e-04 9.99292087e-01 5.47891326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:27.69, Z:5.47 [[ 9.27455286e-01 -3.72291772e-01 -3.50075629e-02 1.47244180e+02] [ 3.72036867e-01 9.28115712e-01 -1.37765903e-02 2.76920225e+01] [ 3.76199803e-02 -2.46932555e-04 9.99292087e-01 5.47416121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:27.71, Z:5.48 [[ 9.27364761e-01 -3.72517459e-01 -3.50049122e-02 1.47298789e+02] [ 3.72262460e-01 9.28025151e-01 -1.37833221e-02 2.77125602e+01] [ 3.76199670e-02 -2.48847489e-04 9.99292088e-01 5.47603310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:27.73, Z:5.48 [[ 9.26999589e-01 -3.73425503e-01 -3.50022295e-02 1.47352168e+02] [ 3.73170894e-01 9.27660130e-01 -1.37901313e-02 2.77329239e+01] [ 3.76197595e-02 -2.78367276e-04 9.99292088e-01 5.47770673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.228623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:27.75, Z:5.48 [[ 9.26401009e-01 -3.74908177e-01 -3.50004154e-02 1.47405825e+02] [ 3.74654451e-01 9.27061890e-01 -1.37947341e-02 2.77548177e+01] [ 3.76193099e-02 -3.33605819e-04 9.99292088e-01 5.47942172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.46, Y:27.78, Z:5.48 [[ 9.26199960e-01 -3.75404830e-01 -3.49978332e-02 1.47460000e+02] [ 3.75151211e-01 9.26860881e-01 -1.38012822e-02 2.77760307e+01] [ 3.76191905e-02 -3.46732514e-04 9.99292088e-01 5.48266035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.348623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.51, Y:27.80, Z:5.48 [[ 9.26548776e-01 -3.74543323e-01 -3.49952256e-02 1.47512778e+02] [ 3.74288840e-01 9.27209365e-01 -1.38078909e-02 2.77976452e+01] [ 3.76195543e-02 -3.04638007e-04 9.99292088e-01 5.48432022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.57, Y:27.82, Z:5.49 [[ 9.26938280e-01 -3.73578422e-01 -3.49940950e-02 1.47565796e+02] [ 3.73323144e-01 9.27598563e-01 -1.38107557e-02 2.78205006e+01] [ 3.76198725e-02 -2.62387383e-04 9.99292088e-01 5.48622190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.62, Y:27.84, Z:5.49 [[ 9.27728602e-01 -3.71611666e-01 -3.49915838e-02 1.47618301e+02] [ 3.71354748e-01 9.28388248e-01 -1.38171152e-02 2.78437929e+01] [ 3.76203764e-02 -1.75757774e-04 9.99292088e-01 5.48719993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:147.67, Y:27.87, Z:5.49 [[ 9.28049146e-01 -3.70810528e-01 -3.49904955e-02 1.47672153e+02] [ 3.70552936e-01 9.28708529e-01 -1.38198706e-02 2.78663637e+01] [ 3.76205252e-02 -1.40311760e-04 9.99292088e-01 5.48987621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.73, Y:27.89, Z:5.49 [[ 9.28012007e-01 -3.70903723e-01 -3.49877631e-02 1.47725256e+02] [ 3.70645936e-01 9.28671314e-01 -1.38267849e-02 2.78896829e+01] [ 3.76205379e-02 -1.36649856e-04 9.99292088e-01 5.49291873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:27.91, Z:5.49 [[ 9.27454022e-01 -3.72296860e-01 -3.49869245e-02 1.47777596e+02] [ 3.72039984e-01 9.28113685e-01 -1.38289065e-02 2.79112301e+01] [ 3.76203019e-02 -1.90859893e-04 9.99292088e-01 5.49421910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.83, Y:27.93, Z:5.50 [[ 9.26421999e-01 -3.74857671e-01 -3.49857956e-02 1.47831047e+02] [ 3.74602511e-01 9.27082327e-01 -1.38317620e-02 2.79330667e+01] [ 3.76196549e-02 -2.91718252e-04 9.99292088e-01 5.49699084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:147.89, Y:27.95, Z:5.50 [[ 9.25656988e-01 -3.76743045e-01 -3.49831175e-02 1.47885314e+02] [ 3.76488974e-01 9.26317736e-01 -1.38385320e-02 2.79536492e+01] [ 3.76190529e-02 -3.61024120e-04 9.99292088e-01 5.49886732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:147.94, Y:27.97, Z:5.50 [[ 9.24908811e-01 -3.78576361e-01 -3.49804341e-02 1.47938240e+02] [ 3.78323343e-01 9.25569963e-01 -1.38453118e-02 2.79740906e+01] [ 3.76183468e-02 -4.28263912e-04 9.99292088e-01 5.50098299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:27.99, Z:5.50 [[ 9.24091117e-01 -3.80568074e-01 -3.49792688e-02 1.47991862e+02] [ 3.80316369e-01 9.24752770e-01 -1.38482551e-02 2.79949892e+01] [ 3.76173795e-02 -5.06139052e-04 9.99292088e-01 5.50352701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:28.01, Z:5.51 [[ 9.23576880e-01 -3.81814591e-01 -3.49766286e-02 1.48046740e+02] [ 3.81563528e-01 9.24238776e-01 -1.38549203e-02 2.80147860e+01] [ 3.76167671e-02 -5.49721708e-04 9.99292088e-01 5.50576138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:28.03, Z:5.51 [[ 9.23487344e-01 -3.82031340e-01 -3.49740090e-02 1.48100663e+02] [ 3.81780181e-01 9.24149204e-01 -1.38615299e-02 2.80344550e+01] [ 3.76167414e-02 -5.51436072e-04 9.99292088e-01 5.50809062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:28.05, Z:5.51 [[ 9.24042481e-01 -3.80686796e-01 -3.49722312e-02 1.48154273e+02] [ 3.80434505e-01 9.24703910e-01 -1.38660137e-02 2.80537997e+01] [ 3.76175673e-02 -4.91857751e-04 9.99292088e-01 5.50999210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.128623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:28.07, Z:5.51 [[ 9.25735663e-01 -3.76550799e-01 -3.49711138e-02 1.48208404e+02] [ 3.76295445e-01 9.26395916e-01 -1.38688314e-02 2.80734294e+01] [ 3.76194165e-02 -3.20599012e-04 9.99292088e-01 5.51218301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:28.09, Z:5.52 [[ 9.27148872e-01 -3.73057860e-01 -3.49685876e-02 1.48262488e+02] [ 3.72799779e-01 9.27808064e-01 -1.38751978e-02 2.80939517e+01] [ 3.76203892e-02 -1.71907789e-04 9.99292088e-01 5.51569567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248623853 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:148.32, Y:28.12, Z:5.53 [[ 9.29266604e-01 -3.67751223e-01 -3.49659399e-02 1.48315747e+02] [ 3.67489127e-01 9.29924209e-01 -1.38818671e-02 2.81163305e+01] [ 3.76207476e-02 5.03527274e-05 9.99292088e-01 5.52646521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:28.14, Z:5.52 [[ 9.30479629e-01 -3.64671402e-01 -3.49632446e-02 1.48369340e+02] [ 3.64406874e-01 9.31136261e-01 -1.38886520e-02 2.81370828e+01] [ 3.76203391e-02 1.82261112e-04 9.99292088e-01 5.52060691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:148.42, Y:28.16, Z:5.52 [[ 9.32009488e-01 -3.60743696e-01 -3.49614221e-02 1.48421672e+02] [ 3.60476229e-01 9.32664927e-01 -1.38932383e-02 2.81594473e+01] [ 3.76191903e-02 3.45868368e-04 9.99292088e-01 5.52156927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.48, Y:28.18, Z:5.52 [[ 9.33007779e-01 -3.58154022e-01 -3.49596961e-02 1.48475348e+02] [ 3.57884573e-01 9.33662407e-01 -1.38975801e-02 2.81825715e+01] [ 3.76180282e-02 4.55014398e-04 9.99292088e-01 5.52433118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.53, Y:28.21, Z:5.53 [[ 9.34267506e-01 -3.54855220e-01 -3.49571328e-02 1.48526866e+02] [ 3.54583219e-01 9.34921076e-01 -1.39040248e-02 2.82072329e+01] [ 3.76160760e-02 5.94865903e-04 9.99292088e-01 5.52656085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:28.23, Z:5.53 [[ 9.34887413e-01 -3.53218978e-01 -3.49553946e-02 1.48579586e+02] [ 3.52945669e-01 9.35540438e-01 -1.39083934e-02 2.82324308e+01] [ 3.76148936e-02 6.65426754e-04 9.99292088e-01 5.53021702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60862385299998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:28.26, Z:5.53 [[ 9.35180157e-01 -3.52443439e-01 -3.49527620e-02 1.48630005e+02] [ 3.52169342e-01 9.35832852e-01 -1.39150060e-02 2.82602970e+01] [ 3.76141955e-02 7.03746273e-04 9.99292088e-01 5.53278001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66862385299999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:28.29, Z:5.53 [[ 9.34658667e-01 -3.53824194e-01 -3.49516246e-02 1.48682169e+02] [ 3.53550954e-01 9.35311721e-01 -1.39178622e-02 2.82865177e+01] [ 3.76151406e-02 6.51270329e-04 9.99292088e-01 5.53495099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:28.31, Z:5.54 [[ 9.32849397e-01 -3.58567381e-01 -3.49490360e-02 1.48734068e+02] [ 3.58297219e-01 9.33503730e-01 -1.39243595e-02 2.83135079e+01] [ 3.76178766e-02 4.67187927e-04 9.99292088e-01 5.53679728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.79, Y:28.34, Z:5.54 [[ 9.31266603e-01 -3.62658601e-01 -3.49464453e-02 1.48785600e+02] [ 3.62391070e-01 9.31922016e-01 -1.39308584e-02 2.83386118e+01] [ 3.76195074e-02 3.09063412e-04 9.99292088e-01 5.53722906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.848623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.84, Y:28.37, Z:5.54 [[ 9.28978145e-01 -3.68481249e-01 -3.49453194e-02 1.48837485e+02] [ 3.68217720e-01 9.29635178e-01 -1.39336822e-02 2.83656165e+01] [ 3.76206988e-02 7.66003827e-05 9.99292088e-01 5.53987182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.908623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:28.39, Z:5.54 [[ 9.27883199e-01 -3.71230096e-01 -3.49426061e-02 1.48889565e+02] [ 3.70968257e-01 9.28540907e-01 -1.39404832e-02 2.83912364e+01] [ 3.76207661e-02 -2.74575575e-05 9.99292088e-01 5.54060084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:28.42, Z:5.55 [[ 9.26860116e-01 -3.73777380e-01 -3.49398686e-02 1.48939647e+02] [ 3.73517091e-01 9.27518439e-01 -1.39473410e-02 2.84187882e+01] [ 3.76205730e-02 -1.23403974e-04 9.99292088e-01 5.54713344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:28.44, Z:5.54 [[ 9.26079416e-01 -3.75707605e-01 -3.49386875e-02 1.48992109e+02] [ 3.75448575e-01 9.26738235e-01 -1.39502990e-02 2.84433711e+01] [ 3.76202510e-02 -1.98595690e-04 9.99292088e-01 5.54358366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.04, Y:28.47, Z:5.55 [[ 9.24139863e-01 -3.80453663e-01 -3.49360019e-02 1.49044203e+02] [ 3.80197763e-01 9.24799904e-01 -1.39570215e-02 2.84690148e+01] [ 3.76188111e-02 -3.84349795e-04 9.99292088e-01 5.54615550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:149.10, Y:28.49, Z:5.55 [[ 9.22612527e-01 -3.84142926e-01 -3.49333287e-02 1.49096845e+02] [ 3.83889412e-01 9.23273488e-01 -1.39637090e-02 2.84919944e+01] [ 3.76170763e-02 -5.27442224e-04 9.99292088e-01 5.54926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:149.15, Y:28.51, Z:5.55 [[ 9.20418734e-01 -3.89370100e-01 -3.49325026e-02 1.49150315e+02] [ 3.89120261e-01 9.21081093e-01 -1.39657755e-02 2.85144803e+01] [ 3.76135230e-02 -7.38583145e-04 9.99292088e-01 5.55227744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:149.20, Y:28.54, Z:5.55 [[ 9.19225102e-01 -3.92179958e-01 -3.49298155e-02 1.49203709e+02] [ 3.91931888e-01 9.19888126e-01 -1.39724929e-02 2.85355678e+01] [ 3.76112542e-02 -8.46242317e-04 9.99292088e-01 5.55391395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:149.26, Y:28.56, Z:5.56 [[ 9.17903573e-01 -3.95263228e-01 -3.49286516e-02 1.49257896e+02] [ 3.95017274e-01 9.18567385e-01 -1.39754017e-02 2.85573331e+01] [ 3.76082826e-02 -9.69349559e-04 9.99292088e-01 5.55653829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:149.31, Y:28.58, Z:5.56 [[ 9.17487269e-01 -3.96228827e-01 -3.49260352e-02 1.49312017e+02] [ 3.95983323e-01 9.18151247e-01 -1.39819374e-02 2.85788211e+01] [ 3.76074294e-02 -1.00187791e-03 9.99292088e-01 5.55891193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.36, Y:28.60, Z:5.56 [[ 9.18141986e-01 -3.94709576e-01 -3.49234105e-02 1.49364635e+02] [ 3.94462725e-01 9.18805464e-01 -1.39884902e-02 2.85994467e+01] [ 3.76092114e-02 -9.32563552e-04 9.99292088e-01 5.56110349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:28.62, Z:5.56 [[ 9.19097958e-01 -3.92478507e-01 -3.49222779e-02 1.49418964e+02] [ 3.92229938e-01 9.19760794e-01 -1.39913171e-02 2.86196891e+01] [ 3.76114333e-02 -8.38171950e-04 9.99292088e-01 5.56364841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.47, Y:28.64, Z:5.57 [[ 9.21021260e-01 -3.87943881e-01 -3.49196744e-02 1.49473325e+02] [ 3.87691802e-01 9.21682770e-01 -1.39978120e-02 2.86409311e+01] [ 3.76152277e-02 -6.45788995e-04 9.99292088e-01 5.56603311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.53, Y:28.66, Z:5.57 [[ 9.22456322e-01 -3.84519367e-01 -3.49169127e-02 1.49525764e+02] [ 3.84264571e-01 9.23116790e-01 -1.40046976e-02 2.86624315e+01] [ 3.76174658e-02 -4.98610659e-04 9.99292088e-01 5.56832076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.58, Y:28.68, Z:5.57 [[ 9.24382314e-01 -3.79866132e-01 -3.49150329e-02 1.49578663e+02] [ 3.79607834e-01 9.25041420e-01 -1.40093825e-02 2.86848878e+01] [ 3.76195416e-02 -3.03994587e-04 9.99292088e-01 5.56997368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.63, Y:28.71, Z:5.57 [[ 9.24790796e-01 -3.78870700e-01 -3.49138509e-02 1.49631910e+02] [ 3.78611582e-01 9.25449580e-01 -1.40123276e-02 2.87070535e+01] [ 3.76198690e-02 -2.60316760e-04 9.99292088e-01 5.57272103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:28.73, Z:5.57 [[ 9.25796776e-01 -3.76406094e-01 -3.49110716e-02 1.49684785e+02] [ 3.76144961e-01 9.26454764e-01 -1.40192486e-02 2.87290256e+01] [ 3.76204592e-02 -1.52648471e-04 9.99292088e-01 5.57455364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:149.74, Y:28.75, Z:5.58 [[ 9.26919651e-01 -3.73632523e-01 -3.49098667e-02 1.49738096e+02] [ 3.73369308e-01 9.27576809e-01 -1.40222483e-02 2.87525842e+01] [ 3.76207508e-02 -3.67752269e-05 9.99292088e-01 5.57545428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:28.78, Z:5.58 [[ 9.27094816e-01 -3.73197926e-01 -3.49071688e-02 1.49790909e+02] [ 3.72934150e-01 9.27751749e-01 -1.40289614e-02 2.87763202e+01] [ 3.76207662e-02 -1.18979230e-05 9.99292088e-01 5.57749196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.84, Y:28.80, Z:5.58 [[ 9.26543490e-01 -3.74564864e-01 -3.49045067e-02 1.49843339e+02] [ 3.74301808e-01 9.27200711e-01 -1.40355817e-02 2.88007903e+01] [ 3.76207192e-02 -6.02430662e-05 9.99292088e-01 5.58031085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:149.90, Y:28.82, Z:5.58 [[ 9.25124103e-01 -3.78057210e-01 -3.49018577e-02 1.49895981e+02] [ 3.77796386e-01 9.25782214e-01 -1.40421658e-02 2.88226882e+01] [ 3.76202611e-02 -1.95049674e-04 9.99292088e-01 5.58042348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:28.84, Z:5.58 [[ 9.23800628e-01 -3.81279871e-01 -3.49007103e-02 1.49949327e+02] [ 3.81021236e-01 9.24459602e-01 -1.40450169e-02 2.88441706e+01] [ 3.76193790e-02 -3.23116302e-04 9.99292088e-01 5.58225429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:28.86, Z:5.58 [[ 9.21387460e-01 -3.87075281e-01 -3.48980632e-02 1.50002985e+02] [ 3.86820541e-01 9.22047950e-01 -1.40515911e-02 2.88649474e+01] [ 3.76167112e-02 -5.52327856e-04 9.99292088e-01 5.58367294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:28.89, Z:5.59 [[ 9.20013581e-01 -3.90329756e-01 -3.48954330e-02 1.50056693e+02] [ 3.90077105e-01 9.20674873e-01 -1.40581200e-02 2.88864961e+01] [ 3.76146509e-02 -6.78248173e-04 9.99292088e-01 5.58634545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:28.91, Z:5.59 [[ 9.18783789e-01 -3.93216024e-01 -3.48927940e-02 1.50111207e+02] [ 3.92965202e-01 9.19445776e-01 -1.40646670e-02 2.89057837e+01] [ 3.76124845e-02 -7.89265816e-04 9.99292088e-01 5.58949769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.348623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:150.16, Y:28.93, Z:5.59 [[ 9.18592195e-01 -3.93663634e-01 -3.48901590e-02 1.50164625e+02] [ 3.93412886e-01 9.19254210e-01 -1.40712007e-02 2.89270381e+01] [ 3.76122455e-02 -8.00542983e-04 9.99292088e-01 5.59205543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:28.95, Z:5.59 [[ 9.19298082e-01 -3.92012623e-01 -3.48875242e-02 1.50217406e+02] [ 3.91760438e-01 9.19959551e-01 -1.40777302e-02 2.89472733e+01] [ 3.76137591e-02 -7.25921352e-04 9.99292089e-01 5.59346195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:150.27, Y:28.97, Z:5.59 [[ 9.19332719e-01 -3.91931489e-01 -3.48863874e-02 1.50270349e+02] [ 3.91679139e-01 9.19994125e-01 -1.40805468e-02 2.89685266e+01] [ 3.76138811e-02 -7.19562782e-04 9.99292089e-01 5.59360164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.33, Y:28.99, Z:5.60 [[ 9.18884947e-01 -3.92980296e-01 -3.48846718e-02 1.50325162e+02] [ 3.92728540e-01 9.19546580e-01 -1.40847960e-02 2.89881858e+01] [ 3.76131279e-02 -7.57899212e-04 9.99292089e-01 5.59587370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.38, Y:29.01, Z:5.60 [[ 9.18593463e-01 -3.93661406e-01 -3.48819078e-02 1.50379055e+02] [ 3.93409880e-01 9.19255183e-01 -1.40916377e-02 2.90075781e+01] [ 3.76127085e-02 -7.78400917e-04 9.99292089e-01 5.59956404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.43, Y:29.02, Z:5.60 [[ 9.18279628e-01 -3.94393088e-01 -3.48800323e-02 1.50434177e+02] [ 3.94141914e-01 9.18941482e-01 -1.40962786e-02 2.90246876e+01] [ 3.76121834e-02 -8.03357157e-04 9.99292089e-01 5.60317767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.49, Y:29.04, Z:5.60 [[ 9.18004516e-01 -3.95033262e-01 -3.48773550e-02 1.50488084e+02] [ 3.94782298e-01 9.18666450e-01 -1.41028998e-02 2.90425577e+01] [ 3.76117704e-02 -8.22436630e-04 9.99292089e-01 5.60323515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.54, Y:29.06, Z:5.61 [[ 9.17786350e-01 -3.95539968e-01 -3.48761940e-02 1.50544376e+02] [ 3.95289260e-01 9.18448381e-01 -1.41057704e-02 2.90590722e+01] [ 3.76113798e-02 -8.40101401e-04 9.99292089e-01 5.60588411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.60, Y:29.08, Z:5.61 [[ 9.17978610e-01 -3.95093791e-01 -3.48735908e-02 1.50599382e+02] [ 3.94842517e-01 9.18640426e-01 -1.41122033e-02 2.90771366e+01] [ 3.76119342e-02 -8.14875600e-04 9.99292089e-01 5.60770425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.65, Y:29.09, Z:5.61 [[ 9.18996682e-01 -3.92720150e-01 -3.48709416e-02 1.50654011e+02] [ 3.92466919e-01 9.19657751e-01 -1.41187462e-02 2.90945560e+01] [ 3.76140479e-02 -7.10610136e-04 9.99292089e-01 5.60743968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:29.11, Z:5.61 [[ 9.19683218e-01 -3.91109800e-01 -3.48697921e-02 1.50709502e+02] [ 3.90855303e-01 9.20343801e-01 -1.41215847e-02 2.91128137e+01] [ 3.76152872e-02 -6.41658728e-04 9.99292089e-01 5.60994352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.77, Y:29.13, Z:5.61 [[ 9.20692563e-01 -3.88728027e-01 -3.48672435e-02 1.50765041e+02] [ 3.88471583e-01 9.21352393e-01 -1.41278745e-02 2.91292482e+01] [ 3.76169190e-02 -5.37504329e-04 9.99292089e-01 5.61287028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.82, Y:29.15, Z:5.61 [[ 9.21204174e-01 -3.87514292e-01 -3.48646400e-02 1.50819731e+02] [ 3.87256736e-01 9.21863570e-01 -1.41342965e-02 2.91485945e+01] [ 3.76176834e-02 -4.80993742e-04 9.99292089e-01 5.61390831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:29.17, Z:5.62 [[ 9.21401849e-01 -3.87044282e-01 -3.48619584e-02 1.50875344e+02] [ 3.86786140e-01 9.22061016e-01 -1.41409077e-02 2.91654214e+01] [ 3.76180102e-02 -4.54663830e-04 9.99292089e-01 5.61519355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.93, Y:29.18, Z:5.62 [[ 9.21433943e-01 -3.86968111e-01 -3.48592860e-02 1.50930258e+02] [ 3.86709665e-01 9.22092991e-01 -1.41474923e-02 2.91834116e+01] [ 3.76181317e-02 -4.44443231e-04 9.99292089e-01 5.61671829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.98, Y:29.20, Z:5.62 [[ 9.21710465e-01 -3.86309248e-01 -3.48566312e-02 1.50984534e+02] [ 3.86050083e-01 9.22369230e-01 -1.41540303e-02 2.92006593e+01] [ 3.76185169e-02 -4.10487469e-04 9.99292089e-01 5.61862710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.04, Y:29.22, Z:5.62 [[ 9.22080486e-01 -3.85425313e-01 -3.48554818e-02 1.51039655e+02] [ 3.85165410e-01 9.22738961e-01 -1.41568601e-02 2.92173025e+01] [ 3.76189233e-02 -3.71361461e-04 9.99292089e-01 5.62025912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.09, Y:29.24, Z:5.62 [[ 9.22205439e-01 -3.85126345e-01 -3.48543668e-02 1.51094981e+02] [ 3.84866125e-01 9.22863788e-01 -1.41596048e-02 2.92359421e+01] [ 3.76190698e-02 -3.56200535e-04 9.99292089e-01 5.62187278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.15, Y:29.25, Z:5.62 [[ 9.22519514e-01 -3.84373644e-01 -3.48518033e-02 1.51150615e+02] [ 3.84112648e-01 9.23177556e-01 -1.41659115e-02 2.92526566e+01] [ 3.76194057e-02 -3.18688646e-04 9.99292089e-01 5.62430714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:29.27, Z:5.63 [[ 9.22728851e-01 -3.83871078e-01 -3.48491502e-02 1.51204867e+02] [ 3.83609478e-01 9.23386653e-01 -1.41724355e-02 2.92724417e+01] [ 3.76196282e-02 -2.91149248e-04 9.99292089e-01 5.63307854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:29.29, Z:5.63 [[ 9.22774718e-01 -3.83761044e-01 -3.48465250e-02 1.51260904e+02] [ 3.83499122e-01 9.23432392e-01 -1.41788871e-02 2.92885582e+01] [ 3.76197145e-02 -2.79693192e-04 9.99292089e-01 5.62775136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.32, Y:29.31, Z:5.63 [[ 9.22580382e-01 -3.84228076e-01 -3.48457146e-02 1.51315582e+02] [ 3.83966411e-01 9.23238159e-01 -1.41808785e-02 2.93085941e+01] [ 3.76195851e-02 -2.96583710e-04 9.99292089e-01 5.63028302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.37, Y:29.32, Z:5.63 [[ 9.22746214e-01 -3.83829885e-01 -3.48431219e-02 1.51370605e+02] [ 3.83567696e-01 9.23403782e-01 -1.41872462e-02 2.93246850e+01] [ 3.76197596e-02 -2.73468301e-04 9.99292089e-01 5.63208111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:29.34, Z:5.63 [[ 9.23180517e-01 -3.82784232e-01 -3.48420031e-02 1.51425146e+02] [ 3.82521194e-01 9.23837745e-01 -1.41899931e-02 2.93441488e+01] [ 3.76200632e-02 -2.27879495e-04 9.99292089e-01 5.63412681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.788623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:151.48, Y:29.36, Z:5.64 [[ 9.24360621e-01 -3.79925854e-01 -3.48394653e-02 1.51479320e+02] [ 3.79660549e-01 9.25016938e-01 -1.41962214e-02 2.93644403e+01] [ 3.76206070e-02 -1.04742537e-04 9.99292089e-01 5.64293590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.848623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:29.38, Z:5.64 [[ 9.24986040e-01 -3.78400879e-01 -3.48367679e-02 1.51534192e+02] [ 3.78134244e-01 9.25641817e-01 -1.42028375e-02 2.93838154e+01] [ 3.76207353e-02 -3.55484604e-05 9.99292089e-01 5.63988130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.908623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:29.40, Z:5.64 [[ 9.25729751e-01 -3.76578033e-01 -3.48340675e-02 1.51588372e+02] [ 3.76309857e-01 9.26384900e-01 -1.42094575e-02 2.94037794e+01] [ 3.76207237e-02 4.57146497e-05 9.99292089e-01 5.64238338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.64, Y:29.42, Z:5.64 [[ 9.26140204e-01 -3.75567707e-01 -3.48313031e-02 1.51641272e+02] [ 3.75298561e-01 9.26794955e-01 -1.42162306e-02 2.94244825e+01] [ 3.76206331e-02 9.40847919e-05 9.99292089e-01 5.64268066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.69, Y:29.45, Z:5.64 [[ 9.27157855e-01 -3.73048489e-01 -3.48301030e-02 1.51694773e+02] [ 3.72777454e-01 9.27811826e-01 -1.42191703e-02 2.94464899e+01] [ 3.76202214e-02 1.99538289e-04 9.99292089e-01 5.64337464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.75, Y:29.47, Z:5.65 [[ 9.27769940e-01 -3.71523700e-01 -3.48292749e-02 1.51747873e+02] [ 3.71251514e-01 9.28423433e-01 -1.42211984e-02 2.94694296e+01] [ 3.76198272e-02 2.63579368e-04 9.99292089e-01 5.64703995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:151.80, Y:29.49, Z:5.66 [[ 9.28494077e-01 -3.69710502e-01 -3.48266176e-02 1.51800586e+02] [ 3.69436796e-01 9.29146935e-01 -1.42277028e-02 2.94941501e+01] [ 3.76191762e-02 3.44103743e-04 9.99292089e-01 5.65708974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:29.52, Z:5.65 [[ 9.28687088e-01 -3.69225663e-01 -3.48238706e-02 1.51853553e+02] [ 3.68951364e-01 9.29339697e-01 -1.42344234e-02 2.95165077e+01] [ 3.76189197e-02 3.71010644e-04 9.99292089e-01 5.65491918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.91, Y:29.54, Z:5.66 [[ 9.28428915e-01 -3.69874543e-01 -3.48220058e-02 1.51906443e+02] [ 3.69600529e-01 9.29081643e-01 -1.42389838e-02 2.95405791e+01] [ 3.76191240e-02 3.49652571e-04 9.99292089e-01 5.65641039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.96, Y:29.56, Z:5.66 [[ 9.27834385e-01 -3.71363669e-01 -3.48192438e-02 1.51958691e+02] [ 3.71090449e-01 9.28487446e-01 -1.42457346e-02 2.95642676e+01] [ 3.76195790e-02 2.96593612e-04 9.99292089e-01 5.65785418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:29.59, Z:5.66 [[ 9.26484053e-01 -3.74719898e-01 -3.48180503e-02 1.52011162e+02] [ 3.74448935e-01 9.27138054e-01 -1.42486510e-02 2.95877666e+01] [ 3.76203925e-02 1.63566033e-04 9.99292089e-01 5.66121487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:29.61, Z:5.66 [[ 9.24949820e-01 -3.78491370e-01 -3.48154130e-02 1.52062537e+02] [ 3.78222831e-01 9.25604820e-01 -1.42550922e-02 2.96118497e+01] [ 3.76207434e-02 1.72609531e-05 9.99292089e-01 5.66321298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:29.64, Z:5.67 [[ 9.23916792e-01 -3.81006205e-01 -3.48142673e-02 1.52115731e+02] [ 3.80739344e-01 9.24572477e-01 -1.42578897e-02 2.96350562e+01] [ 3.76206578e-02 -8.20575599e-05 9.99292089e-01 5.66556966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.17, Y:29.66, Z:5.67 [[ 9.22797641e-01 -3.83709086e-01 -3.48116553e-02 1.52169320e+02] [ 3.83443904e-01 9.23454007e-01 -1.42642642e-02 2.96584192e+01] [ 3.76202904e-02 -1.85287606e-04 9.99292089e-01 5.66842666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.22, Y:29.68, Z:5.67 [[ 9.22234271e-01 -3.85061399e-01 -3.48090229e-02 1.52222623e+02] [ 3.84796937e-01 9.22890928e-01 -1.42706852e-02 2.96806034e+01] [ 3.76200214e-02 -2.33490374e-04 9.99292089e-01 5.67125422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.28, Y:29.70, Z:5.67 [[ 9.21819687e-01 -3.86053077e-01 -3.48064091e-02 1.52275206e+02] [ 3.85789082e-01 9.22476531e-01 -1.42770573e-02 2.97044889e+01] [ 3.76197975e-02 -2.67060092e-04 9.99292089e-01 5.67389462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.33, Y:29.73, Z:5.67 [[ 9.21631555e-01 -3.86502235e-01 -3.48037170e-02 1.52327895e+02] [ 3.86238312e-01 9.22288428e-01 -1.42836170e-02 2.97268300e+01] [ 3.76197154e-02 -2.78296783e-04 9.99292089e-01 5.67448509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.38, Y:29.75, Z:5.68 [[ 9.21672328e-01 -3.86405102e-01 -3.48025517e-02 1.52381140e+02] [ 3.86141002e-01 9.22329130e-01 -1.42864558e-02 2.97492408e+01] [ 3.76197666e-02 -2.71261199e-04 9.99292089e-01 5.67637468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:29.77, Z:5.68 [[ 9.21745163e-01 -3.86231561e-01 -3.47999355e-02 1.52434543e+02] [ 3.85967097e-01 9.22401819e-01 -1.42928257e-02 2.97713844e+01] [ 3.76198642e-02 -2.57287100e-04 9.99292089e-01 5.68054008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.49, Y:29.79, Z:5.68 [[ 9.22719288e-01 -3.83898780e-01 -3.47971635e-02 1.52487220e+02] [ 3.83632402e-01 9.23375169e-01 -1.42995711e-02 2.97942864e+01] [ 3.76204246e-02 -1.54829403e-04 9.99292089e-01 5.68424061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:29.82, Z:5.69 [[ 9.23796370e-01 -3.81299731e-01 -3.47963071e-02 1.52539942e+02] [ 3.81031428e-01 9.24451466e-01 -1.43016547e-02 2.98185350e+01] [ 3.76207142e-02 -4.66699188e-05 9.99292089e-01 5.69096539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:29.84, Z:5.69 [[ 9.25975809e-01 -3.75976341e-01 -3.47935529e-02 1.52592936e+02] [ 3.75704021e-01 9.26629246e-01 -1.43083521e-02 2.98415535e+01] [ 3.76203256e-02 1.77110134e-04 9.99292089e-01 5.68928395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.64, Y:29.87, Z:5.69 [[ 9.27354126e-01 -3.72563987e-01 -3.47908225e-02 1.52644563e+02] [ 3.72289014e-01 9.28006450e-01 -1.43149880e-02 2.98657903e+01] [ 3.76193567e-02 3.22822137e-04 9.99292089e-01 5.69088463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.70, Y:29.89, Z:5.69 [[ 9.28857360e-01 -3.68800332e-01 -3.47896451e-02 1.52695456e+02] [ 3.68522608e-01 9.29508519e-01 -1.43178488e-02 2.98910461e+01] [ 3.76176989e-02 4.78468518e-04 9.99292089e-01 5.69064833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.75, Y:29.92, Z:5.69 [[ 9.29346425e-01 -3.67566297e-01 -3.47884889e-02 1.52747688e+02] [ 3.67287604e-01 9.29997169e-01 -1.43206575e-02 2.99161917e+01] [ 3.76169873e-02 5.31471123e-04 9.99292089e-01 5.69350203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.80, Y:29.94, Z:5.70 [[ 9.29525862e-01 -3.67112520e-01 -3.47860557e-02 1.52799336e+02] [ 3.66833288e-01 9.30176375e-01 -1.43265656e-02 2.99437251e+01] [ 3.76166288e-02 5.56230026e-04 9.99292089e-01 5.69731878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:29.97, Z:5.70 [[ 9.29461602e-01 -3.67275261e-01 -3.47852398e-02 1.52849145e+02] [ 3.66996069e-01 9.30112132e-01 -1.43285465e-02 2.99719823e+01] [ 3.76166942e-02 5.51787488e-04 9.99292089e-01 5.69949801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.408623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:30.00, Z:5.70 [[ 9.29380977e-01 -3.67479340e-01 -3.47841037e-02 1.52900833e+02] [ 3.67200187e-01 9.30031524e-01 -1.43313038e-02 2.99975889e+01] [ 3.76167711e-02 5.46511705e-04 9.99292089e-01 5.70101353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:152.95, Y:30.03, Z:5.71 [[ 9.29079008e-01 -3.68242375e-01 -3.47814806e-02 1.52950216e+02] [ 3.67963518e-01 9.29729681e-01 -1.43376672e-02 3.00283343e+01] [ 3.76171115e-02 5.22509679e-04 9.99292089e-01 5.70678503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.00, Y:30.05, Z:5.70 [[ 9.28801976e-01 -3.68940809e-01 -3.47788710e-02 1.53003138e+02] [ 3.68662205e-01 9.29452758e-01 -1.43439946e-02 3.00524792e+01] [ 3.76174025e-02 5.01075255e-04 9.99292089e-01 5.70369349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:153.05, Y:30.08, Z:5.71 [[ 9.28121759e-01 -3.70648907e-01 -3.47762701e-02 1.53054507e+02] [ 3.70371264e-01 9.28772952e-01 -1.43502976e-02 3.00804421e+01] [ 3.76181811e-02 4.38692300e-04 9.99292089e-01 5.71284045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.11, Y:30.11, Z:5.71 [[ 9.26397154e-01 -3.74938800e-01 -3.47736877e-02 1.53105596e+02] [ 3.74663939e-01 9.27049525e-01 -1.43565524e-02 3.01066580e+01] [ 3.76197592e-02 2.71422450e-04 9.99292089e-01 5.70771597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.16, Y:30.13, Z:5.71 [[ 9.24252222e-01 -3.80195604e-01 -3.47725707e-02 1.53156413e+02] [ 3.79924352e-01 9.24906103e-01 -1.43592573e-02 3.01343100e+01] [ 3.76206894e-02 6.06291224e-05 9.99292089e-01 5.70918945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.21, Y:30.16, Z:5.71 [[ 9.22739714e-01 -3.83852139e-01 -3.47700376e-02 1.53209191e+02] [ 3.83583246e-01 9.23394568e-01 -1.43653885e-02 3.01594734e+01] [ 3.76206490e-02 -8.16893660e-05 9.99292089e-01 5.70982856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:30.18, Z:5.71 [[ 9.21426696e-01 -3.86993624e-01 -3.47675098e-02 1.53261802e+02] [ 3.86726733e-01 9.22082368e-01 -1.43715039e-02 3.01842368e+01] [ 3.76201881e-02 -2.03238156e-04 9.99292090e-01 5.70999940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.31, Y:30.21, Z:5.71 [[ 9.19888630e-01 -3.90635770e-01 -3.47649889e-02 1.53312852e+02] [ 3.90371244e-01 9.20545260e-01 -1.43775992e-02 3.02087502e+01] [ 3.76191503e-02 -3.45461963e-04 9.99292090e-01 5.71340998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.37, Y:30.23, Z:5.72 [[ 9.18627437e-01 -3.93592615e-01 -3.47632766e-02 1.53365223e+02] [ 3.93330046e-01 9.19284853e-01 -1.43817381e-02 3.02336878e+01] [ 3.76178996e-02 -4.61981955e-04 9.99292090e-01 5.71717540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.008623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:30.26, Z:5.72 [[ 9.18030993e-01 -3.94981853e-01 -3.47625043e-02 1.53418525e+02] [ 3.94720209e-01 9.18688777e-01 -1.43836047e-02 3.02568129e+01] [ 3.76171854e-02 -5.16868032e-04 9.99292090e-01 5.71969469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.068623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:153.47, Y:30.28, Z:5.73 [[ 9.18040557e-01 -3.94959840e-01 -3.47600495e-02 1.53471043e+02] [ 3.94697956e-01 9.18698245e-01 -1.43895346e-02 3.02802397e+01] [ 3.76172848e-02 -5.09544142e-04 9.99292090e-01 5.72532316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.52, Y:30.30, Z:5.72 [[ 9.18172756e-01 -3.94652483e-01 -3.47592913e-02 1.53524550e+02] [ 3.94390309e-01 9.18830329e-01 -1.43913659e-02 3.03026145e+01] [ 3.76174793e-02 -4.94967563e-04 9.99292090e-01 5.71792623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:153.58, Y:30.33, Z:5.73 [[ 9.18831897e-01 -3.93115638e-01 -3.47568758e-02 1.53576918e+02] [ 3.92852144e-01 9.19488942e-01 -1.43971973e-02 3.03265590e+01] [ 3.76183263e-02 -4.25709096e-04 9.99292090e-01 5.72998910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.63, Y:30.35, Z:5.73 [[ 9.19852331e-01 -3.90722191e-01 -3.47542581e-02 1.53631300e+02] [ 3.90456749e-01 9.20508591e-01 -1.44035136e-02 3.03484178e+01] [ 3.76193655e-02 -3.20928999e-04 9.99292090e-01 5.72837686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.68, Y:30.37, Z:5.73 [[ 9.20893119e-01 -3.88263015e-01 -3.47518940e-02 1.53684185e+02] [ 3.87995605e-01 9.21548580e-01 -1.44092152e-02 3.03710746e+01] [ 3.76201239e-02 -2.14234995e-04 9.99292090e-01 5.73313940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.74, Y:30.39, Z:5.74 [[ 9.22962567e-01 -3.83317873e-01 -3.47492060e-02 1.53736191e+02] [ 3.83046707e-01 9.23616483e-01 -1.44156947e-02 3.03944588e+01] [ 3.76207329e-02 -5.42237416e-06 9.99292090e-01 5.73515276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:30.42, Z:5.74 [[ 9.24018111e-01 -3.80766468e-01 -3.47480444e-02 1.53789185e+02] [ 3.80493391e-01 9.24671232e-01 -1.44184942e-02 3.04177503e+01] [ 3.76205961e-02 1.01548543e-04 9.99292090e-01 5.73617855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:153.84, Y:30.44, Z:5.74 [[ 9.24459143e-01 -3.79694679e-01 -3.47454232e-02 1.53842452e+02] [ 3.79420607e-01 9.25111846e-01 -1.44248080e-02 3.04393203e+01] [ 3.76204254e-02 1.52016038e-04 9.99292090e-01 5.73685236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.90, Y:30.46, Z:5.74 [[ 9.24258650e-01 -3.80182565e-01 -3.47442897e-02 1.53895852e+02] [ 3.79908736e-01 9.24911455e-01 -1.44275376e-02 3.04604895e+01] [ 3.76204898e-02 1.35117282e-04 9.99292090e-01 5.74005870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:30.48, Z:5.74 [[ 9.24375048e-01 -3.79899702e-01 -3.47417085e-02 1.53949579e+02] [ 3.79625439e-01 9.25027671e-01 -1.44337504e-02 3.04821137e+01] [ 3.76204192e-02 1.53362304e-04 9.99292090e-01 5.74410586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:30.50, Z:5.75 [[ 9.25049494e-01 -3.78254729e-01 -3.47389492e-02 1.54001391e+02] [ 3.77979056e-01 9.25701522e-01 -1.44403884e-02 3.05046157e+01] [ 3.76200434e-02 2.27478787e-04 9.99292090e-01 5.74670940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.05, Y:30.53, Z:5.75 [[ 9.26718955e-01 -3.74146050e-01 -3.47377594e-02 1.54054497e+02] [ 3.73867380e-01 9.27369708e-01 -1.44432500e-02 3.05289652e+01] [ 3.76186308e-02 3.97518437e-04 9.99292090e-01 5.74887630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.11, Y:30.55, Z:5.75 [[ 9.27978594e-01 -3.71011056e-01 -3.47350712e-02 1.54107023e+02] [ 3.70729945e-01 9.28628297e-01 -1.44497121e-02 3.05542186e+01] [ 3.76169730e-02 5.31692529e-04 9.99292090e-01 5.74919257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.16, Y:30.58, Z:5.75 [[ 9.30180075e-01 -3.65456822e-01 -3.47324022e-02 1.54158065e+02] [ 3.65171593e-01 9.30827980e-01 -1.44561246e-02 3.05812883e+01] [ 3.76129812e-02 7.63512446e-04 9.99292090e-01 5.75301422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.21, Y:30.61, Z:5.76 [[ 9.31233563e-01 -3.62764068e-01 -3.47315796e-02 1.54209653e+02] [ 3.62476892e-01 9.31880607e-01 -1.44581009e-02 3.06070803e+01] [ 3.76105649e-02 8.74473776e-04 9.99292090e-01 5.75556399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:30.63, Z:5.76 [[ 9.31417240e-01 -3.62292454e-01 -3.47289845e-02 1.54259878e+02] [ 3.62004718e-01 9.32064036e-01 -1.44643316e-02 3.06341788e+01] [ 3.76099557e-02 9.00271587e-04 9.99292090e-01 5.75574989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:30.66, Z:5.76 [[ 9.30593939e-01 -3.64402107e-01 -3.47278620e-02 1.54311492e+02] [ 3.64115737e-01 9.31241341e-01 -1.44670262e-02 3.06607255e+01] [ 3.76118356e-02 8.17965856e-04 9.99292090e-01 5.75657349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.36, Y:30.69, Z:5.76 [[ 9.28180886e-01 -3.70505594e-01 -3.47253151e-02 1.54361983e+02] [ 3.70223253e-01 9.28830055e-01 -1.44731369e-02 3.06872987e+01] [ 3.76162945e-02 5.77569933e-04 9.99292090e-01 5.75803394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.41, Y:30.71, Z:5.76 [[ 9.25239468e-01 -3.77791211e-01 -3.47235823e-02 1.54413797e+02] [ 3.77513827e-01 9.25890770e-01 -1.44772930e-02 3.07129252e+01] [ 3.76196384e-02 2.86330455e-04 9.99292090e-01 5.76054708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:30.74, Z:5.76 [[ 9.23319707e-01 -3.82459388e-01 -3.47208176e-02 1.54466048e+02] [ 3.82185047e-01 9.23972297e-01 -1.44839205e-02 3.07369059e+01] [ 3.76205850e-02 1.03511896e-04 9.99292090e-01 5.76306319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.52, Y:30.76, Z:5.77 [[ 9.21733044e-01 -3.86267850e-01 -3.47180551e-02 1.54517737e+02] [ 3.85995957e-01 9.22386657e-01 -1.44905392e-02 3.07611194e+01] [ 3.76207002e-02 -4.46201301e-05 9.99292090e-01 5.76512182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.57, Y:30.79, Z:5.77 [[ 9.20357216e-01 -3.89534827e-01 -3.47161754e-02 1.54569739e+02] [ 3.89265083e-01 9.21011720e-01 -1.44950411e-02 3.07873009e+01] [ 3.76203278e-02 -1.73179207e-04 9.99292090e-01 5.76916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.62, Y:30.81, Z:5.77 [[ 9.19726025e-01 -3.91023037e-01 -3.47134436e-02 1.54621926e+02] [ 3.90754105e-01 9.20380863e-01 -1.45015805e-02 3.08123746e+01] [ 3.76200412e-02 -2.26939568e-04 9.99292090e-01 5.77216253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:30.84, Z:5.77 [[ 9.19530224e-01 -3.91483511e-01 -3.47106399e-02 1.54673899e+02] [ 3.91214654e-01 9.20185092e-01 -1.45082882e-02 3.08361642e+01] [ 3.76199690e-02 -2.38501489e-04 9.99292090e-01 5.77348912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.72, Y:30.86, Z:5.77 [[ 9.19023532e-01 -3.92671623e-01 -3.47094281e-02 1.54724890e+02] [ 3.92403504e-01 9.19678702e-01 -1.45111867e-02 3.08617275e+01] [ 3.76196531e-02 -2.83979170e-04 9.99292090e-01 5.77316739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:30.89, Z:5.78 [[ 9.18812673e-01 -3.93164863e-01 -3.47082574e-02 1.54777210e+02] [ 3.92896989e-01 9.19467944e-01 -1.45139864e-02 3.08864528e+01] [ 3.76195195e-02 -3.01135176e-04 9.99292090e-01 5.77639418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.628623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:30.91, Z:5.78 [[ 9.18869549e-01 -3.93032175e-01 -3.47053617e-02 1.54828623e+02] [ 3.92763945e-01 9.19524674e-01 -1.45209072e-02 3.09121739e+01] [ 3.76196201e-02 -2.88195337e-04 9.99292090e-01 5.77798401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:30.94, Z:5.78 [[ 9.18611943e-01 -3.93633997e-01 -3.47041124e-02 1.54880286e+02] [ 3.93366084e-01 9.19267198e-01 -1.45238922e-02 3.09377665e+01] [ 3.76194499e-02 -3.09599942e-04 9.99292090e-01 5.77797617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:154.93, Y:30.96, Z:5.78 [[ 9.17947904e-01 -3.95180290e-01 -3.47013389e-02 1.54933358e+02] [ 3.94913231e-01 9.18603508e-01 -1.45305160e-02 3.09608501e+01] [ 3.76189451e-02 -3.65761153e-04 9.99292090e-01 5.77996047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:30.98, Z:5.78 [[ 9.17179484e-01 -3.96960713e-01 -3.46985213e-02 1.54986428e+02] [ 3.96694672e-01 9.17835501e-01 -1.45372411e-02 3.09845474e+01] [ 3.76182483e-02 -4.31459282e-04 9.99292090e-01 5.78302161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.04, Y:31.01, Z:5.79 [[ 9.15923890e-01 -3.99849515e-01 -3.46957309e-02 1.55039260e+02] [ 3.99585290e-01 9.16580641e-01 -1.45438979e-02 3.10069874e+01] [ 3.76168058e-02 -5.42800182e-04 9.99292090e-01 5.78575189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928623853 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:155.09, Y:31.03, Z:5.79 [[ 9.15018933e-01 -4.01916183e-01 -3.46948711e-02 1.55092282e+02] [ 4.01653364e-01 9.15676248e-01 -1.45459486e-02 3.10283093e+01] [ 3.76155216e-02 -6.25493307e-04 9.99292090e-01 5.78739029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98862385299998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:155.15, Y:31.05, Z:5.79 [[ 9.13539251e-01 -4.05268288e-01 -3.46936871e-02 1.55147409e+02] [ 4.05007774e-01 9.14197482e-01 -1.45487720e-02 3.10480065e+01] [ 3.76130374e-02 -7.60338716e-04 9.99292090e-01 5.78917601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04862385299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:155.20, Y:31.07, Z:5.79 [[ 9.12664640e-01 -4.07234326e-01 -3.46908940e-02 1.55201881e+02] [ 4.06974976e-01 9.13323332e-01 -1.45554290e-02 3.10683741e+01] [ 3.76114732e-02 -8.34100366e-04 9.99292090e-01 5.79019015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10862385299998 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:155.26, Y:31.09, Z:5.79 [[ 9.12144028e-01 -4.08399322e-01 -3.46881305e-02 1.55256748e+02] [ 4.08140564e-01 9.12802951e-01 -1.45620121e-02 3.10872208e+01] [ 3.76105437e-02 -8.74980773e-04 9.99292090e-01 5.79363709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16862385299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:31.11, Z:5.80 [[ 9.12527630e-01 -4.07541717e-01 -3.46853552e-02 1.55311359e+02] [ 4.07282089e-01 9.13186211e-01 -1.45686196e-02 3.11065473e+01] [ 3.76115083e-02 -8.32455951e-04 9.99292090e-01 5.79665484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.228623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:31.13, Z:5.80 [[ 9.14106485e-01 -4.03988182e-01 -3.46826110e-02 1.55366171e+02] [ 4.03725745e-01 9.14763952e-01 -1.45751495e-02 3.11263957e+01] [ 3.76145905e-02 -6.79024305e-04 9.99292090e-01 5.79938425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.42, Y:31.15, Z:5.80 [[ 9.15425726e-01 -4.00990088e-01 -3.46798107e-02 1.55420729e+02] [ 4.00725245e-01 9.16082228e-01 -1.45818094e-02 3.11465311e+01] [ 3.76167193e-02 -5.48512228e-04 9.99292090e-01 5.80170408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.348623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:31.17, Z:5.80 [[ 9.16601643e-01 -3.98295031e-01 -3.46770301e-02 1.55473972e+02] [ 3.98028008e-01 9.17257261e-01 -1.45884192e-02 3.11669000e+01] [ 3.76182525e-02 -4.30660226e-04 9.99292090e-01 5.80276957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.408623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:155.53, Y:31.19, Z:5.81 [[ 9.18379918e-01 -3.94177515e-01 -3.46758252e-02 1.55528539e+02] [ 3.93907444e-01 9.19034286e-01 -1.45912825e-02 3.11868361e+01] [ 3.76198277e-02 -2.58724826e-04 9.99292090e-01 5.80615935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.58, Y:31.21, Z:5.81 [[ 9.20292269e-01 -3.89692085e-01 -3.46730269e-02 1.55582401e+02] [ 3.89418575e-01 9.20945207e-01 -1.45979289e-02 3.12085281e+01] [ 3.76206553e-02 -6.79596031e-05 9.99292090e-01 5.80787542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:31.23, Z:5.81 [[ 9.21708816e-01 -3.86329957e-01 -3.46701963e-02 1.55636061e+02] [ 3.86053812e-01 9.22360645e-01 -1.46046485e-02 3.12303327e+01] [ 3.76206379e-02 7.66718520e-05 9.99292090e-01 5.80977357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:31.25, Z:5.81 [[ 9.23198426e-01 -3.82756891e-01 -3.46673874e-02 1.55689467e+02] [ 3.82477973e-01 9.23849073e-01 -1.46113132e-02 3.12525270e+01] [ 3.76200145e-02 2.29629331e-04 9.99292090e-01 5.81380277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:31.28, Z:5.82 [[ 9.23590063e-01 -3.81810984e-01 -3.46665239e-02 1.55742294e+02] [ 3.81531323e-01 9.24240390e-01 -1.46133616e-02 3.12762789e+01] [ 3.76197435e-02 2.70390822e-04 9.99292090e-01 5.82308148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:31.30, Z:5.82 [[ 9.23400667e-01 -3.82269066e-01 -3.46636516e-02 1.55795537e+02] [ 3.81989472e-01 9.24051023e-01 -1.46201716e-02 3.12990611e+01] [ 3.76198221e-02 2.59126183e-04 9.99292090e-01 5.82082350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.85, Y:31.32, Z:5.82 [[ 9.22349927e-01 -3.84797486e-01 -3.46627642e-02 1.55848676e+02] [ 3.84519596e-01 9.23001013e-01 -1.46222753e-02 3.13207070e+01] [ 3.76203812e-02 1.58342507e-04 9.99292090e-01 5.82225395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:155.90, Y:31.34, Z:5.82 [[ 9.21672853e-01 -3.86416524e-01 -3.46615477e-02 1.55901789e+02] [ 3.86139669e-01 9.22324380e-01 -1.46251583e-02 3.13439200e+01] [ 3.76205933e-02 9.54128187e-05 9.99292090e-01 5.82353167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.95, Y:31.37, Z:5.83 [[ 9.21256986e-01 -3.87407197e-01 -3.46587594e-02 1.55954120e+02] [ 3.87130794e-01 9.21908705e-01 -1.46317630e-02 3.13680441e+01] [ 3.76206623e-02 6.21408061e-05 9.99292090e-01 5.82575207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.948623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.01, Y:31.39, Z:5.83 [[ 9.21257401e-01 -3.87406465e-01 -3.46559011e-02 1.56005413e+02] [ 3.87129806e-01 9.21909012e-01 -1.46385299e-02 3.13927637e+01] [ 3.76206487e-02 6.95216988e-05 9.99292090e-01 5.82632187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:31.42, Z:5.83 [[ 9.20825799e-01 -3.88431335e-01 -3.46546688e-02 1.56057900e+02] [ 3.88155292e-01 9.21477671e-01 -1.46414467e-02 3.14182117e+01] [ 3.76207002e-02 3.08287518e-05 9.99292090e-01 5.82955608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.068623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:156.11, Y:31.44, Z:5.83 [[ 9.20039756e-01 -3.90289588e-01 -3.46537930e-02 1.56109789e+02] [ 3.90014784e-01 9.20692150e-01 -1.46435193e-02 3.14420401e+01] [ 3.76206883e-02 -4.28716429e-05 9.99292090e-01 5.83063357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.128623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:31.47, Z:5.83 [[ 9.18661682e-01 -3.93522442e-01 -3.46525770e-02 1.56162412e+02] [ 3.93249825e-01 9.19314994e-01 -1.46463963e-02 3.14663537e+01] [ 3.76203192e-02 -1.72036767e-04 9.99292090e-01 5.83357527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:31.49, Z:5.84 [[ 9.17953432e-01 -3.95171974e-01 -3.46497982e-02 1.56214741e+02] [ 3.94900283e-01 9.18607129e-01 -1.46529672e-02 3.14910002e+01] [ 3.76199936e-02 -2.32473556e-04 9.99292090e-01 5.83642932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:31.52, Z:5.84 [[ 9.17009613e-01 -3.97357464e-01 -3.46470081e-02 1.56266918e+02] [ 3.97087082e-01 9.17663853e-01 -1.46595615e-02 3.15154964e+01] [ 3.76193931e-02 -3.14920552e-04 9.99292090e-01 5.83749604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:31.54, Z:5.84 [[ 9.16181200e-01 -3.99264054e-01 -3.46442423e-02 1.56318910e+02] [ 3.98994786e-01 9.16835899e-01 -1.46660948e-02 3.15387295e+01] [ 3.76187295e-02 -3.86071728e-04 9.99292090e-01 5.83990109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:156.37, Y:31.56, Z:5.85 [[ 9.15674174e-01 -4.00425608e-01 -3.46430457e-02 1.56371131e+02] [ 4.00157064e-01 9.16329170e-01 -1.46689208e-02 3.15622818e+01] [ 3.76182448e-02 -4.30707509e-04 9.99292091e-01 5.84836259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.42, Y:31.58, Z:5.84 [[ 9.13861331e-01 -4.04546065e-01 -3.46402693e-02 1.56423823e+02] [ 4.04280226e-01 9.14517430e-01 -1.46754743e-02 3.15838181e+01] [ 3.76160354e-02 -5.93027414e-04 9.99292091e-01 5.84351744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:156.48, Y:31.61, Z:5.84 [[ 9.12323128e-01 -4.08003300e-01 -3.46383872e-02 1.56476871e+02] [ 4.07739778e-01 9.12980161e-01 -1.46799153e-02 3.16053088e+01] [ 3.76136142e-02 -7.30622034e-04 9.99292091e-01 5.84464401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.53, Y:31.63, Z:5.85 [[ 9.11534703e-01 -4.09761821e-01 -3.46372049e-02 1.56530420e+02] [ 4.09499461e-01 9.12192200e-01 -1.46827044e-02 3.16265578e+01] [ 3.76121998e-02 -8.00122135e-04 9.99292091e-01 5.84781318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.58, Y:31.65, Z:5.85 [[ 9.11239725e-01 -4.10417620e-01 -3.46343896e-02 1.56583271e+02] [ 4.10155481e-01 9.11897311e-01 -1.46893423e-02 3.16478458e+01] [ 3.76117716e-02 -8.19972500e-04 9.99292091e-01 5.85074014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66862385299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:156.64, Y:31.67, Z:5.85 [[ 9.11272189e-01 -4.10345637e-01 -3.46331679e-02 1.56636710e+02] [ 4.10083336e-01 9.11929710e-01 -1.46922221e-02 3.16673756e+01] [ 3.76119040e-02 -8.13871665e-04 9.99292091e-01 5.85369304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.728623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:156.69, Y:31.69, Z:5.86 [[ 9.11472430e-01 -4.09900763e-01 -3.46319660e-02 1.56689150e+02] [ 4.09638034e-01 9.12129780e-01 -1.46950547e-02 3.16878476e+01] [ 3.76123617e-02 -7.92433188e-04 9.99292091e-01 5.86145451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.788623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.74, Y:31.71, Z:5.86 [[ 9.12350712e-01 -4.07942318e-01 -3.46300950e-02 1.56742883e+02] [ 4.07678010e-01 9.13007429e-01 -1.46994626e-02 3.17070123e+01] [ 3.76140668e-02 -7.06863035e-04 9.99292091e-01 5.85625616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.80, Y:31.73, Z:5.86 [[ 9.13456315e-01 -4.05460724e-01 -3.46289145e-02 1.56797156e+02] [ 4.05194527e-01 9.14112268e-01 -1.47022429e-02 3.17283012e+01] [ 3.76158977e-02 -6.01589998e-04 9.99292091e-01 5.85697746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.85, Y:31.75, Z:5.86 [[ 9.15871876e-01 -3.99974663e-01 -3.46262405e-02 1.56851542e+02] [ 3.99704298e-01 9.16526122e-01 -1.47085381e-02 3.17480267e+01] [ 3.76188965e-02 -3.69120816e-04 9.99292091e-01 5.86128818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:31.77, Z:5.87 [[ 9.17866144e-01 -3.95376848e-01 -3.46249817e-02 1.56905557e+02] [ 3.95103094e-01 9.18518980e-01 -1.47115006e-02 3.17697275e+01] [ 3.76202897e-02 -1.77249084e-04 9.99292091e-01 5.86552031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:31.79, Z:5.87 [[ 9.19912374e-01 -3.90592520e-01 -3.46223390e-02 1.56958565e+02] [ 3.90315137e-01 9.20563676e-01 -1.47177175e-02 3.17928673e+01] [ 3.76206980e-02 2.53874962e-05 9.99292091e-01 5.86878720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:31.82, Z:5.87 [[ 9.22972330e-01 -3.83306102e-01 -3.46194978e-02 1.57010689e+02] [ 3.83023327e-01 9.23621310e-01 -1.47243976e-02 3.18167260e+01] [ 3.76192573e-02 3.30136306e-04 9.99292091e-01 5.87005663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.06, Y:31.84, Z:5.87 [[ 9.25216546e-01 -3.77857008e-01 -3.46182702e-02 1.57062255e+02] [ 3.77570303e-01 9.25863798e-01 -1.47272832e-02 3.18403676e+01] [ 3.76166103e-02 5.55095261e-04 9.99292091e-01 5.87055279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.11, Y:31.87, Z:5.87 [[ 9.26263750e-01 -3.75282724e-01 -3.46170708e-02 1.57113326e+02] [ 3.74994115e-01 9.26910156e-01 -1.47301019e-02 3.18653464e+01] [ 3.76148673e-02 6.62761536e-04 9.99292091e-01 5.87267201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.17, Y:31.89, Z:5.88 [[ 9.26981708e-01 -3.73505893e-01 -3.46159159e-02 1.57165405e+02] [ 3.73215943e-01 9.27627513e-01 -1.47328153e-02 3.18910183e+01] [ 3.76134694e-02 7.37838605e-04 9.99292091e-01 5.87659334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.22, Y:31.92, Z:5.88 [[ 9.27317356e-01 -3.72672049e-01 -3.46130766e-02 1.57216285e+02] [ 3.72381271e-01 9.27962789e-01 -1.47394830e-02 3.19176744e+01] [ 3.76126404e-02 7.78916920e-04 9.99292091e-01 5.87984374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.27, Y:31.94, Z:5.88 [[ 9.27002317e-01 -3.73455101e-01 -3.46120221e-02 1.57267183e+02] [ 3.73164775e-01 9.27647953e-01 -1.47419589e-02 3.19437592e+01] [ 3.76132312e-02 7.49842572e-04 9.99292091e-01 5.88203847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.32, Y:31.97, Z:5.88 [[ 9.26049784e-01 -3.75810976e-01 -3.46108147e-02 1.57318043e+02] [ 3.75522186e-01 9.26696109e-01 -1.47447931e-02 3.19722009e+01] [ 3.76149624e-02 6.57283688e-04 9.99292091e-01 5.88350081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:32.00, Z:5.88 [[ 9.25295715e-01 -3.77664040e-01 -3.46079757e-02 1.57368824e+02] [ 3.77376296e-01 9.25942507e-01 -1.47514536e-02 3.19976181e+01] [ 3.76160893e-02 5.89227177e-04 9.99292091e-01 5.88261846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.568623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:32.03, Z:5.89 [[ 9.23919322e-01 -3.81018976e-01 -3.46067447e-02 1.57418978e+02] [ 3.80733472e-01 9.24567105e-01 -1.47543409e-02 3.20257762e+01] [ 3.76179416e-02 4.55874584e-04 9.99292091e-01 5.89293610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.628623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.47, Y:32.05, Z:5.89 [[ 9.22925974e-01 -3.83419108e-01 -3.46039764e-02 1.57470979e+02] [ 3.83135046e-01 9.23574390e-01 -1.47608305e-02 3.20510509e+01] [ 3.76189309e-02 3.65157772e-04 9.99292091e-01 5.88855067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.52, Y:32.08, Z:5.89 [[ 9.21090644e-01 -3.87807489e-01 -3.46031208e-02 1.57522631e+02] [ 3.87526441e-01 9.21740373e-01 -1.47628360e-02 3.20774169e+01] [ 3.76202319e-02 1.88285864e-04 9.99292091e-01 5.89153525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.57, Y:32.10, Z:5.90 [[ 9.19576628e-01 -3.91384249e-01 -3.46004967e-02 1.57574510e+02] [ 3.91105497e-01 9.20227345e-01 -1.47689839e-02 3.21031124e+01] [ 3.76206709e-02 4.87679521e-05 9.99292091e-01 5.89529571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.63, Y:32.13, Z:5.90 [[ 9.17028769e-01 -3.97317552e-01 -3.45976829e-02 1.57625947e+02] [ 3.97042762e-01 9.17681169e-01 -1.47755725e-02 3.21280844e+01] [ 3.76202364e-02 -1.87134460e-04 9.99292091e-01 5.89629769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.68, Y:32.15, Z:5.90 [[ 9.14838078e-01 -4.02336206e-01 -3.45957693e-02 1.57677759e+02] [ 4.02064826e-01 9.15491904e-01 -1.47800516e-02 3.21514496e+01] [ 3.76186966e-02 -3.88387986e-04 9.99292091e-01 5.89897340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:157.73, Y:32.18, Z:5.90 [[ 9.13867287e-01 -4.04536577e-01 -3.45939303e-02 1.57730655e+02] [ 4.04266607e-01 9.14521697e-01 -1.47843546e-02 3.21750387e+01] [ 3.76177121e-02 -4.74232805e-04 9.99292091e-01 5.90200359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:32.20, Z:5.90 [[ 9.13013264e-01 -4.06460605e-01 -3.45912922e-02 1.57783565e+02] [ 4.06191780e-01 9.13668144e-01 -1.47905246e-02 3.21986469e+01] [ 3.76167273e-02 -5.46753386e-04 9.99292091e-01 5.90490544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.84, Y:32.22, Z:5.91 [[ 9.12462430e-01 -4.07695737e-01 -3.45904760e-02 1.57837316e+02] [ 4.07427726e-01 9.13117644e-01 -1.47924331e-02 3.22199934e+01] [ 3.76159859e-02 -5.95579524e-04 9.99292091e-01 5.90865531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:157.89, Y:32.24, Z:5.91 [[ 9.11787307e-01 -4.09203620e-01 -3.45876434e-02 1.57891145e+02] [ 4.08936442e-01 9.12442861e-01 -1.47990533e-02 3.22423082e+01] [ 3.76150745e-02 -6.50558933e-04 9.99292091e-01 5.91077526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16862385299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:157.94, Y:32.26, Z:5.91 [[ 9.11287457e-01 -4.10315816e-01 -3.45846891e-02 1.57944176e+02] [ 4.10049177e-01 9.11943231e-01 -1.48059541e-02 3.22633704e+01] [ 3.76143903e-02 -6.88943025e-04 9.99292091e-01 5.90950630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:32.29, Z:5.91 [[ 9.11205499e-01 -4.10497901e-01 -3.45834119e-02 1.57997554e+02] [ 4.10231280e-01 9.11861279e-01 -1.48089370e-02 3.22854917e+01] [ 3.76143117e-02 -6.93212513e-04 9.99292091e-01 5.91183010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.288623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:158.05, Y:32.31, Z:5.91 [[ 9.11384757e-01 -4.10099971e-01 -3.45808944e-02 1.58051913e+02] [ 4.09832840e-01 9.12040330e-01 -1.48148132e-02 3.23051444e+01] [ 3.76147248e-02 -6.70391220e-04 9.99292091e-01 5.91480199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.348623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:158.11, Y:32.33, Z:5.92 [[ 9.11578387e-01 -4.09669597e-01 -3.45783971e-02 1.58106194e+02] [ 4.09401936e-01 9.12233744e-01 -1.48206397e-02 3.23264413e+01] [ 3.76151462e-02 -6.46287875e-04 9.99292091e-01 5.91689334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.408623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:158.16, Y:32.35, Z:5.92 [[ 9.11813461e-01 -4.09146331e-01 -3.45759049e-02 1.58160713e+02] [ 4.08878073e-01 9.12468574e-01 -1.48264517e-02 3.23465316e+01] [ 3.76156149e-02 -6.18371102e-04 9.99292091e-01 5.91992606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:32.37, Z:5.92 [[ 9.11764023e-01 -4.09256729e-01 -3.45730528e-02 1.58214476e+02] [ 4.08988299e-01 9.12419065e-01 -1.48330994e-02 3.23673692e+01] [ 3.76156582e-02 -6.15687633e-04 9.99292091e-01 5.92128935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:32.39, Z:5.92 [[ 9.12353293e-01 -4.07941627e-01 -3.45701788e-02 1.58267424e+02] [ 4.07671998e-01 9.13007843e-01 -1.48397946e-02 3.23879886e+01] [ 3.76166143e-02 -5.54158404e-04 9.99292091e-01 5.92390079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.32, Y:32.41, Z:5.93 [[ 9.13138704e-01 -4.06180619e-01 -3.45689367e-02 1.58319862e+02] [ 4.05909619e-01 9.13792687e-01 -1.48426874e-02 3.24094008e+01] [ 3.76176535e-02 -4.78431577e-04 9.99292091e-01 5.92616172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:32.43, Z:5.93 [[ 9.14377258e-01 -4.03384867e-01 -3.45670316e-02 1.58373251e+02] [ 4.03111700e-01 9.15030339e-01 -1.48471229e-02 3.24310866e+01] [ 3.76189873e-02 -3.58503370e-04 9.99292091e-01 5.92845567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:32.45, Z:5.93 [[ 9.14870880e-01 -4.02264328e-01 -3.45642020e-02 1.58427078e+02] [ 4.01990112e-01 9.15523521e-01 -1.48537073e-02 3.24533951e+01] [ 3.76194565e-02 -3.05243106e-04 9.99292091e-01 5.93057926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76862385299998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:32.48, Z:5.93 [[ 9.15093285e-01 -4.01758378e-01 -3.45613186e-02 1.58479358e+02] [ 4.01483548e-01 9.15745668e-01 -1.48604132e-02 3.24754227e+01] [ 3.76196733e-02 -2.77136511e-04 9.99292091e-01 5.93180285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82862385299998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:32.50, Z:5.93 [[ 9.15475749e-01 -4.00886211e-01 -3.45600726e-02 1.58533219e+02] [ 4.00610650e-01 9.16127824e-01 -1.48633106e-02 3.24976824e+01] [ 3.76199403e-02 -2.38132755e-04 9.99292091e-01 5.93402421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:32.52, Z:5.94 [[ 9.16340355e-01 -3.98906192e-01 -3.45572440e-02 1.58586940e+02] [ 3.98628974e-01 9.16991727e-01 -1.48698839e-02 3.25195218e+01] [ 3.76203957e-02 -1.49644011e-04 9.99292091e-01 5.93534186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.948623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:158.64, Y:32.54, Z:5.94 [[ 9.17078251e-01 -3.97206921e-01 -3.45563711e-02 1.58638908e+02] [ 3.96928420e-01 9.17729075e-01 -1.48719124e-02 3.25421468e+01] [ 3.76206130e-02 -7.76983167e-05 9.99292091e-01 5.93624669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.008623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:158.69, Y:32.57, Z:5.94 [[ 9.17858972e-01 -3.95399664e-01 -3.45544836e-02 1.58692758e+02] [ 3.95119716e-01 9.18509176e-01 -1.48762966e-02 3.25667247e+01] [ 3.76206929e-02 1.18452109e-06 9.99292091e-01 5.94023106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.068623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:158.75, Y:32.59, Z:5.94 [[ 9.17773947e-01 -3.95597181e-01 -3.45521664e-02 1.58745599e+02] [ 3.95317171e-01 9.18424123e-01 -1.48816766e-02 3.25911457e+01] [ 3.76206925e-02 -1.04961778e-06 9.99292091e-01 5.94157867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.128623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:158.80, Y:32.62, Z:5.94 [[ 9.17268260e-01 -3.96768542e-01 -3.45494417e-02 1.58797829e+02] [ 3.96489123e-01 9.17918691e-01 -1.48879996e-02 3.26159477e+01] [ 3.76206682e-02 -4.21883703e-05 9.99292091e-01 5.94330650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:32.64, Z:5.94 [[ 9.16723626e-01 -3.98025536e-01 -3.45465624e-02 1.58850659e+02] [ 3.97746758e-01 9.17374332e-01 -1.48946778e-02 3.26402892e+01] [ 3.76205918e-02 -8.64801249e-05 9.99292091e-01 5.94464498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:32.67, Z:5.95 [[ 9.15446848e-01 -4.00953617e-01 -3.45436626e-02 1.58902495e+02] [ 4.00676667e-01 9.16098334e-01 -1.49014001e-02 3.26654564e+01] [ 3.76201620e-02 -1.99399852e-04 9.99292091e-01 5.94557728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308623853 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:158.95, Y:32.69, Z:5.95 [[ 9.14250634e-01 -4.03673847e-01 -3.45427712e-02 1.58954479e+02] [ 4.03398757e-01 9.14902907e-01 -1.49034661e-02 3.26906207e+01] [ 3.76194213e-02 -3.09007668e-04 9.99292091e-01 5.94842773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:32.71, Z:5.96 [[ 9.11818156e-01 -4.09138892e-01 -3.45400848e-02 1.59007540e+02] [ 4.08867475e-01 9.12471966e-01 -1.49096895e-02 3.27143886e+01] [ 3.76169929e-02 -5.27391613e-04 9.99292091e-01 5.95601093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:159.06, Y:32.74, Z:5.96 [[ 9.09959676e-01 -4.13255890e-01 -3.45392021e-02 1.59061326e+02] [ 4.12987354e-01 9.10614675e-01 -1.49117341e-02 3.27369329e+01] [ 3.76142662e-02 -6.95176960e-04 9.99292091e-01 5.95893981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48862385299998 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:32.76, Z:5.96 [[ 9.07851899e-01 -4.17866210e-01 -3.45363580e-02 1.59115117e+02] [ 4.17600749e-01 9.08508150e-01 -1.49183181e-02 3.27588688e+01] [ 3.76104238e-02 -8.78785526e-04 9.99292091e-01 5.95911320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:159.17, Y:32.78, Z:5.96 [[ 9.06984837e-01 -4.19744929e-01 -3.45354785e-02 1.59168858e+02] [ 4.19480750e-01 9.07641605e-01 -1.49203539e-02 3.27812143e+01] [ 3.76085801e-02 -9.54433633e-04 9.99292091e-01 5.96085952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60862385299998 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:32.80, Z:5.96 [[ 9.06836711e-01 -4.20065079e-01 -3.45327275e-02 1.59223207e+02] [ 4.19800890e-01 9.07493474e-01 -1.49267184e-02 3.28022816e+01] [ 3.76084180e-02 -9.60773554e-04 9.99292091e-01 5.96395018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66862385299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:32.82, Z:5.97 [[ 9.07391085e-01 -4.18866453e-01 -3.45298869e-02 1.59275945e+02] [ 4.18601146e-01 9.08047398e-01 -1.49332865e-02 3.28235535e+01] [ 3.76098267e-02 -9.03919141e-04 9.99292091e-01 5.96570253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.728623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:32.84, Z:5.97 [[ 9.08695719e-01 -4.16028737e-01 -3.45279624e-02 1.59329465e+02] [ 4.15761211e-01 9.09351131e-01 -1.49377350e-02 3.28447925e+01] [ 3.76125687e-02 -7.81531631e-04 9.99292091e-01 5.96721815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.788623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:32.87, Z:5.97 [[ 9.10576090e-01 -4.11897080e-01 -3.45250698e-02 1.59382235e+02] [ 4.11626327e-01 9.11230175e-01 -1.49444175e-02 3.28658002e+01] [ 3.76158474e-02 -6.03398409e-04 9.99292091e-01 5.96890123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.848623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:32.89, Z:5.97 [[ 9.11934840e-01 -4.08880122e-01 -3.45238129e-02 1.59435533e+02] [ 4.08607095e-01 9.12587979e-01 -1.49473206e-02 3.28876181e+01] [ 3.76176789e-02 -4.75692445e-04 9.99292091e-01 5.97106219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.908623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:32.91, Z:5.97 [[ 9.13303083e-01 -4.05814959e-01 -3.45209724e-02 1.59488141e+02] [ 4.05539492e-01 9.13955197e-01 -1.49538779e-02 3.29096795e+01] [ 3.76191295e-02 -3.42194820e-04 9.99292091e-01 5.97325199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:159.54, Y:32.93, Z:5.97 [[ 9.14846829e-01 -4.02322840e-01 -3.45197436e-02 1.59542063e+02] [ 4.02044776e-01 9.15497840e-01 -1.49567140e-02 3.29321924e+01] [ 3.76201783e-02 -1.95380173e-04 9.99292091e-01 5.97421366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:32.95, Z:5.98 [[ 9.15396651e-01 -4.01070509e-01 -3.45169305e-02 1.59595729e+02] [ 4.00791310e-01 9.16047176e-01 -1.49632032e-02 3.29541912e+01] [ 3.76204362e-02 -1.36819698e-04 9.99292091e-01 5.97550472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:159.65, Y:32.98, Z:5.98 [[ 9.15894383e-01 -3.99932820e-01 -3.45140446e-02 1.59649038e+02] [ 3.99652563e-01 9.16544452e-01 -1.49698567e-02 3.29752430e+01] [ 3.76205932e-02 -8.28186986e-05 9.99292091e-01 5.97761150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148623853 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:159.70, Y:33.00, Z:5.98 [[ 9.15907995e-01 -3.99901814e-01 -3.45120868e-02 1.59700977e+02] [ 3.99621364e-01 9.16557982e-01 -1.49743692e-02 3.29977535e+01] [ 3.76206060e-02 -7.66227500e-05 9.99292091e-01 5.97951872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:159.75, Y:33.02, Z:5.98 [[ 9.15834853e-01 -4.00069397e-01 -3.45108603e-02 1.59754273e+02] [ 3.99788960e-01 9.16484845e-01 -1.49771952e-02 3.30196326e+01] [ 3.76205979e-02 -8.04235413e-05 9.99292092e-01 5.98276093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26862385299998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:159.81, Y:33.04, Z:5.99 [[ 9.15760342e-01 -4.00240173e-01 -3.45079567e-02 1.59806854e+02] [ 3.99959605e-01 9.16410278e-01 -1.49838822e-02 3.30427998e+01] [ 3.76205978e-02 -8.01436012e-05 9.99292092e-01 5.99292181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32862385299998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:159.86, Y:33.06, Z:5.99 [[ 9.16124139e-01 -3.99407014e-01 -3.45050593e-02 1.59860505e+02] [ 3.99125604e-01 9.16773710e-01 -1.49905513e-02 3.30645397e+01] [ 3.76206626e-02 -3.86467003e-05 9.99292092e-01 5.98907941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38862385299998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:33.09, Z:5.99 [[ 9.16071407e-01 -3.99528022e-01 -3.45041676e-02 1.59913161e+02] [ 3.99246620e-01 9.16720982e-01 -1.49926036e-02 3.30876846e+01] [ 3.76206596e-02 -4.13767818e-05 9.99292092e-01 5.99318961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.448623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:33.11, Z:5.99 [[ 9.15991746e-01 -3.99710869e-01 -3.45013288e-02 1.59966379e+02] [ 3.99429352e-01 9.16641271e-01 -1.49991335e-02 3.31102765e+01] [ 3.76206585e-02 -4.17608968e-05 9.99292092e-01 5.99447794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.508623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:33.13, Z:6.00 [[ 9.15836444e-01 -4.00066825e-01 -3.44984645e-02 1.60019383e+02] [ 3.99785311e-01 9.16485970e-01 -1.50057185e-02 3.31330975e+01] [ 3.76206489e-02 -4.91954937e-05 9.99292092e-01 5.99682383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:33.16, Z:6.00 [[ 9.15761255e-01 -4.00239153e-01 -3.44955767e-02 1.60072628e+02] [ 3.99957512e-01 9.16410726e-01 -1.50123541e-02 3.31567714e+01] [ 3.76206484e-02 -4.90328566e-05 9.99292092e-01 5.99827789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.628623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:160.13, Y:33.18, Z:6.00 [[ 9.15658549e-01 -4.00474317e-01 -3.44926508e-02 1.60125519e+02] [ 4.00192589e-01 9.16307983e-01 -1.50190737e-02 3.31789144e+01] [ 3.76206446e-02 -5.13599690e-05 9.99292092e-01 5.99965305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:160.18, Y:33.20, Z:6.00 [[ 9.15639933e-01 -4.00516988e-01 -3.44913860e-02 1.60178046e+02] [ 4.00235181e-01 9.16289332e-01 -1.50219778e-02 3.32027444e+01] [ 3.76206463e-02 -4.99433842e-05 9.99292092e-01 6.00278788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:160.23, Y:33.23, Z:6.01 [[ 9.15452860e-01 -4.00944640e-01 -3.44885174e-02 1.60231909e+02] [ 4.00662888e-01 9.16102283e-01 -1.50285609e-02 3.32250791e+01] [ 3.76206304e-02 -6.03299019e-05 9.99292092e-01 6.00549583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:160.28, Y:33.25, Z:6.01 [[ 9.15325276e-01 -4.01236062e-01 -3.44856657e-02 1.60284157e+02] [ 4.00954271e-01 9.15974682e-01 -1.50351018e-02 3.32490693e+01] [ 3.76206217e-02 -6.51662133e-05 9.99292092e-01 6.00767040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:160.34, Y:33.27, Z:6.01 [[ 9.15213425e-01 -4.01491372e-01 -3.44828184e-02 1.60337352e+02] [ 4.01209516e-01 9.15862803e-01 -1.50416292e-02 3.32719735e+01] [ 3.76206150e-02 -6.85338432e-05 9.99292092e-01 6.00914820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:33.30, Z:6.01 [[ 9.15388195e-01 -4.01092984e-01 -3.44799933e-02 1.60389894e+02] [ 4.00810602e-01 9.16037344e-01 -1.50481025e-02 3.32963808e+01] [ 3.76206498e-02 -4.50914947e-05 9.99292092e-01 6.01240190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:33.32, Z:6.01 [[ 9.15518936e-01 -4.00794715e-01 -3.44771482e-02 1.60441702e+02] [ 4.00511876e-01 9.16167886e-01 -1.50546181e-02 3.33202015e+01] [ 3.76206673e-02 -2.57193185e-05 9.99292092e-01 6.01433610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:160.49, Y:33.35, Z:6.02 [[ 9.15316303e-01 -4.01257369e-01 -3.44759206e-02 1.60493908e+02] [ 4.00974752e-01 9.15965350e-01 -1.50574288e-02 3.33465611e+01] [ 3.76206529e-02 -4.16636584e-05 9.99292092e-01 6.01597293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:160.55, Y:33.37, Z:6.02 [[ 9.14614963e-01 -4.02853663e-01 -3.44731206e-02 1.60547093e+02] [ 4.02571937e-01 9.15264397e-01 -1.50638365e-02 3.33705677e+01] [ 3.76205417e-02 -1.00300688e-04 9.99292092e-01 6.01810615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:33.39, Z:6.02 [[ 9.13010917e-01 -4.06476154e-01 -3.44703106e-02 1.60599184e+02] [ 4.06196762e-01 9.13661358e-01 -1.50702639e-02 3.33933814e+01] [ 3.76198937e-02 -2.42413036e-04 9.99292092e-01 6.01913070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.228623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:160.65, Y:33.42, Z:6.02 [[ 9.11825374e-01 -4.09128793e-01 -3.44690951e-02 1.60651904e+02] [ 4.08851188e-01 9.12476580e-01 -1.50730434e-02 3.34167152e+01] [ 3.76190581e-02 -3.48747014e-04 9.99292092e-01 6.02288173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.288623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:33.44, Z:6.02 [[ 9.09870258e-01 -4.13458810e-01 -3.44663012e-02 1.60704414e+02] [ 4.13184062e-01 9.10522675e-01 -1.50794293e-02 3.34379364e+01] [ 3.76170717e-02 -5.20602100e-04 9.99292092e-01 6.02311796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.348623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:33.46, Z:6.03 [[ 9.08466587e-01 -4.16534053e-01 -3.44650942e-02 1.60758541e+02] [ 4.16261409e-01 9.09119886e-01 -1.50821876e-02 3.34597443e+01] [ 3.76151472e-02 -6.44825185e-04 9.99292092e-01 6.02791036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.408623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:33.48, Z:6.03 [[ 9.06987169e-01 -4.19745919e-01 -3.44621242e-02 1.60813189e+02] [ 4.19475331e-01 9.07641322e-01 -1.50889707e-02 3.34783934e+01] [ 3.76127819e-02 -7.70508160e-04 9.99292092e-01 6.03119244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.87, Y:33.50, Z:6.03 [[ 9.06605957e-01 -4.20568905e-01 -3.44591767e-02 1.60866254e+02] [ 4.20298655e-01 9.07260249e-01 -1.50956992e-02 3.34984433e+01] [ 3.76122229e-02 -7.97294844e-04 9.99292092e-01 6.03291905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:33.52, Z:6.04 [[ 9.06463819e-01 -4.20875275e-01 -3.44579051e-02 1.60921831e+02] [ 4.20605136e-01 9.07118158e-01 -1.50986012e-02 3.35167326e+01] [ 3.76120193e-02 -8.06836096e-04 9.99292092e-01 6.03743948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:160.98, Y:33.54, Z:6.04 [[ 9.06827760e-01 -4.20090785e-01 -3.44549806e-02 1.60976743e+02] [ 4.19819826e-01 9.07481760e-01 -1.51052718e-02 3.35359903e+01] [ 3.76128519e-02 -7.67004160e-04 9.99292092e-01 6.03987443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.03, Y:33.55, Z:6.04 [[ 9.08258182e-01 -4.16989364e-01 -3.44520669e-02 1.61031266e+02] [ 4.16715921e-01 9.08911146e-01 -1.51119145e-02 3.35527998e+01] [ 3.76153752e-02 -6.31204749e-04 9.99292092e-01 6.04169979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:161.08, Y:33.57, Z:6.04 [[ 9.09783138e-01 -4.13651767e-01 -3.44508063e-02 1.61084981e+02] [ 4.13375819e-01 9.10435047e-01 -1.51147878e-02 3.35723042e+01] [ 3.76174801e-02 -4.89951204e-04 9.99292092e-01 6.04298838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:161.14, Y:33.59, Z:6.04 [[ 9.12243081e-01 -4.08198222e-01 -3.44495653e-02 1.61141113e+02] [ 4.07918270e-01 9.12893281e-01 -1.51176156e-02 3.35897201e+01] [ 3.76197606e-02 -2.61666817e-04 9.99292092e-01 6.04456110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.20, Y:33.61, Z:6.05 [[ 9.14245580e-01 -4.03693499e-01 -3.44467437e-02 1.61196564e+02] [ 4.03410101e-01 9.14894286e-01 -1.51240423e-02 3.36096265e+01] [ 3.76206065e-02 -6.90755070e-05 9.99292092e-01 6.04864737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:33.63, Z:6.05 [[ 9.17111658e-01 -3.97139522e-01 -3.44442644e-02 1.61251469e+02] [ 3.96851276e-01 9.17758224e-01 -1.51296867e-02 3.36293320e+01] [ 3.76201034e-02 2.06361773e-04 9.99292092e-01 6.05335772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.948623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:33.65, Z:6.05 [[ 9.19315680e-01 -3.92010802e-01 -3.44414160e-02 1.61305718e+02] [ 3.91718706e-01 9.19960517e-01 -1.51361680e-02 3.36495297e+01] [ 3.76182842e-02 4.23569677e-04 9.99292092e-01 6.05366037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.008623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:161.36, Y:33.67, Z:6.05 [[ 9.20644566e-01 -3.88879893e-01 -3.44385265e-02 1.61359014e+02] [ 3.88585358e-01 9.21288292e-01 -1.51427394e-02 3.36715654e+01] [ 3.76165182e-02 5.58773551e-04 9.99292092e-01 6.05421915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.068623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:33.69, Z:6.06 [[ 9.21238065e-01 -3.87471905e-01 -3.44376365e-02 1.61411908e+02] [ 3.87176311e-01 9.21881305e-01 -1.51447633e-02 3.36947810e+01] [ 3.76155835e-02 6.18495315e-04 9.99292092e-01 6.05705917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.128623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:33.72, Z:6.06 [[ 9.22588300e-01 -3.84246123e-01 -3.44346637e-02 1.61463498e+02] [ 3.83948028e-01 9.23230385e-01 -1.51515196e-02 3.37184324e+01] [ 3.76130404e-02 7.57493474e-04 9.99292092e-01 6.05853636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:33.74, Z:6.06 [[ 9.22993497e-01 -3.83271897e-01 -3.44333755e-02 1.61516036e+02] [ 3.82973015e-01 9.23635216e-01 -1.51544465e-02 3.37425890e+01] [ 3.76121517e-02 8.00401907e-04 9.99292092e-01 6.06115276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.57, Y:33.77, Z:6.06 [[ 9.23291928e-01 -3.82552683e-01 -3.44305138e-02 1.61567272e+02] [ 3.82253059e-01 9.23933301e-01 -1.51609453e-02 3.37669570e+01] [ 3.76113586e-02 8.36809190e-04 9.99292092e-01 6.06264797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.62, Y:33.79, Z:6.06 [[ 9.23121844e-01 -3.82963035e-01 -3.44292735e-02 1.61619826e+02] [ 3.82663592e-01 9.23763301e-01 -1.51637614e-02 3.37911808e+01] [ 3.76116595e-02 8.23169923e-04 9.99292092e-01 6.06481404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:33.82, Z:6.06 [[ 9.22146805e-01 -3.85305191e-01 -3.44264276e-02 1.61671595e+02] [ 3.85007136e-01 9.22788909e-01 -1.51702198e-02 3.38168085e+01] [ 3.76134900e-02 7.34749477e-04 9.99292092e-01 6.06480305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:161.72, Y:33.84, Z:6.07 [[ 9.21074125e-01 -3.87862697e-01 -3.44236216e-02 1.61724225e+02] [ 3.87566186e-01 9.21716943e-01 -1.51765845e-02 3.38412737e+01] [ 3.76152662e-02 6.37327546e-04 9.99292092e-01 6.06766986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:33.87, Z:6.07 [[ 9.19518613e-01 -3.91536377e-01 -3.44207287e-02 1.61775120e+02] [ 3.91242190e-01 9.20162497e-01 -1.51831427e-02 3.38672733e+01] [ 3.76174164e-02 4.94341073e-04 9.99292092e-01 6.06932186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.83, Y:33.89, Z:6.07 [[ 9.18397743e-01 -3.94158452e-01 -3.44194751e-02 1.61827668e+02] [ 3.93865996e-01 9.19042416e-01 -1.51859842e-02 3.38914549e+01] [ 3.76186415e-02 3.90112737e-04 9.99292092e-01 6.07209783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.88, Y:33.92, Z:6.07 [[ 9.16879320e-01 -3.97678019e-01 -3.44166548e-02 1.61879960e+02] [ 3.97387798e-01 9.17525002e-01 -1.51923732e-02 3.39157597e+01] [ 3.76198141e-02 2.52814106e-04 9.99292092e-01 6.07439694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:33.94, Z:6.08 [[ 9.16106382e-01 -3.99455610e-01 -3.44138422e-02 1.61931905e+02] [ 3.99166404e-01 9.16752519e-01 -1.51987416e-02 3.39399420e+01] [ 3.76201991e-02 1.86814584e-04 9.99292092e-01 6.07677502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.98, Y:33.97, Z:6.08 [[ 9.15509889e-01 -4.00820985e-01 -3.44119331e-02 1.61984357e+02] [ 4.00532580e-01 9.16156384e-01 -1.52030627e-02 3.39650543e+01] [ 3.76204188e-02 1.35453921e-04 9.99292092e-01 6.07832497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:33.99, Z:6.08 [[ 9.15597827e-01 -4.00620305e-01 -3.44091617e-02 1.62037120e+02] [ 4.00331523e-01 9.16244153e-01 -1.52093327e-02 3.39894071e+01] [ 3.76203608e-02 1.50559872e-04 9.99292092e-01 6.08127346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:34.02, Z:6.08 [[ 9.16477606e-01 -3.98603821e-01 -3.44062772e-02 1.62088531e+02] [ 3.98313371e-01 9.17123185e-01 -1.52158553e-02 3.40161245e+01] [ 3.76198926e-02 2.40510359e-04 9.99292092e-01 6.08485544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.14, Y:34.04, Z:6.09 [[ 9.17167285e-01 -3.97014587e-01 -3.44033281e-02 1.62140488e+02] [ 3.96722769e-01 9.17812246e-01 -1.52225204e-02 3.40426942e+01] [ 3.76193584e-02 3.13014124e-04 9.99292092e-01 6.08558798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.19, Y:34.07, Z:6.09 [[ 9.17885588e-01 -3.95351313e-01 -3.44003851e-02 1.62191071e+02] [ 3.95058076e-01 9.18529906e-01 -1.52291681e-02 3.40691794e+01] [ 3.76186541e-02 3.88483973e-04 9.99292092e-01 6.08620408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:34.10, Z:6.09 [[ 9.18232702e-01 -3.94544618e-01 -3.43983966e-02 1.62242912e+02] [ 3.94250647e-01 9.18876685e-01 -1.52336583e-02 3.40958822e+01] [ 3.76182425e-02 4.26453075e-04 9.99292092e-01 6.08739212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:162.29, Y:34.13, Z:6.10 [[ 9.18725818e-01 -3.93395245e-01 -3.43955380e-02 1.62292817e+02] [ 3.93100227e-01 9.19369322e-01 -1.52401098e-02 3.41253194e+01] [ 3.76175892e-02 4.80588580e-04 9.99292092e-01 6.09626193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:162.35, Y:34.15, Z:6.10 [[ 9.18548373e-01 -3.93809641e-01 -3.43926414e-02 1.62345081e+02] [ 3.93514669e-01 9.19191898e-01 -1.52466438e-02 3.41511253e+01] [ 3.76177127e-02 4.70770963e-04 9.99292092e-01 6.09965418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.40, Y:34.18, Z:6.09 [[ 9.17022435e-01 -3.97350223e-01 -3.43897224e-02 1.62397170e+02] [ 3.97057489e-01 9.17666982e-01 -1.52532250e-02 3.41775940e+01] [ 3.76191851e-02 3.32852677e-04 9.99292092e-01 6.09470357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.45, Y:34.20, Z:6.10 [[ 9.15411926e-01 -4.01046650e-01 -3.43888186e-02 1.62448435e+02] [ 4.00756443e-01 9.16057613e-01 -1.52552624e-02 3.42021381e+01] [ 3.76202109e-02 1.83308564e-04 9.99292092e-01 6.09604564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.50, Y:34.23, Z:6.10 [[ 9.12633564e-01 -4.07329685e-01 -3.43875672e-02 1.62500945e+02] [ 4.07043816e-01 9.13281185e-01 -1.52580827e-02 3.42257426e+01] [ 3.76205881e-02 -7.22082218e-05 9.99292093e-01 6.09837071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:34.25, Z:6.10 [[ 9.10040732e-01 -4.13090255e-01 -3.43846954e-02 1.62553730e+02] [ 4.12808241e-01 9.10690040e-01 -1.52645517e-02 3.42477507e+01] [ 3.76194372e-02 -3.02921825e-04 9.99292093e-01 6.09865580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:34.27, Z:6.10 [[ 9.08896387e-01 -4.15602136e-01 -3.43834511e-02 1.62607380e+02] [ 4.15321811e-01 9.09546426e-01 -1.52673539e-02 3.42696437e+01] [ 3.76184900e-02 -4.03754425e-04 9.99292093e-01 6.10125356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:162.66, Y:34.29, Z:6.10 [[ 9.08306841e-01 -4.16889266e-01 -3.43805625e-02 1.62659774e+02] [ 4.16609615e-01 9.08957170e-01 -1.52738561e-02 3.42909684e+01] [ 3.76179654e-02 -4.49924958e-04 9.99292093e-01 6.10281611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.568623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:34.31, Z:6.11 [[ 9.08502269e-01 -4.16463369e-01 -3.43786052e-02 1.62713277e+02] [ 4.16183247e-01 9.09152396e-01 -1.52782602e-02 3.43132956e+01] [ 3.76182270e-02 -4.27465484e-04 9.99292093e-01 6.10816480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:34.34, Z:6.11 [[ 9.09356029e-01 -4.14596098e-01 -3.43756891e-02 1.62766366e+02] [ 4.14314394e-01 9.10005471e-01 -1.52848185e-02 3.43350347e+01] [ 3.76190913e-02 -3.43000939e-04 9.99292093e-01 6.10957114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:34.36, Z:6.11 [[ 9.10186505e-01 -4.12769820e-01 -3.43744320e-02 1.62819371e+02] [ 4.12486705e-01 9.10835334e-01 -1.52876451e-02 3.43571457e+01] [ 3.76197258e-02 -2.64387989e-04 9.99292093e-01 6.11143042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:34.38, Z:6.11 [[ 9.11859187e-01 -4.09061495e-01 -3.43731866e-02 1.62873260e+02] [ 4.08775636e-01 9.12506812e-01 -1.52904448e-02 3.43789348e+01] [ 3.76204991e-02 -1.08188600e-04 9.99292093e-01 6.11463427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.93, Y:34.40, Z:6.12 [[ 9.13128448e-01 -4.06220537e-01 -3.43702332e-02 1.62925546e+02] [ 4.05932413e-01 9.13775068e-01 -1.52970806e-02 3.44020286e+01] [ 3.76206505e-02 1.62077850e-05 9.99292093e-01 6.11669215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:162.98, Y:34.43, Z:6.12 [[ 9.15537535e-01 -4.00761521e-01 -3.43689557e-02 1.62977863e+02] [ 4.00469434e-01 9.16182375e-01 -1.52999505e-02 3.44257537e+01] [ 3.76198628e-02 2.43962742e-04 9.99292093e-01 6.12492474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.03, Y:34.45, Z:6.12 [[ 9.17631164e-01 -3.95944458e-01 -3.43661723e-02 1.63029886e+02] [ 3.95648752e-01 9.18274352e-01 -1.53061998e-02 3.44511775e+01] [ 3.76179796e-02 4.48512700e-04 9.99292093e-01 6.12076215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:34.48, Z:6.12 [[ 9.18158244e-01 -3.94720914e-01 -3.43633252e-02 1.63081803e+02] [ 3.94424112e-01 9.18800927e-01 -1.53125892e-02 3.44755379e+01] [ 3.76172542e-02 5.05655961e-04 9.99292093e-01 6.12246623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:34.50, Z:6.13 [[ 9.18761848e-01 -3.93314013e-01 -3.43620955e-02 1.63134294e+02] [ 3.93016124e-01 9.19404028e-01 -1.53153481e-02 3.45012073e+01] [ 3.76163900e-02 5.66299897e-04 9.99292093e-01 6.12503454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.18, Y:34.53, Z:6.13 [[ 9.18421471e-01 -3.94108410e-01 -3.43593109e-02 1.63184852e+02] [ 3.93810843e-01 9.19063800e-01 -1.53215927e-02 3.45272113e+01] [ 3.76167674e-02 5.40610484e-04 9.99292093e-01 6.12516186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.24, Y:34.55, Z:6.13 [[ 9.17626517e-01 -3.95955927e-01 -3.43581089e-02 1.63237206e+02] [ 3.95659552e-01 9.18269397e-01 -1.53242875e-02 3.45525735e+01] [ 3.76177424e-02 4.67858598e-04 9.99292093e-01 6.12740380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.228623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:34.58, Z:6.13 [[ 9.16411931e-01 -3.98759170e-01 -3.43554576e-02 1.63288606e+02] [ 3.98464539e-01 9.17055612e-01 -1.53302293e-02 3.45779466e+01] [ 3.76189347e-02 3.59373495e-04 9.99292093e-01 6.13044543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.34, Y:34.60, Z:6.14 [[ 9.15643959e-01 -4.00519537e-01 -3.43546386e-02 1.63340203e+02] [ 4.00226074e-01 9.16288174e-01 -1.53320644e-02 3.46031942e+01] [ 3.76195404e-02 2.89090005e-04 9.99292093e-01 6.13526568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.39, Y:34.63, Z:6.14 [[ 9.14481069e-01 -4.03167872e-01 -3.43517329e-02 1.63390868e+02] [ 4.02876031e-01 9.15126019e-01 -1.53385718e-02 3.46290663e+01] [ 3.76201840e-02 1.87343717e-04 9.99292093e-01 6.13500189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.44, Y:34.65, Z:6.14 [[ 9.13583725e-01 -4.05197262e-01 -3.43504792e-02 1.63443445e+02] [ 4.04906748e-01 9.14229275e-01 -1.53413790e-02 3.46533951e+01] [ 3.76204985e-02 1.06893303e-04 9.99292093e-01 6.13520964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:34.68, Z:6.14 [[ 9.11922299e-01 -4.08922927e-01 -3.43476406e-02 1.63494907e+02] [ 4.08634811e-01 9.12568923e-01 -1.53477316e-02 3.46780075e+01] [ 3.76206287e-02 -3.97029174e-05 9.99292093e-01 6.13716738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.55, Y:34.70, Z:6.14 [[ 9.10334344e-01 -4.12446003e-01 -3.43464100e-02 1.63547145e+02] [ 4.12160286e-01 9.10982031e-01 -1.53504852e-02 3.47022540e+01] [ 3.76202086e-02 -1.82152281e-04 9.99292093e-01 6.14065428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.60, Y:34.73, Z:6.14 [[ 9.09573345e-01 -4.14121759e-01 -3.43438364e-02 1.63600504e+02] [ 4.13837017e-01 9.10221461e-01 -1.53562410e-02 3.47250337e+01] [ 3.76198505e-02 -2.45123337e-04 9.99292093e-01 6.14345369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:34.75, Z:6.14 [[ 9.09345435e-01 -4.14622201e-01 -3.43410802e-02 1.63653042e+02] [ 4.14337583e-01 9.09993606e-01 -1.53624021e-02 3.47473964e+01] [ 3.76197564e-02 -2.59069935e-04 9.99292093e-01 6.14447995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:34.77, Z:6.15 [[ 9.09790088e-01 -4.13645704e-01 -3.43398904e-02 1.63706295e+02] [ 4.13360291e-01 9.10437908e-01 -1.53650613e-02 3.47710581e+01] [ 3.76200296e-02 -2.15766619e-04 9.99292093e-01 6.14734041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:34.79, Z:6.15 [[ 9.10441555e-01 -4.12210080e-01 -3.43369308e-02 1.63758450e+02] [ 4.11923396e-01 9.11088814e-01 -1.53716724e-02 3.47932670e+01] [ 3.76203519e-02 -1.49175851e-04 9.99292093e-01 6.14758963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.81, Y:34.82, Z:6.15 [[ 9.10459860e-01 -4.12169755e-01 -3.43356477e-02 1.63812365e+02] [ 4.11882934e-01 9.11107058e-01 -1.53745378e-02 3.48157210e+01] [ 3.76203705e-02 -1.44367784e-04 9.99292093e-01 6.15041459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.87, Y:34.84, Z:6.15 [[ 9.10176959e-01 -4.12794343e-01 -3.43326962e-02 1.63865746e+02] [ 4.12507717e-01 9.10824244e-01 -1.53811261e-02 3.48358147e+01] [ 3.76202939e-02 -1.62955532e-04 9.99292093e-01 6.15136537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.92, Y:34.86, Z:6.15 [[ 9.10046070e-01 -4.13082925e-01 -3.43314212e-02 1.63919725e+02] [ 4.12796398e-01 9.10693399e-01 -1.53839713e-02 3.48578620e+01] [ 3.76202546e-02 -1.71764381e-04 9.99292093e-01 6.15293205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.97, Y:34.88, Z:6.16 [[ 9.10468784e-01 -4.12150634e-01 -3.43285205e-02 1.63973782e+02] [ 4.11863200e-01 9.11115711e-01 -1.53904414e-02 3.48784532e+01] [ 3.76204345e-02 -1.26137856e-04 9.99292093e-01 6.15536845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.068623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.03, Y:34.90, Z:6.16 [[ 9.11278254e-01 -4.10358008e-01 -3.43256316e-02 1.64027375e+02] [ 4.10069058e-01 9.11924505e-01 -1.53968820e-02 3.49009169e+01] [ 3.76206184e-02 -4.50357038e-05 9.99292093e-01 6.15777515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.08, Y:34.92, Z:6.16 [[ 9.12998844e-01 -4.06515765e-01 -3.43226356e-02 1.64081925e+02] [ 4.06223845e-01 9.13643759e-01 -1.54035578e-02 3.49232507e+01] [ 3.76204508e-02 1.20757466e-04 9.99292093e-01 6.16204224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.13, Y:34.95, Z:6.17 [[ 9.14166983e-01 -4.03882239e-01 -3.43200273e-02 1.64134920e+02] [ 4.03588243e-01 9.14810954e-01 -1.54093669e-02 3.49450992e+01] [ 3.76199065e-02 2.35574930e-04 9.99292093e-01 6.16556505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.19, Y:34.97, Z:6.17 [[ 9.15157336e-01 -4.01633228e-01 -3.43191101e-02 1.64188243e+02] [ 4.01337573e-01 9.15800546e-01 -1.54114095e-02 3.49669416e+01] [ 3.76191939e-02 3.30316111e-04 9.99292093e-01 6.16907776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:34.99, Z:6.17 [[ 9.15619914e-01 -4.00577797e-01 -3.43162082e-02 1.64241806e+02] [ 4.00281158e-01 9.16262672e-01 -1.54178682e-02 3.49885820e+01] [ 3.76187163e-02 3.80775639e-04 9.99292093e-01 6.16929577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.29, Y:35.01, Z:6.17 [[ 9.15716517e-01 -4.00357176e-01 -3.43131532e-02 1.64294479e+02] [ 4.00060128e-01 9.16359086e-01 -1.54246644e-02 3.50108131e+01] [ 3.76185447e-02 3.97295475e-04 9.99292093e-01 6.16928308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.35, Y:35.03, Z:6.17 [[ 9.15947670e-01 -3.99828233e-01 -3.43110829e-02 1.64346896e+02] [ 3.99530642e-01 9.16589987e-01 -1.54292682e-02 3.50338766e+01] [ 3.76182521e-02 4.24073343e-04 9.99292093e-01 6.17202998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:164.40, Y:35.06, Z:6.17 [[ 9.16195647e-01 -3.99259768e-01 -3.43099840e-02 1.64399825e+02] [ 3.98961686e-01 9.16837737e-01 -1.54317114e-02 3.50573933e+01] [ 3.76179496e-02 4.50097749e-04 9.99292093e-01 6.17486634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:164.45, Y:35.08, Z:6.18 [[ 9.17045340e-01 -3.97304506e-01 -3.43070638e-02 1.64452171e+02] [ 3.97004813e-01 9.17686679e-01 -1.54382008e-02 3.50823849e+01] [ 3.76168022e-02 5.37460674e-04 9.99292093e-01 6.17681229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:164.50, Y:35.11, Z:6.18 [[ 9.17774741e-01 -3.95616925e-01 -3.43041411e-02 1.64503438e+02] [ 3.95315810e-01 9.18415414e-01 -1.54446923e-02 3.51095754e+01] [ 3.76156336e-02 6.13779110e-04 9.99292093e-01 6.17875637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.56, Y:35.13, Z:6.18 [[ 9.17626167e-01 -3.95961667e-01 -3.43012441e-02 1.64555905e+02] [ 3.95660553e-01 9.18266840e-01 -1.54511236e-02 3.51345764e+01] [ 3.76157477e-02 6.06706084e-04 9.99292093e-01 6.18178791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.728623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:35.16, Z:6.18 [[ 9.16715446e-01 -3.98065840e-01 -3.42983614e-02 1.64608551e+02] [ 3.97765956e-01 9.17356697e-01 -1.54575200e-02 3.51599400e+01] [ 3.76169422e-02 5.27426809e-04 9.99292093e-01 6.18388733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:35.18, Z:6.18 [[ 9.15683984e-01 -4.00433092e-01 -3.42954958e-02 1.64659938e+02] [ 4.00134628e-01 9.16325896e-01 -1.54638752e-02 3.51848111e+01] [ 3.76180983e-02 4.37207426e-04 9.99292093e-01 6.18496937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.848623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:35.21, Z:6.19 [[ 9.14375531e-01 -4.03412122e-01 -3.42935473e-02 1.64712514e+02] [ 4.03115588e-01 9.15018337e-01 -1.54681952e-02 3.52100219e+01] [ 3.76192821e-02 3.19475694e-04 9.99292093e-01 6.18729189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.76, Y:35.23, Z:6.19 [[ 9.12773719e-01 -4.07023706e-01 -3.42905397e-02 1.64764518e+02] [ 4.06729465e-01 9.13417578e-01 -1.54748597e-02 3.52329734e+01] [ 3.76202164e-02 1.78072352e-04 9.99292093e-01 6.18923965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:35.26, Z:6.19 [[ 9.10634584e-01 -4.11787447e-01 -3.42892377e-02 1.64816255e+02] [ 4.11496466e-01 9.11279923e-01 -1.54777441e-02 3.52564286e+01] [ 3.76206346e-02 -1.53310948e-05 9.99292093e-01 6.19111635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:35.28, Z:6.19 [[ 9.09819709e-01 -4.13584918e-01 -3.42872201e-02 1.64868383e+02] [ 4.13295043e-01 9.10465545e-01 -1.54822124e-02 3.52806076e+01] [ 3.76205421e-02 -8.47161583e-05 9.99292093e-01 6.19413198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:35.31, Z:6.20 [[ 9.09809087e-01 -4.13608534e-01 -3.42841947e-02 1.64920418e+02] [ 4.13318424e-01 9.10454817e-01 -1.54889090e-02 3.53050427e+01] [ 3.76205552e-02 -7.83391838e-05 9.99292093e-01 6.19715518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.97, Y:35.33, Z:6.20 [[ 9.10383563e-01 -4.12342780e-01 -3.42811826e-02 1.64971925e+02] [ 4.12051521e-01 9.11028776e-01 -1.54955728e-02 3.53299229e+01] [ 3.76206314e-02 -1.86986279e-05 9.99292093e-01 6.19970595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.02, Y:35.36, Z:6.20 [[ 9.11037813e-01 -4.10895355e-01 -3.42798793e-02 1.65023904e+02] [ 4.10602962e-01 9.11682513e-01 -1.54984554e-02 3.53558242e+01] [ 3.76206098e-02 4.42589290e-05 9.99292093e-01 6.20185578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.07, Y:35.38, Z:6.20 [[ 9.11119369e-01 -4.10714731e-01 -3.42768847e-02 1.65074632e+02] [ 4.10421961e-01 9.11763898e-01 -1.55050754e-02 3.53811693e+01] [ 3.76205889e-02 5.89882665e-05 9.99292093e-01 6.20204128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.13, Y:35.41, Z:6.21 [[ 9.10536222e-01 -4.12006096e-01 -3.42748652e-02 1.65126695e+02] [ 4.11714072e-01 9.11181089e-01 -1.55095384e-02 3.54071343e+01] [ 3.76206334e-02 1.05521685e-05 9.99292093e-01 6.20618513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:35.43, Z:6.21 [[ 9.09734339e-01 -4.13773930e-01 -3.42719554e-02 1.65178936e+02] [ 4.13482918e-01 9.10379663e-01 -1.55159657e-02 3.54320292e+01] [ 3.76205933e-02 -5.54612536e-05 9.99292093e-01 6.20914401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:35.46, Z:6.21 [[ 9.08414596e-01 -4.16663596e-01 -3.42690620e-02 1.65230834e+02] [ 4.16374396e-01 9.09060735e-01 -1.55223536e-02 3.54558646e+01] [ 3.76202583e-02 -1.68027407e-04 9.99292093e-01 6.21028448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.28, Y:35.48, Z:6.21 [[ 9.06752620e-01 -4.20268251e-01 -3.42678063e-02 1.65284276e+02] [ 4.19981514e-01 9.07399856e-01 -1.55251251e-02 3.54787099e+01] [ 3.76193197e-02 -3.14397338e-04 9.99292093e-01 6.21082556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.568623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:35.50, Z:6.21 [[ 9.05658083e-01 -4.22622008e-01 -3.42647754e-02 1.65336968e+02] [ 4.22336701e-01 9.06305950e-01 -1.55318117e-02 3.55007591e+01] [ 3.76184552e-02 -4.04761408e-04 9.99292093e-01 6.21198088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.39, Y:35.52, Z:6.21 [[ 9.04426608e-01 -4.25251133e-01 -3.42634691e-02 1.65390516e+02] [ 4.24967599e-01 9.05075253e-01 -1.55346929e-02 3.55222797e+01] [ 3.76171637e-02 -5.10874590e-04 9.99292093e-01 6.21378743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:35.55, Z:6.22 [[ 9.04387579e-01 -4.25334367e-01 -3.42605075e-02 1.65443817e+02] [ 4.25050646e-01 9.05036142e-01 -1.55412217e-02 3.55460273e+01] [ 3.76172132e-02 -5.07162977e-04 9.99292093e-01 6.21539498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:35.57, Z:6.22 [[ 9.05027288e-01 -4.23971731e-01 -3.42575559e-02 1.65497386e+02] [ 4.23686787e-01 9.05675314e-01 -1.55477252e-02 3.55684299e+01] [ 3.76180186e-02 -4.43358219e-04 9.99292093e-01 6.22220346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:35.59, Z:6.22 [[ 9.05819138e-01 -4.22277541e-01 -3.42544682e-02 1.65550371e+02] [ 4.21991127e-01 9.06466516e-01 -1.55545249e-02 3.55910825e+01] [ 3.76188550e-02 -3.65495347e-04 9.99292094e-01 6.21932359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:35.62, Z:6.22 [[ 9.06943776e-01 -4.19856774e-01 -3.42531330e-02 1.65603448e+02] [ 4.19568522e-01 9.07590338e-01 -1.55574646e-02 3.56167463e+01] [ 3.76197195e-02 -2.61790764e-04 9.99292094e-01 6.22451391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.66, Y:35.64, Z:6.23 [[ 9.07334334e-01 -4.19012292e-01 -3.42506253e-02 1.65656219e+02] [ 4.18723230e-01 9.07980534e-01 -1.55629835e-02 3.56406101e+01] [ 3.76199825e-02 -2.20703190e-04 9.99292094e-01 6.22836369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:35.66, Z:6.23 [[ 9.07351861e-01 -4.18974586e-01 -3.42475738e-02 1.65708431e+02] [ 4.18685244e-01 9.07997936e-01 -1.55696957e-02 3.56627806e+01] [ 3.76200331e-02 -2.11761437e-04 9.99292094e-01 6.23082102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:35.69, Z:6.23 [[ 9.07318359e-01 -4.19047240e-01 -3.42462494e-02 1.65759759e+02] [ 4.18757839e-01 9.07964408e-01 -1.55726083e-02 3.56870752e+01] [ 3.76200341e-02 -2.11571932e-04 9.99292094e-01 6.23155333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.81, Y:35.71, Z:6.24 [[ 9.07314028e-01 -4.19056724e-01 -3.42449451e-02 1.65812171e+02] [ 4.18767222e-01 9.07960031e-01 -1.55754759e-02 3.57116215e+01] [ 3.76200493e-02 -2.08812811e-04 9.99292094e-01 6.23537638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:165.86, Y:35.73, Z:6.24 [[ 9.07320737e-01 -4.19042446e-01 -3.42419095e-02 1.65863859e+02] [ 4.18752682e-01 9.07966623e-01 -1.55821467e-02 3.57347608e+01] [ 3.76200918e-02 -2.00886608e-04 9.99292094e-01 6.23529957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.228623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:165.92, Y:35.76, Z:6.24 [[ 9.06824874e-01 -4.20114542e-01 -3.42405953e-02 1.65916310e+02] [ 4.19825433e-01 9.07471053e-01 -1.55850339e-02 3.57598613e+01] [ 3.76198485e-02 -2.42176316e-04 9.99292094e-01 6.23784192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.288623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.97, Y:35.78, Z:6.24 [[ 9.06316109e-01 -4.21211221e-01 -3.42376599e-02 1.65968910e+02] [ 4.20922650e-01 9.06962529e-01 -1.55914800e-02 3.57839758e+01] [ 3.76195809e-02 -2.80597001e-04 9.99292094e-01 6.24069362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.02, Y:35.81, Z:6.24 [[ 9.06082925e-01 -4.21712850e-01 -3.42345627e-02 1.66020620e+02] [ 4.21424380e-01 9.06729390e-01 -1.55982775e-02 3.58074508e+01] [ 3.76194782e-02 -2.93946472e-04 9.99292094e-01 6.24218088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.408623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:35.83, Z:6.25 [[ 9.05693180e-01 -4.22549346e-01 -3.42332259e-02 1.66072979e+02] [ 4.22261362e-01 9.06339861e-01 -1.56012108e-02 3.58322931e+01] [ 3.76192187e-02 -3.25458372e-04 9.99292094e-01 6.25311644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:35.86, Z:6.25 [[ 9.05118456e-01 -4.23779270e-01 -3.42302671e-02 1.66125379e+02] [ 4.23491920e-01 9.05765419e-01 -1.56077000e-02 3.58562726e+01] [ 3.76188119e-02 -3.69424198e-04 9.99292094e-01 6.25000185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:35.88, Z:6.25 [[ 9.04072516e-01 -4.26006146e-01 -3.42293546e-02 1.66177735e+02] [ 4.25720313e-01 9.04720151e-01 -1.56097009e-02 3.58804856e+01] [ 3.76178154e-02 -4.59830024e-04 9.99292094e-01 6.25245865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:35.90, Z:6.25 [[ 9.02225711e-01 -4.29903847e-01 -3.42264449e-02 1.66231240e+02] [ 4.29620570e-01 9.02874468e-01 -1.56160782e-02 3.59030293e+01] [ 3.76155953e-02 -6.15157497e-04 9.99292094e-01 6.25241926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.28, Y:35.93, Z:6.26 [[ 9.01415502e-01 -4.31600324e-01 -3.42235792e-02 1.66283015e+02] [ 4.31318030e-01 9.02064687e-01 -1.56223560e-02 3.59262104e+01] [ 3.76144962e-02 -6.79012867e-04 9.99292094e-01 6.25501511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.34, Y:35.95, Z:6.26 [[ 9.00610111e-01 -4.33278501e-01 -3.42223396e-02 1.66335655e+02] [ 4.32997313e-01 9.01259776e-01 -1.56250712e-02 3.59501447e+01] [ 3.76132255e-02 -7.46084004e-04 9.99292094e-01 6.25922210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.39, Y:35.97, Z:6.26 [[ 9.00384202e-01 -4.33748000e-01 -3.42193234e-02 1.66387869e+02] [ 4.33466900e-01 9.01033905e-01 -1.56316740e-02 3.59737862e+01] [ 3.76129779e-02 -7.58431728e-04 9.99292094e-01 6.26155667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.44, Y:36.00, Z:6.26 [[ 8.99536780e-01 -4.35502824e-01 -3.42180146e-02 1.66441098e+02] [ 4.35222883e-01 9.00186983e-01 -1.56345382e-02 3.59972802e+01] [ 3.76114969e-02 -8.28620787e-04 9.99292094e-01 6.26407031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.49, Y:36.02, Z:6.27 [[ 8.98975245e-01 -4.36661007e-01 -3.42151177e-02 1.66494689e+02] [ 4.36381662e-01 8.99625704e-01 -1.56408755e-02 3.60206567e+01] [ 3.76105598e-02 -8.70090002e-04 9.99292094e-01 6.26547529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:36.04, Z:6.27 [[ 8.98430969e-01 -4.37779992e-01 -3.42121844e-02 1.66548234e+02] [ 4.37501213e-01 8.99081671e-01 -1.56472891e-02 3.60430566e+01] [ 3.76096180e-02 -9.09863079e-04 9.99292094e-01 6.26841100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:36.07, Z:6.27 [[ 8.98352820e-01 -4.37940567e-01 -3.42092148e-02 1.66600683e+02] [ 4.37661657e-01 8.99003467e-01 -1.56537786e-02 3.60651351e+01] [ 3.76096274e-02 -9.09445504e-04 9.99292094e-01 6.27134081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.65, Y:36.09, Z:6.27 [[ 8.98416908e-01 -4.37809178e-01 -3.42079255e-02 1.66654545e+02] [ 4.37530067e-01 8.99067468e-01 -1.56565957e-02 3.60873195e+01] [ 3.76098342e-02 -9.00845575e-04 9.99292094e-01 6.27424926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.128623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:166.71, Y:36.11, Z:6.27 [[ 8.98795348e-01 -4.37031972e-01 -3.42049312e-02 1.66707606e+02] [ 4.36752049e-01 8.99445559e-01 -1.56631344e-02 3.61087923e+01] [ 3.76107640e-02 -8.61121437e-04 9.99292094e-01 6.27466955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.76, Y:36.13, Z:6.28 [[ 8.99191194e-01 -4.36217043e-01 -3.42036384e-02 1.66761422e+02] [ 4.35936423e-01 8.99841104e-01 -1.56659571e-02 3.61313017e+01] [ 3.76115972e-02 -8.23921151e-04 9.99292094e-01 6.27637799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:36.15, Z:6.28 [[ 9.00189578e-01 -4.34153240e-01 -3.42007083e-02 1.66815440e+02] [ 4.33870887e-01 9.00838737e-01 -1.56723513e-02 3.61523318e+01] [ 3.76135250e-02 -7.30604326e-04 9.99292094e-01 6.28184789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.87, Y:36.17, Z:6.28 [[ 9.01281213e-01 -4.31882727e-01 -3.41977435e-02 1.66869968e+02] [ 4.31598494e-01 9.01929551e-01 -1.56788179e-02 3.61732307e+01] [ 3.76153661e-02 -6.28670611e-04 9.99292094e-01 6.27848768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.92, Y:36.19, Z:6.28 [[ 9.03210587e-01 -4.27833324e-01 -3.41947761e-02 1.66924079e+02] [ 4.27545938e-01 9.03857534e-01 -1.56852871e-02 3.61942702e+01] [ 3.76178945e-02 -4.52720269e-04 9.99292094e-01 6.28217754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.98, Y:36.22, Z:6.29 [[ 9.04699630e-01 -4.24675757e-01 -3.41918306e-02 1.66977803e+02] [ 4.24385872e-01 9.05345460e-01 -1.56917051e-02 3.62170197e+01] [ 3.76193054e-02 -3.14250010e-04 9.99292094e-01 6.28623093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.03, Y:36.24, Z:6.29 [[ 9.07157183e-01 -4.19400721e-01 -3.41888957e-02 1.67031048e+02] [ 4.19106839e-01 9.07801205e-01 -1.56980972e-02 3.62398202e+01] [ 3.76205140e-02 -8.81583976e-05 9.99292094e-01 6.28824639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:36.26, Z:6.29 [[ 9.09018182e-01 -4.15351979e-01 -3.41859224e-02 1.67084562e+02] [ 4.15054985e-01 9.09660775e-01 -1.57045695e-02 3.62632991e+01] [ 3.76205167e-02 8.67016974e-05 9.99292094e-01 6.28761258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:36.29, Z:6.29 [[ 9.09930749e-01 -4.13349197e-01 -3.41829311e-02 1.67136554e+02] [ 4.13050544e-01 9.10572573e-01 -1.57110776e-02 3.62861520e+01] [ 3.76202009e-02 1.76714287e-04 9.99292094e-01 6.28855145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:36.31, Z:6.29 [[ 9.10966909e-01 -4.11060710e-01 -3.41816401e-02 1.67189323e+02] [ 4.10760339e-01 9.11607930e-01 -1.57138859e-02 3.63099285e+01] [ 3.76196153e-02 2.74368021e-04 9.99292094e-01 6.29067996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.24, Y:36.33, Z:6.29 [[ 9.11561593e-01 -4.09740506e-01 -3.41786491e-02 1.67240445e+02] [ 4.09438963e-01 9.12202064e-01 -1.57203889e-02 3.63340422e+01] [ 3.76191143e-02 3.36032096e-04 9.99292094e-01 6.29249815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.29, Y:36.36, Z:6.30 [[ 9.11712073e-01 -4.09405734e-01 -3.41766215e-02 1.67293080e+02] [ 4.09103791e-01 9.12352355e-01 -1.57247957e-02 3.63590206e+01] [ 3.76189426e-02 3.54700616e-04 9.99292094e-01 6.29702642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:36.38, Z:6.30 [[ 9.11067327e-01 -4.10838752e-01 -3.41737455e-02 1.67344888e+02] [ 4.10537581e-01 9.11707973e-01 -1.57310435e-02 3.63818395e+01] [ 3.76193985e-02 3.02432913e-04 9.99292094e-01 6.29817105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:36.41, Z:6.30 [[ 9.10429872e-01 -4.12249604e-01 -3.41718004e-02 1.67396488e+02] [ 4.11949268e-01 9.11070909e-01 -1.57352675e-02 3.64057382e+01] [ 3.76197911e-02 2.48809375e-04 9.99292094e-01 6.30093445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.45, Y:36.43, Z:6.30 [[ 9.09945999e-01 -4.13316646e-01 -3.41705817e-02 1.67448800e+02] [ 4.13016962e-01 9.10587342e-01 -1.57379137e-02 3.64298215e+01] [ 3.76200408e-02 2.07621780e-04 9.99292094e-01 6.30284631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.50, Y:36.45, Z:6.31 [[ 9.09876350e-01 -4.13470179e-01 -3.41677886e-02 1.67501352e+02] [ 4.13170376e-01 9.10517637e-01 -1.57439753e-02 3.64527609e+01] [ 3.76200384e-02 2.07952759e-04 9.99292094e-01 6.30529024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:36.48, Z:6.31 [[ 9.10198626e-01 -4.12760349e-01 -3.41665763e-02 1.67553536e+02] [ 4.12459947e-01 9.10839633e-01 -1.57466057e-02 3.64782352e+01] [ 3.76198463e-02 2.40194610e-04 9.99292094e-01 6.30613176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.61, Y:36.50, Z:6.31 [[ 9.10441638e-01 -4.12224277e-01 -3.41638478e-02 1.67605231e+02] [ 4.11923276e-01 9.11082364e-01 -1.57525232e-02 3.65039269e+01] [ 3.76196517e-02 2.68868929e-04 9.99292094e-01 6.30899530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.66, Y:36.53, Z:6.31 [[ 9.10738386e-01 -4.11568497e-01 -3.41608754e-02 1.67656185e+02] [ 4.11266792e-01 9.11378780e-01 -1.57589664e-02 3.65294139e+01] [ 3.76193911e-02 3.03061964e-04 9.99292094e-01 6.31084511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:167.71, Y:36.56, Z:6.32 [[ 9.10642740e-01 -4.11780186e-01 -3.41595920e-02 1.67707427e+02] [ 4.11478526e-01 9.11283156e-01 -1.57617480e-02 3.65554926e+01] [ 3.76194363e-02 2.97382876e-04 9.99292094e-01 6.32013411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.76, Y:36.58, Z:6.32 [[ 9.10615883e-01 -4.11839834e-01 -3.41564811e-02 1.67759037e+02] [ 4.11537963e-01 9.11256199e-01 -1.57684865e-02 3.65807557e+01] [ 3.76193960e-02 3.02345551e-04 9.99292094e-01 6.31785737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:36.61, Z:6.32 [[ 9.10386538e-01 -4.12346673e-01 -3.41551343e-02 1.67810352e+02] [ 4.12045049e-01 9.11026970e-01 -1.57714032e-02 3.66068415e+01] [ 3.76195342e-02 2.84619207e-04 9.99292094e-01 6.31929577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.86, Y:36.63, Z:6.32 [[ 9.10104430e-01 -4.12969201e-01 -3.41520972e-02 1.67862493e+02] [ 4.12667769e-01 9.10744952e-01 -1.57779771e-02 3.66318371e+01] [ 3.76196688e-02 2.66137122e-04 9.99292094e-01 6.32099971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:36.66, Z:6.32 [[ 9.09873268e-01 -4.13478514e-01 -3.41490094e-02 1.67913763e+02] [ 4.13177190e-01 9.10513841e-01 -1.57846575e-02 3.66576438e+01] [ 3.76197624e-02 2.52446170e-04 9.99292094e-01 6.32293216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.97, Y:36.68, Z:6.33 [[ 9.09969810e-01 -4.13266114e-01 -3.41476757e-02 1.67965704e+02] [ 4.12964532e-01 9.10610262e-01 -1.57875422e-02 3.66843463e+01] [ 3.76196801e-02 2.64407882e-04 9.99292094e-01 6.32546534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.02, Y:36.71, Z:6.33 [[ 9.10600493e-01 -4.11874838e-01 -3.41446962e-02 1.68016380e+02] [ 4.11572035e-01 9.11240369e-01 -1.57939834e-02 3.67113164e+01] [ 3.76191699e-02 3.29006991e-04 9.99292094e-01 6.32763468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:168.07, Y:36.74, Z:6.33 [[ 9.10694466e-01 -4.11667119e-01 -3.41434115e-02 1.68068107e+02] [ 4.11364066e-01 9.11334224e-01 -1.57967603e-02 3.67369426e+01] [ 3.76190662e-02 3.40649656e-04 9.99292094e-01 6.33084420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.12, Y:36.77, Z:6.33 [[ 9.11366682e-01 -4.10177041e-01 -3.41403904e-02 1.68119251e+02] [ 4.09872698e-01 9.12005826e-01 -1.58032867e-02 3.67655850e+01] [ 3.76183804e-02 4.09375018e-04 9.99292094e-01 6.33308962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.17, Y:36.79, Z:6.33 [[ 9.11437306e-01 -4.10020335e-01 -3.41373923e-02 1.68170387e+02] [ 4.09715640e-01 9.12076283e-01 -1.58097605e-02 3.67929783e+01] [ 3.76182292e-02 4.22981949e-04 9.99292094e-01 6.33381738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:36.82, Z:6.34 [[ 9.10948450e-01 -4.11105539e-01 -3.41344055e-02 1.68221453e+02] [ 4.10801364e-01 9.11587674e-01 -1.58162066e-02 3.68208909e+01] [ 3.76186334e-02 3.85288579e-04 9.99292094e-01 6.33540284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:36.85, Z:6.34 [[ 9.10306544e-01 -4.12525202e-01 -3.41314221e-02 1.68273402e+02] [ 4.12221782e-01 9.10946127e-01 -1.58226422e-02 3.68477461e+01] [ 3.76191254e-02 3.33739041e-04 9.99292094e-01 6.33757846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:36.88, Z:6.34 [[ 9.09540271e-01 -4.14212202e-01 -3.41283884e-02 1.68323628e+02] [ 4.13909723e-01 9.10180300e-01 -1.58291830e-02 3.68756225e+01] [ 3.76196275e-02 2.71207668e-04 9.99292094e-01 6.33947539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:168.37, Y:36.90, Z:6.35 [[ 9.08737016e-01 -4.15971608e-01 -3.41270712e-02 1.68374888e+02] [ 4.15670261e-01 9.09377579e-01 -1.58320224e-02 3.69028177e+01] [ 3.76200651e-02 2.01536167e-04 9.99292094e-01 6.34642390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:36.93, Z:6.35 [[ 9.07697105e-01 -4.18236197e-01 -3.41240285e-02 1.68426527e+02] [ 4.17936202e-01 9.08338302e-01 -1.58385777e-02 3.69293755e+01] [ 3.76204286e-02 1.14964245e-04 9.99292095e-01 6.34552686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:36.96, Z:6.35 [[ 9.06713920e-01 -4.20363682e-01 -3.41209945e-02 1.68478358e+02] [ 4.20064946e-01 9.07355704e-01 -1.58451112e-02 3.69564793e+01] [ 3.76205883e-02 3.39491808e-05 9.99292095e-01 6.34634362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:36.98, Z:6.35 [[ 9.06160908e-01 -4.21554710e-01 -3.41179715e-02 1.68530554e+02] [ 4.21256573e-01 9.06802970e-01 -1.58516177e-02 3.69827343e+01] [ 3.76206020e-02 -8.30348886e-06 9.99292095e-01 6.34664223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.288623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:168.58, Y:37.01, Z:6.36 [[ 9.05745818e-01 -4.22446073e-01 -3.41149405e-02 1.68580795e+02] [ 4.22148321e-01 9.06388059e-01 -1.58581381e-02 3.70088751e+01] [ 3.76205829e-02 -3.81226211e-05 9.99292095e-01 6.35708782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:37.03, Z:6.35 [[ 9.05530728e-01 -4.22907036e-01 -3.41136288e-02 1.68633067e+02] [ 4.22609505e-01 9.06173072e-01 -1.58609593e-02 3.70346313e+01] [ 3.76205631e-02 -5.41577295e-05 9.99292095e-01 6.35179968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:37.06, Z:6.35 [[ 9.05427514e-01 -4.23128213e-01 -3.41105955e-02 1.68685044e+02] [ 4.22830593e-01 9.06069817e-01 -1.58674800e-02 3.70613335e+01] [ 3.76205595e-02 -5.61503532e-05 9.99292095e-01 6.35427194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.74, Y:37.09, Z:6.36 [[ 9.05223935e-01 -4.23563810e-01 -3.41075825e-02 1.68735974e+02] [ 4.23266256e-01 9.05866267e-01 -1.58739540e-02 3.70861868e+01] [ 3.76205409e-02 -6.71056543e-05 9.99292095e-01 6.35514836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.79, Y:37.11, Z:6.36 [[ 9.05224404e-01 -4.23562911e-01 -3.41062827e-02 1.68787707e+02] [ 4.23265251e-01 9.05866688e-01 -1.58767461e-02 3.71112079e+01] [ 3.76205462e-02 -6.39862662e-05 9.99292095e-01 6.35685861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.84, Y:37.14, Z:6.36 [[ 9.05483245e-01 -4.23009386e-01 -3.41050045e-02 1.68838947e+02] [ 4.22711230e-01 9.06125299e-01 -1.58794914e-02 3.71378243e+01] [ 3.76205813e-02 -3.79549497e-05 9.99292095e-01 6.35714501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:37.16, Z:6.36 [[ 9.06180289e-01 -4.21514332e-01 -3.41020819e-02 1.68889118e+02] [ 4.21214880e-01 9.06821739e-01 -1.58857655e-02 3.71645828e+01] [ 3.76205870e-02 3.10632046e-05 9.99292095e-01 6.35841940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.94, Y:37.19, Z:6.36 [[ 9.06352843e-01 -4.21143275e-01 -3.41008173e-02 1.68940421e+02] [ 4.20843459e-01 9.06994123e-01 -1.58884796e-02 3.71905480e+01] [ 3.76205672e-02 4.94627887e-05 9.99292095e-01 6.36197605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:37.22, Z:6.36 [[ 9.06115113e-01 -4.21654764e-01 -3.40978193e-02 1.68992658e+02] [ 4.21355067e-01 9.06756450e-01 -1.58949110e-02 3.72160159e+01] [ 3.76205825e-02 3.53301107e-05 9.99292095e-01 6.36489749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:37.24, Z:6.37 [[ 9.05117648e-01 -4.23791915e-01 -3.40948109e-02 1.69044759e+02] [ 4.23493490e-01 9.05759577e-01 -1.59013613e-02 3.72405486e+01] [ 3.76205699e-02 -4.63277528e-05 9.99292095e-01 6.36736163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.10, Y:37.26, Z:6.37 [[ 9.04285366e-01 -4.25565182e-01 -3.40918213e-02 1.69097126e+02] [ 4.25267774e-01 9.04927767e-01 -1.59077684e-02 3.72646008e+01] [ 3.76204280e-02 -1.12990780e-04 9.99292095e-01 6.36841752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.15, Y:37.29, Z:6.37 [[ 9.03346035e-01 -4.27555719e-01 -3.40888250e-02 1.69149187e+02] [ 4.27259485e-01 9.03988977e-01 -1.59141865e-02 3.72868335e+01] [ 3.76201235e-02 -1.88756588e-04 9.99292095e-01 6.37106998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.20, Y:37.31, Z:6.37 [[ 9.02791012e-01 -4.28726520e-01 -3.40875336e-02 1.69201397e+02] [ 4.28431015e-01 9.03434290e-01 -1.59169522e-02 3.73108596e+01] [ 3.76198662e-02 -2.34475232e-04 9.99292095e-01 6.37394984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.25, Y:37.33, Z:6.38 [[ 9.02378099e-01 -4.29595182e-01 -3.40844087e-02 1.69253579e+02] [ 4.29300043e-01 9.03021545e-01 -1.59236410e-02 3.73340657e+01] [ 3.76196748e-02 -2.63293281e-04 9.99292095e-01 6.37512595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.31, Y:37.36, Z:6.38 [[ 9.01919323e-01 -4.30557639e-01 -3.40830558e-02 1.69306929e+02] [ 4.30263078e-01 9.02563033e-01 -1.59265362e-02 3.73571645e+01] [ 3.76193981e-02 -3.00229732e-04 9.99292095e-01 6.37528285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.36, Y:37.38, Z:6.38 [[ 9.01038443e-01 -4.32398283e-01 -3.40800415e-02 1.69360650e+02] [ 4.32104793e-01 9.01682643e-01 -1.59329837e-02 3.73784342e+01] [ 3.76187767e-02 -3.69918420e-04 9.99292095e-01 6.37630992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.41, Y:37.40, Z:6.38 [[ 9.00400426e-01 -4.33725523e-01 -3.40770395e-02 1.69413887e+02] [ 4.33432739e-01 9.01044947e-01 -1.59394017e-02 3.74011165e+01] [ 3.76182696e-02 -4.18260495e-04 9.99292095e-01 6.37919291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.47, Y:37.42, Z:6.38 [[ 9.00188594e-01 -4.34165251e-01 -3.40738925e-02 1.69466887e+02] [ 4.33872528e-01 9.00833142e-01 -1.59461262e-02 3.74234532e+01] [ 3.76181456e-02 -4.29204996e-04 9.99292095e-01 6.38309335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.52, Y:37.45, Z:6.39 [[ 9.00368554e-01 -4.33792004e-01 -3.40729228e-02 1.69520805e+02] [ 4.33498935e-01 9.01012946e-01 -1.59481980e-02 3.74459903e+01] [ 3.76183453e-02 -4.11319793e-04 9.99292095e-01 6.38591085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.57, Y:37.47, Z:6.39 [[ 9.00901490e-01 -4.32684347e-01 -3.40699426e-02 1.69574584e+02] [ 4.32390246e-01 9.01545411e-01 -1.59545621e-02 3.74681027e+01] [ 3.76188896e-02 -3.58022081e-04 9.99292095e-01 6.38834479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.63, Y:37.49, Z:6.39 [[ 9.01684186e-01 -4.31051130e-01 -3.40668899e-02 1.69627304e+02] [ 4.30755615e-01 9.02327459e-01 -1.59610777e-02 3.74906970e+01] [ 3.76195308e-02 -2.82652770e-04 9.99292095e-01 6.39034998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:37.51, Z:6.39 [[ 9.02839773e-01 -4.28625571e-01 -3.40655681e-02 1.69679990e+02] [ 4.28328223e-01 9.03482201e-01 -1.59638983e-02 3.75122809e+01] [ 3.76201695e-02 -1.78401898e-04 9.99292095e-01 6.39136072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.73, Y:37.54, Z:6.39 [[ 9.03292393e-01 -4.27671053e-01 -3.40635208e-02 1.69732295e+02] [ 4.27372860e-01 9.03934430e-01 -1.59682656e-02 3.75364342e+01] [ 3.76203542e-02 -1.33811439e-04 9.99292095e-01 6.39438771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.78, Y:37.56, Z:6.40 [[ 9.05007894e-01 -4.24029002e-01 -3.40604986e-02 1.69784874e+02] [ 4.23727984e-01 9.05648610e-01 -1.59747094e-02 3.75586981e+01] [ 3.76205833e-02 2.48517467e-05 9.99292095e-01 6.39609000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:37.58, Z:6.40 [[ 9.05956922e-01 -4.21997662e-01 -3.40591918e-02 1.69837387e+02] [ 4.21695102e-01 9.06596912e-01 -1.59774951e-02 3.75825877e+01] [ 3.76204237e-02 1.12327905e-04 9.99292095e-01 6.39704607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.89, Y:37.61, Z:6.40 [[ 9.06771415e-01 -4.20244898e-01 -3.40562203e-02 1.69889849e+02] [ 4.19940863e-01 9.07410706e-01 -1.59838263e-02 3.76057235e+01] [ 3.76201004e-02 1.92078260e-04 9.99292095e-01 6.39680207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.94, Y:37.63, Z:6.40 [[ 9.07022164e-01 -4.19703591e-01 -3.40542095e-02 1.69942438e+02] [ 4.19399014e-01 9.07661197e-01 -1.59881093e-02 3.76289929e+01] [ 3.76199514e-02 2.19267618e-04 9.99292095e-01 6.39902486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.00, Y:37.65, Z:6.40 [[ 9.07447617e-01 -4.18783152e-01 -3.40513507e-02 1.69995549e+02] [ 4.18477698e-01 9.08086230e-01 -1.59941957e-02 3.76521001e+01] [ 3.76196623e-02 2.64163916e-04 9.99292095e-01 6.40227934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.05, Y:37.68, Z:6.41 [[ 9.08310374e-01 -4.16908818e-01 -3.40485156e-02 1.70047786e+02] [ 4.16601821e-01 9.08948247e-01 -1.60002288e-02 3.76780043e+01] [ 3.76189750e-02 3.48500213e-04 9.99292095e-01 6.40662156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.10, Y:37.70, Z:6.41 [[ 9.09059579e-01 -4.15272917e-01 -3.40453636e-02 1.70099203e+02] [ 4.14964521e-01 9.09696776e-01 -1.60069327e-02 3.77024062e+01] [ 3.76182032e-02 4.23637466e-04 9.99292095e-01 6.40998511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:37.73, Z:6.41 [[ 9.10406548e-01 -4.12311683e-01 -3.40440032e-02 1.70149411e+02] [ 4.12001106e-01 9.11042685e-01 -1.60098256e-02 3.77284871e+01] [ 3.76165782e-02 5.49283146e-04 9.99292095e-01 6.41221271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.20, Y:37.76, Z:6.41 [[ 9.11112607e-01 -4.10749209e-01 -3.40426887e-02 1.70200994e+02] [ 4.10437437e-01 9.11748160e-01 -1.60126201e-02 3.77560398e+01] [ 3.76155298e-02 6.16906121e-04 9.99292095e-01 6.41488625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:170.25, Y:37.78, Z:6.42 [[ 9.11803617e-01 -4.09213223e-01 -3.40397097e-02 1.70251535e+02] [ 4.08900143e-01 9.12438527e-01 -1.60189503e-02 3.77848648e+01] [ 3.76143089e-02 6.87294668e-04 9.99292095e-01 6.41820735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.30, Y:37.81, Z:6.42 [[ 9.11893190e-01 -4.09013832e-01 -3.40366690e-02 1.70302830e+02] [ 4.08700373e-01 9.12527913e-01 -1.60254087e-02 3.78120756e+01] [ 3.76140243e-02 7.02661741e-04 9.99292095e-01 6.42050447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:37.84, Z:6.42 [[ 9.11680581e-01 -4.09487767e-01 -3.40336172e-02 1.70353108e+02] [ 4.09174396e-01 9.12315347e-01 -1.60318873e-02 3.78419212e+01] [ 3.76142530e-02 6.90275561e-04 9.99292095e-01 6.42155563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38862385299998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:37.88, Z:6.43 [[ 9.11344082e-01 -4.10236377e-01 -3.40305757e-02 1.70399854e+02] [ 4.09923286e-01 9.11978986e-01 -1.60383408e-02 3.78753282e+01] [ 3.76146807e-02 6.66521501e-04 9.99292095e-01 6.43067581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.45, Y:37.90, Z:6.42 [[ 9.10827327e-01 -4.11382534e-01 -3.40292606e-02 1.70451441e+02] [ 4.11070138e-01 9.11462574e-01 -1.60411306e-02 3.79033745e+01] [ 3.76154384e-02 6.22287316e-04 9.99292095e-01 6.42341096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:37.93, Z:6.42 [[ 9.09124805e-01 -4.15131680e-01 -3.40261300e-02 1.70500887e+02] [ 4.14821655e-01 9.09761212e-01 -1.60477684e-02 3.79349721e+01] [ 3.76175903e-02 4.74648725e-04 9.99292095e-01 6.42374302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:37.96, Z:6.42 [[ 9.07255419e-01 -4.19201672e-01 -3.40229848e-02 1.70551028e+02] [ 4.18894253e-01 9.07893089e-01 -1.60544337e-02 3.79635775e+01] [ 3.76192782e-02 3.13439213e-04 9.99292095e-01 6.42297977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:37.99, Z:6.42 [[ 9.03534541e-01 -4.27162711e-01 -3.40198551e-02 1.70601243e+02] [ 4.26860661e-01 9.04174772e-01 -1.60610630e-02 3.79935299e+01] [ 3.76205819e-02 -1.00127024e-05 9.99292095e-01 6.42457791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:38.02, Z:6.43 [[ 9.00698775e-01 -4.33110347e-01 -3.40168091e-02 1.70652374e+02] [ 4.32812281e-01 9.01340870e-01 -1.60675117e-02 3.80200822e+01] [ 3.76197459e-02 -2.50904646e-04 9.99292095e-01 6.42647093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:38.05, Z:6.43 [[ 8.96378623e-01 -4.41982387e-01 -3.40137369e-02 1.70704132e+02] [ 4.41690429e-01 8.97023518e-01 -1.60740128e-02 3.80463874e+01] [ 3.76155524e-02 -6.15140587e-04 9.99292095e-01 6.43053628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:38.07, Z:6.43 [[ 8.93839340e-01 -4.47095643e-01 -3.40105994e-02 1.70755198e+02] [ 4.46807121e-01 8.94485779e-01 -1.60806486e-02 3.80713043e+01] [ 3.76115854e-02 -8.22661659e-04 9.99292095e-01 6.43310833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:38.10, Z:6.44 [[ 8.91272849e-01 -4.52190313e-01 -3.40092440e-02 1.70807842e+02] [ 4.51905377e-01 8.91920877e-01 -1.60835145e-02 3.80958913e+01] [ 3.76063642e-02 -1.03416041e-03 9.99292095e-01 6.43565366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:170.86, Y:38.12, Z:6.44 [[ 8.90757644e-01 -4.53204594e-01 -3.40060999e-02 1.70859861e+02] [ 4.52920142e-01 8.91405885e-01 -1.60901596e-02 3.81193777e+01] [ 3.76053718e-02 -1.06961494e-03 9.99292095e-01 6.43738332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98862385299998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:38.14, Z:6.44 [[ 8.91612541e-01 -4.51520549e-01 -3.40039709e-02 1.70912741e+02] [ 4.51234701e-01 8.92260168e-01 -1.60946575e-02 3.81424363e+01] [ 3.76074574e-02 -9.93573153e-04 9.99292095e-01 6.44051988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04862385299998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:38.17, Z:6.44 [[ 8.93625541e-01 -4.47523558e-01 -3.40008623e-02 1.70964745e+02] [ 4.47234563e-01 8.94271769e-01 -1.61012220e-02 3.81656249e+01] [ 3.76116874e-02 -8.17897570e-04 9.99292095e-01 6.44369562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10862385299998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:171.02, Y:38.19, Z:6.45 [[ 8.95249421e-01 -4.44266316e-01 -3.39987530e-02 1.71017112e+02] [ 4.43974801e-01 8.95894516e-01 -1.61056747e-02 3.81890521e+01] [ 3.76145051e-02 -6.75993702e-04 9.99292095e-01 6.44567748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16862385299999 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:171.07, Y:38.21, Z:6.45 [[ 8.97487123e-01 -4.39728369e-01 -3.39974336e-02 1.71069987e+02] [ 4.39433486e-01 8.98130686e-01 -1.61084594e-02 3.82122842e+01] [ 3.76174849e-02 -4.82475817e-04 9.99292095e-01 6.44646110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.228623853 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:38.24, Z:6.45 [[ 8.99036715e-01 -4.36551675e-01 -3.39944195e-02 1.71122756e+02] [ 4.36254278e-01 8.99679119e-01 -1.61148177e-02 3.82359721e+01] [ 3.76190200e-02 -3.42398187e-04 9.99292095e-01 6.44812405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.288623853 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:38.26, Z:6.45 [[ 9.01814208e-01 -4.30785005e-01 -3.39913902e-02 1.71175261e+02] [ 4.30483259e-01 9.02454581e-01 -1.61212049e-02 3.82600535e+01] [ 3.76204591e-02 -9.43928331e-05 9.99292096e-01 6.45198560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.348623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:171.23, Y:38.29, Z:6.46 [[ 9.04654417e-01 -4.24788394e-01 -3.39883318e-02 1.71227244e+02] [ 4.24482161e-01 9.05292657e-01 -1.61276503e-02 3.82858872e+01] [ 3.76202259e-02 1.62509605e-04 9.99292096e-01 6.45691739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.408623853 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:171.28, Y:38.31, Z:6.46 [[ 9.06116238e-01 -4.21661303e-01 -3.39868999e-02 1.71278686e+02] [ 4.21352755e-01 9.06753361e-01 -1.61306673e-02 3.83104420e+01] [ 3.76194139e-02 2.95785687e-04 9.99292096e-01 6.46036619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468623853 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:38.34, Z:6.46 [[ 9.06574962e-01 -4.20674240e-01 -3.39856005e-02 1.71330620e+02] [ 4.20364895e-01 9.07211700e-01 -1.61334046e-02 3.83354896e+01] [ 3.76190421e-02 3.39787333e-04 9.99292096e-01 6.46408583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528623853 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:171.38, Y:38.36, Z:6.47 [[ 9.07450711e-01 -4.18782038e-01 -3.39825258e-02 1.71381998e+02] [ 4.18471123e-01 9.08086683e-01 -1.61398783e-02 3.83635861e+01] [ 3.76181703e-02 4.25438318e-04 9.99292096e-01 6.46515245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588623853 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:38.39, Z:6.47 [[ 9.07509712e-01 -4.18654423e-01 -3.39793631e-02 1.71432430e+02] [ 4.18343169e-01 9.08145518e-01 -1.61465340e-02 3.83901314e+01] [ 3.76180242e-02 4.38101942e-04 9.99292096e-01 6.47319811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648623853 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:38.42, Z:6.47 [[ 9.06919771e-01 -4.19930977e-01 -3.39779960e-02 1.71484884e+02] [ 4.19620510e-01 9.07555962e-01 -1.61494105e-02 3.84162476e+01] [ 3.76185705e-02 3.88355645e-04 9.99292096e-01 6.46911815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708623853 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:171.54, Y:38.44, Z:6.47 [[ 9.06752600e-01 -4.20292077e-01 -3.39748820e-02 1.71535737e+02] [ 4.19981619e-01 9.07388795e-01 -1.61559590e-02 3.84416738e+01] [ 3.76186488e-02 3.80631882e-04 9.99292096e-01 6.47124890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76862385299998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:38.47, Z:6.47 [[ 9.06407287e-01 -4.21036375e-01 -3.39735364e-02 1.71586112e+02] [ 4.20726333e-01 9.07043685e-01 -1.61587881e-02 3.84702503e+01] [ 3.76189192e-02 3.52881884e-04 9.99292096e-01 6.47439091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82862385299998 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:171.64, Y:38.50, Z:6.47 [[ 9.05769197e-01 -4.22407585e-01 -3.39704911e-02 1.71637319e+02] [ 4.22098267e-01 9.06405947e-01 -1.61651875e-02 3.84983900e+01] [ 3.76193530e-02 3.03043492e-04 9.99292096e-01 6.47491846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88862385299998 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:38.53, Z:6.48 [[ 9.05319948e-01 -4.23369818e-01 -3.39674556e-02 1.71688375e+02] [ 4.23060937e-01 9.05956911e-01 -1.61715635e-02 3.85253939e+01] [ 3.76196030e-02 2.70135386e-04 9.99292096e-01 6.47659137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.948623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:38.55, Z:6.48 [[ 9.04934369e-01 -4.24193606e-01 -3.39642832e-02 1.71739295e+02] [ 4.23885055e-01 9.05571491e-01 -1.61782235e-02 3.85538807e+01] [ 3.76197856e-02 2.43278457e-04 9.99292096e-01 6.47620551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.008623853 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:171.79, Y:38.58, Z:6.48 [[ 9.04841997e-01 -4.24390687e-01 -3.39633021e-02 1.71790296e+02] [ 4.24082197e-01 9.05479149e-01 -1.61802829e-02 3.85812926e+01] [ 3.76198233e-02 2.37367762e-04 9.99292096e-01 6.47566773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.068623853 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:171.84, Y:38.61, Z:6.48 [[ 9.04370981e-01 -4.25393607e-01 -3.39618620e-02 1.71839946e+02] [ 4.25085710e-01 9.05008420e-01 -1.61833050e-02 3.86108794e+01] [ 3.76200456e-02 1.99009175e-04 9.99292096e-01 6.47709516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.128623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:171.89, Y:38.64, Z:6.48 [[ 9.03575283e-01 -4.27081383e-01 -3.39588129e-02 1.71892116e+02] [ 4.26774436e-01 9.04213180e-01 -1.61897007e-02 3.86387777e+01] [ 3.76203260e-02 1.35860161e-04 9.99292096e-01 6.48098541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188623853 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:38.67, Z:6.49 [[ 9.02337275e-01 -4.29691076e-01 -3.39561614e-02 1.71942756e+02] [ 4.29385765e-01 9.02975957e-01 -1.61952601e-02 3.86673365e+01] [ 3.76205561e-02 3.32945758e-05 9.99292096e-01 6.49185787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:171.99, Y:38.69, Z:6.49 [[ 9.00975214e-01 -4.32539967e-01 -3.39535085e-02 1.71994538e+02] [ 4.32236467e-01 9.01614757e-01 -1.62008200e-02 3.86944072e+01] [ 3.76204865e-02 -7.94073253e-05 9.99292096e-01 6.48551343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:172.05, Y:38.72, Z:6.49 [[ 9.00305351e-01 -4.33932759e-01 -3.39505040e-02 1.72046208e+02] [ 4.33630010e-01 9.00945250e-01 -1.62071138e-02 3.87200583e+01] [ 3.76203429e-02 -1.30606130e-04 9.99292096e-01 6.48588208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368623853 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:172.10, Y:38.75, Z:6.49 [[ 8.99895129e-01 -4.34782915e-01 -3.39495750e-02 1.72097826e+02] [ 4.34480697e-01 9.00535280e-01 -1.62090596e-02 3.87461772e+01] [ 3.76202122e-02 -1.63981278e-04 9.99292096e-01 6.48731762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428623853 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:38.77, Z:6.49 [[ 8.99500003e-01 -4.35599854e-01 -3.39486619e-02 1.72149324e+02] [ 4.35298146e-01 9.00140394e-01 -1.62109718e-02 3.87724359e+01] [ 3.76200588e-02 -1.96020380e-04 9.99292096e-01 6.49054918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48862385299998 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:172.20, Y:38.80, Z:6.49 [[ 8.98741130e-01 -4.37163662e-01 -3.39457508e-02 1.72202663e+02] [ 4.36862837e-01 8.99381937e-01 -1.62170653e-02 3.87968204e+01] [ 3.76197068e-02 -2.54693399e-04 9.99292096e-01 6.49443045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54862385299998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:172.26, Y:38.82, Z:6.50 [[ 8.98284623e-01 -4.38101125e-01 -3.39432094e-02 1.72255333e+02] [ 4.37800768e-01 8.98925649e-01 -1.62223829e-02 3.88213529e+01] [ 3.76194657e-02 -2.88046089e-04 9.99292096e-01 6.49774159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60862385299998 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:172.31, Y:38.85, Z:6.50 [[ 8.98266235e-01 -4.38139047e-01 -3.39403295e-02 1.72306933e+02] [ 4.37838490e-01 8.98907167e-01 -1.62284060e-02 3.88467652e+01] [ 3.76195038e-02 -2.82953422e-04 9.99292096e-01 6.50106970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66862385299999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:38.87, Z:6.50 [[ 8.98707872e-01 -4.37232696e-01 -3.39371642e-02 1.72359393e+02] [ 4.36931243e-01 8.99348383e-01 -1.62350225e-02 3.88712473e+01] [ 3.76198164e-02 -2.37664819e-04 9.99292096e-01 6.50151565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.728623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:38.90, Z:6.50 [[ 9.00142113e-01 -4.34272393e-01 -3.39361836e-02 1.72410876e+02] [ 4.33968756e-01 9.00781592e-01 -1.62370721e-02 3.88955877e+01] [ 3.76204016e-02 -1.11571004e-04 9.99292096e-01 6.50281015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.788623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:172.46, Y:38.92, Z:6.51 [[ 9.01253934e-01 -4.31960381e-01 -3.39348671e-02 1.72462551e+02] [ 4.31655000e-01 9.01892582e-01 -1.62398230e-02 3.89207762e+01] [ 3.76205651e-02 -1.19506821e-05 9.99292096e-01 6.50636021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.848623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:172.51, Y:38.95, Z:6.51 [[ 9.03078847e-01 -4.28132256e-01 -3.39318139e-02 1.72512265e+02] [ 4.27823928e-01 9.03716077e-01 -1.62462001e-02 3.89474110e+01] [ 3.76202480e-02 1.54757728e-04 9.99292096e-01 6.51292899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.908623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:38.97, Z:6.51 [[ 9.03700084e-01 -4.26819493e-01 -3.39304943e-02 1.72564604e+02] [ 4.26510137e-01 9.04336815e-01 -1.62489555e-02 3.89724289e+01] [ 3.76199661e-02 2.12482721e-04 9.99292096e-01 6.50880291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:39.00, Z:6.51 [[ 9.03756148e-01 -4.26701010e-01 -3.39274789e-02 1.72616436e+02] [ 4.26391333e-01 9.04392723e-01 -1.62552492e-02 3.89989189e+01] [ 3.76198963e-02 2.24398432e-04 9.99292096e-01 6.51117239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:39.03, Z:6.51 [[ 9.03247921e-01 -4.27776033e-01 -3.39243007e-02 1.72667413e+02] [ 4.27466865e-01 9.03884744e-01 -1.62618794e-02 3.90256661e+01] [ 3.76201001e-02 1.86994319e-04 9.99292096e-01 6.51299755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:172.72, Y:39.05, Z:6.52 [[ 9.01745993e-01 -4.30933313e-01 -3.39211294e-02 1.72718737e+02] [ 4.30626126e-01 9.02383774e-01 -1.62684916e-02 3.90518530e+01] [ 3.76205118e-02 6.27225796e-05 9.99292096e-01 6.51649150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:172.77, Y:39.08, Z:6.52 [[ 9.00325085e-01 -4.33894186e-01 -3.39201560e-02 1.72771568e+02] [ 4.33589020e-01 9.00963835e-01 -1.62705210e-02 3.90783522e+01] [ 3.76205183e-02 -5.86490383e-05 9.99292096e-01 6.51991874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:39.10, Z:6.52 [[ 8.97222454e-01 -4.40274318e-01 -3.39174559e-02 1.72824400e+02] [ 4.39973481e-01 8.97863254e-01 -1.62761477e-02 3.91023066e+01] [ 3.76192072e-02 -3.19455944e-04 9.99292096e-01 6.52298595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26862385299998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:172.88, Y:39.12, Z:6.52 [[ 8.93185375e-01 -4.48407802e-01 -3.39165024e-02 1.72878195e+02] [ 4.48112724e-01 8.93828848e-01 -1.62781344e-02 3.91249383e+01] [ 3.76147907e-02 -6.59024709e-04 9.99292096e-01 6.52378894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32862385299998 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:172.93, Y:39.15, Z:6.52 [[ 8.90741515e-01 -4.53243234e-01 -3.39134777e-02 1.72931759e+02] [ 4.52951410e-01 8.91386469e-01 -1.62844335e-02 3.91479673e+01] [ 3.76108245e-02 -8.55936545e-04 9.99292096e-01 6.52493083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38862385299998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:39.17, Z:6.53 [[ 8.89124522e-01 -4.56407357e-01 -3.39103109e-02 1.72984878e+02] [ 4.56117576e-01 8.89770397e-01 -1.62910252e-02 3.91705974e+01] [ 3.76077346e-02 -9.82338789e-04 9.99292096e-01 6.52694989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.448623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:173.04, Y:39.19, Z:6.53 [[ 8.88536757e-01 -4.57550805e-01 -3.39071091e-02 1.73038090e+02] [ 4.57261601e-01 8.89182891e-01 -1.62976866e-02 3.91924908e+01] [ 3.76066409e-02 -1.02332540e-03 9.99292096e-01 6.52948647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.508623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:173.09, Y:39.21, Z:6.53 [[ 8.88752834e-01 -4.57131191e-01 -3.39039046e-02 1.73092977e+02] [ 4.56841428e-01 8.89398717e-01 -1.63043501e-02 3.92108938e+01] [ 3.76073163e-02 -9.98170860e-04 9.99292096e-01 6.53361133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.568623853 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:173.15, Y:39.23, Z:6.54 [[ 8.89305284e-01 -4.56055594e-01 -3.39029149e-02 1.73145126e+02] [ 4.55764971e-01 8.89950781e-01 -1.63064079e-02 3.92327097e+01] [ 3.76085541e-02 -9.50386325e-04 9.99292096e-01 6.53637927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.628623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:173.20, Y:39.25, Z:6.54 [[ 8.90222206e-01 -4.54263257e-01 -3.39015940e-02 1.73199535e+02] [ 4.53971230e-01 8.90867069e-01 -1.63091537e-02 3.92522124e+01] [ 3.76104629e-02 -8.71577520e-04 9.99292096e-01 6.54047563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688623853 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:173.25, Y:39.27, Z:6.54 [[ 8.91355143e-01 -4.52036397e-01 -3.38984418e-02 1.73252647e+02] [ 4.51742510e-01 8.91999161e-01 -1.63157028e-02 3.92721433e+01] [ 3.76126732e-02 -7.70281539e-04 9.99292096e-01 6.54196755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:173.31, Y:39.29, Z:6.54 [[ 8.93541318e-01 -4.47699565e-01 -3.38970779e-02 1.73307646e+02] [ 4.47402445e-01 8.94183850e-01 -1.63185359e-02 3.92912018e+01] [ 3.76160211e-02 -5.84349497e-04 9.99292096e-01 6.54439588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:39.31, Z:6.55 [[ 8.95751871e-01 -4.43260399e-01 -3.38940121e-02 1.73360916e+02] [ 4.42959853e-01 8.96392808e-01 -1.63249012e-02 3.93124747e+01] [ 3.76185309e-02 -3.90625895e-04 9.99292096e-01 6.54579886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:39.33, Z:6.55 [[ 8.99250973e-01 -4.36118073e-01 -3.38926743e-02 1.73414971e+02] [ 4.35812331e-01 8.99889448e-01 -1.63276781e-02 3.93345127e+01] [ 3.76204555e-02 -8.81649674e-05 9.99292096e-01 6.55002602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:39.36, Z:6.55 [[ 9.02763183e-01 -4.28800817e-01 -3.38894579e-02 1.73468169e+02] [ 4.28489650e-01 9.03399031e-01 -1.63343513e-02 3.93563519e+01] [ 3.76198866e-02 2.24769032e-04 9.99292096e-01 6.54975263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98862385299998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:173.52, Y:39.38, Z:6.55 [[ 9.04684757e-01 -4.24731785e-01 -3.38880619e-02 1.73520870e+02] [ 4.24417650e-01 9.05319144e-01 -1.63372471e-02 3.93816543e+01] [ 3.76184593e-02 3.97366878e-04 9.99292096e-01 6.55131797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04862385299998 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:173.57, Y:39.41, Z:6.55 [[ 9.06050557e-01 -4.21810619e-01 -3.38849691e-02 1.73573553e+02] [ 4.21494198e-01 9.06683807e-01 -1.63436593e-02 3.94066332e+01] [ 3.76168818e-02 5.25863699e-04 9.99292096e-01 6.55312723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10862385299998 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:173.62, Y:39.43, Z:6.55 [[ 9.07478111e-01 -4.18730821e-01 -3.38818339e-02 1.73624696e+02] [ 4.18412009e-01 9.08110160e-01 -1.63501562e-02 3.94308267e+01] [ 3.76147520e-02 6.60842647e-04 9.99292096e-01 6.55473693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16862385299999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:173.68, Y:39.46, Z:6.56 [[ 9.08083607e-01 -4.17416190e-01 -3.38804762e-02 1.73676398e+02] [ 4.17096358e-01 9.08715142e-01 -1.63529691e-02 3.94567641e+01] [ 3.76136958e-02 7.18439915e-04 9.99292096e-01 6.55793071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.228623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:39.48, Z:6.56 [[ 9.07969851e-01 -4.17663653e-01 -3.38795239e-02 1.73728416e+02] [ 4.17343920e-01 9.08601435e-01 -1.63549419e-02 3.94824872e+01] [ 3.76138488e-02 7.10380880e-04 9.99292096e-01 6.56055240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.288623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:39.51, Z:6.56 [[ 9.07226998e-01 -4.19275040e-01 -3.38764687e-02 1.73780883e+02] [ 4.18956193e-01 9.07859030e-01 -1.63612678e-02 3.95079701e+01] [ 3.76149292e-02 6.50627552e-04 9.99292096e-01 6.56339928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.348623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:173.83, Y:39.53, Z:6.57 [[ 9.06577250e-01 -4.20678358e-01 -3.38734302e-02 1.73831413e+02] [ 4.20360255e-01 9.07209656e-01 -1.63675560e-02 3.95332032e+01] [ 3.76157796e-02 5.99410134e-04 9.99292096e-01 6.56541924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.408623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:39.56, Z:6.57 [[ 9.05635163e-01 -4.22702769e-01 -3.38721178e-02 1.73882337e+02] [ 4.22385978e-01 9.06268227e-01 -1.63702715e-02 3.95587870e+01] [ 3.76169833e-02 5.18385931e-04 9.99292096e-01 6.56719143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:173.93, Y:39.59, Z:6.57 [[ 9.04621121e-01 -4.24868679e-01 -3.38708344e-02 1.73933248e+02] [ 4.24553304e-01 9.05254892e-01 -1.63729266e-02 3.95857852e+01] [ 3.76180822e-02 4.31320601e-04 9.99292096e-01 6.56823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:39.61, Z:6.57 [[ 9.04048670e-01 -4.26085652e-01 -3.38676675e-02 1.73983966e+02] [ 4.25770884e-01 9.04682744e-01 -1.63794747e-02 3.96112384e+01] [ 3.76185535e-02 3.87975618e-04 9.99292096e-01 6.56885843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:39.64, Z:6.57 [[ 9.03248805e-01 -4.27778762e-01 -3.38662962e-02 1.74034342e+02] [ 4.27465077e-01 9.03883415e-01 -1.63823096e-02 3.96381852e+01] [ 3.76191876e-02 3.20642625e-04 9.99292096e-01 6.57053235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:39.66, Z:6.57 [[ 9.02581181e-01 -4.29185708e-01 -3.38650291e-02 1.74084517e+02] [ 4.28872914e-01 9.03216230e-01 -1.63849284e-02 3.96643425e+01] [ 3.76196210e-02 2.64934273e-04 9.99292096e-01 6.57155934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:174.14, Y:39.69, Z:6.57 [[ 9.01142180e-01 -4.32199048e-01 -3.38637718e-02 1.74135537e+02] [ 4.31888280e-01 9.01778222e-01 -1.63875265e-02 3.96912693e+01] [ 3.76202853e-02 1.42125204e-04 9.99292096e-01 6.57342333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76862385299998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:174.19, Y:39.72, Z:6.58 [[ 9.00120659e-01 -4.34322749e-01 -3.38607204e-02 1.74186921e+02] [ 4.34013244e-01 9.00757318e-01 -1.63938291e-02 3.97177915e+01] [ 3.76205046e-02 6.04231238e-05 9.99292096e-01 6.57666666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82862385299998 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:174.24, Y:39.74, Z:6.58 [[ 8.99221854e-01 -4.36180831e-01 -3.38576420e-02 1.74237507e+02] [ 4.35872402e-01 8.99859035e-01 -1.64001844e-02 3.97435591e+01] [ 3.76205511e-02 -1.02075028e-05 9.99292096e-01 6.57937284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:174.29, Y:39.77, Z:6.58 [[ 8.97813452e-01 -4.39072609e-01 -3.38563095e-02 1.74288822e+02] [ 4.38766129e-01 8.98451572e-01 -1.64029348e-02 3.97706120e+01] [ 3.76203338e-02 -1.28226348e-04 9.99292096e-01 6.58194360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.948623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:174.34, Y:39.80, Z:6.58 [[ 8.96885489e-01 -4.40965116e-01 -3.38553703e-02 1.74341036e+02] [ 4.40659910e-01 8.97524219e-01 -1.64048729e-02 3.97965886e+01] [ 3.76199915e-02 -2.05411965e-04 9.99292096e-01 6.58446065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.008623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:39.82, Z:6.59 [[ 8.95221554e-01 -4.44333642e-01 -3.38523903e-02 1.74393035e+02] [ 4.44030607e-01 8.95861317e-01 -1.64110201e-02 3.98231689e+01] [ 3.76190153e-02 -3.39998534e-04 9.99292096e-01 6.58740717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.068623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:39.85, Z:6.59 [[ 8.93522093e-01 -4.47741561e-01 -3.38491422e-02 1.74445767e+02] [ 4.47440712e-01 8.94162887e-01 -1.64177168e-02 3.98467675e+01] [ 3.76175409e-02 -4.75891650e-04 9.99292097e-01 6.58740247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.128623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:174.50, Y:39.87, Z:6.59 [[ 8.92415211e-01 -4.49943768e-01 -3.38481428e-02 1.74497738e+02] [ 4.49644422e-01 8.93056708e-01 -1.64197770e-02 3.98705879e+01] [ 3.76162873e-02 -5.66369895e-04 9.99292097e-01 6.58854788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:174.55, Y:39.89, Z:6.59 [[ 8.91143093e-01 -4.52458156e-01 -3.38467980e-02 1.74550496e+02] [ 4.52160514e-01 8.91785383e-01 -1.64225487e-02 3.98933079e+01] [ 3.76145958e-02 -6.69344777e-04 9.99292097e-01 6.59284822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:174.60, Y:39.92, Z:6.59 [[ 8.90862943e-01 -4.53009667e-01 -3.38446140e-02 1.74602433e+02] [ 4.52712252e-01 8.91505339e-01 -1.64270483e-02 3.99156928e+01] [ 3.76142658e-02 -6.87622826e-04 9.99292097e-01 6.59435372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:39.94, Z:6.60 [[ 8.90676632e-01 -4.53376031e-01 -3.38424549e-02 1.74654654e+02] [ 4.53078712e-01 8.91319071e-01 -1.64314952e-02 3.99382128e+01] [ 3.76140716e-02 -6.98147065e-04 9.99292097e-01 6.59574594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:39.96, Z:6.60 [[ 8.90716571e-01 -4.53297660e-01 -3.38411179e-02 1.74708080e+02] [ 4.53000180e-01 8.91358936e-01 -1.64342485e-02 3.99606318e+01] [ 3.76141892e-02 -6.91775030e-04 9.99292097e-01 6.59613373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:39.98, Z:6.60 [[ 8.90994154e-01 -4.52752039e-01 -3.38379864e-02 1.74761302e+02] [ 4.52453921e-01 8.91636223e-01 -1.64406935e-02 3.99811066e+01] [ 3.76147319e-02 -6.61567824e-04 9.99292097e-01 6.59801659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:40.00, Z:6.60 [[ 8.91324569e-01 -4.52101311e-01 -3.38366351e-02 1.74815407e+02] [ 4.51802618e-01 8.91966371e-01 -1.64434743e-02 4.00028311e+01] [ 3.76152569e-02 -6.31007679e-04 9.99292097e-01 6.60104683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:40.02, Z:6.60 [[ 8.92680284e-01 -4.49418742e-01 -3.38334876e-02 1.74869617e+02] [ 4.49117875e-01 8.93321070e-01 -1.64499479e-02 4.00241146e+01] [ 3.76170822e-02 -5.10679867e-04 9.99292097e-01 6.60470599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:40.05, Z:6.61 [[ 8.93842344e-01 -4.47103149e-01 -3.38325143e-02 1.74922652e+02] [ 4.46800546e-01 8.94482311e-01 -1.64519495e-02 4.00468591e+01] [ 3.76183040e-02 -4.10936761e-04 9.99292097e-01 6.60709777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66862385299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:174.98, Y:40.07, Z:6.61 [[ 8.95338313e-01 -4.44100073e-01 -3.38294267e-02 1.74976818e+02] [ 4.43795084e-01 8.95977147e-01 -1.64582959e-02 4.00677086e+01] [ 3.76195236e-02 -2.77590336e-04 9.99292097e-01 6.61107784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.728623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:175.03, Y:40.09, Z:6.62 [[ 8.96097530e-01 -4.42566384e-01 -3.38262022e-02 1.75029266e+02] [ 4.42260051e-01 8.96735721e-01 -1.64649205e-02 4.00908532e+01] [ 3.76199841e-02 -2.05803335e-04 9.99292097e-01 6.61801473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.788623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:40.11, Z:6.61 [[ 8.96416933e-01 -4.41919320e-01 -3.38230175e-02 1.75083245e+02] [ 4.41612280e-01 8.97054784e-01 -1.64714599e-02 4.01135169e+01] [ 3.76201560e-02 -1.71364266e-04 9.99292097e-01 6.61284850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.848623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:175.14, Y:40.14, Z:6.61 [[ 8.96945196e-01 -4.40846382e-01 -3.38198602e-02 1.75135314e+02] [ 4.40538335e-01 8.97582561e-01 -1.64779401e-02 4.01367421e+01] [ 3.76203570e-02 -1.19135657e-04 9.99292097e-01 6.61431332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.908623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:175.19, Y:40.16, Z:6.62 [[ 8.97606248e-01 -4.39498957e-01 -3.38184940e-02 1.75188795e+02] [ 4.39189847e-01 8.98243098e-01 -1.64807436e-02 4.01600863e+01] [ 3.76204984e-02 -5.95207792e-05 9.99292097e-01 6.61820165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:40.18, Z:6.62 [[ 8.97900631e-01 -4.38897458e-01 -3.38153589e-02 1.75242169e+02] [ 4.38587679e-01 8.98537156e-01 -1.64871737e-02 4.01830276e+01] [ 3.76205350e-02 -2.71561063e-05 9.99292097e-01 6.62096337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:40.21, Z:6.62 [[ 8.97996336e-01 -4.38701859e-01 -3.38121306e-02 1.75294118e+02] [ 4.38391693e-01 8.98632672e-01 -1.64937916e-02 4.02070715e+01] [ 3.76205423e-02 -1.15927859e-05 9.99292097e-01 6.62281516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.35, Y:40.23, Z:6.62 [[ 8.97652982e-01 -4.39404095e-01 -3.38107340e-02 1.75347172e+02] [ 4.39094318e-01 8.98289508e-01 -1.64966541e-02 4.02305300e+01] [ 3.76205250e-02 -3.78304239e-05 9.99292097e-01 6.62426101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:175.40, Y:40.25, Z:6.63 [[ 8.97205865e-01 -4.40316574e-01 -3.38075618e-02 1.75400339e+02] [ 4.40007200e-01 8.97842587e-01 -1.65031524e-02 4.02541597e+01] [ 3.76204803e-02 -6.88454579e-05 9.99292097e-01 6.62583346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.45, Y:40.28, Z:6.63 [[ 8.96835654e-01 -4.41070372e-01 -3.38044006e-02 1.75453432e+02] [ 4.40761289e-01 8.97472517e-01 -1.65096253e-02 4.02778230e+01] [ 3.76204270e-02 -9.32505655e-05 9.99292097e-01 6.62900174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.51, Y:40.30, Z:6.63 [[ 8.97133374e-01 -4.40464737e-01 -3.38012553e-02 1.75505425e+02] [ 4.40154982e-01 8.97769910e-01 -1.65160623e-02 4.03021284e+01] [ 3.76204930e-02 -6.06802314e-05 9.99292097e-01 6.63153737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.56, Y:40.33, Z:6.63 [[ 8.97752731e-01 -4.39201094e-01 -3.37998981e-02 1.75557311e+02] [ 4.38890338e-01 8.98388780e-01 -1.65188393e-02 4.03269234e+01] [ 3.76205415e-02 -4.61560714e-06 9.99292097e-01 6.63456638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:175.61, Y:40.35, Z:6.64 [[ 8.97818083e-01 -4.39067720e-01 -3.37968445e-02 1.75608828e+02] [ 4.38756634e-01 8.98453971e-01 -1.65250846e-02 4.03523964e+01] [ 3.76205403e-02 7.93002786e-06 9.99292097e-01 6.63721926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.448623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:175.66, Y:40.38, Z:6.64 [[ 8.97715688e-01 -4.39277289e-01 -3.37935967e-02 1.75660494e+02] [ 4.38966102e-01 8.98351525e-01 -1.65317236e-02 4.03775853e+01] [ 3.76205399e-02 6.54421364e-06 9.99292097e-01 6.63718708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.508623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:40.40, Z:6.64 [[ 8.97279810e-01 -4.40167108e-01 -3.37914001e-02 1.75712037e+02] [ 4.39856383e-01 8.97915874e-01 -1.65362122e-02 4.04018607e+01] [ 3.76205313e-02 -2.57537123e-05 9.99292097e-01 6.63762404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.568623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.76, Y:40.43, Z:6.64 [[ 8.97080566e-01 -4.40573193e-01 -3.37893460e-02 1.75763598e+02] [ 4.40262598e-01 8.97716692e-01 -1.65404085e-02 4.04250164e+01] [ 3.76205205e-02 -3.81061780e-05 9.99292097e-01 6.63904886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:40.45, Z:6.64 [[ 8.97449828e-01 -4.39820615e-01 -3.37880517e-02 1.75815647e+02] [ 4.39509386e-01 8.98085646e-01 -1.65430519e-02 4.04511530e+01] [ 3.76205395e-02 -3.60676918e-06 9.99292097e-01 6.64302645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:40.48, Z:6.65 [[ 8.98321687e-01 -4.38037339e-01 -3.37851424e-02 1.75867261e+02] [ 4.37724625e-01 8.98956775e-01 -1.65489913e-02 4.04768247e+01] [ 3.76204588e-02 7.77289629e-05 9.99292097e-01 6.64612285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:40.50, Z:6.65 [[ 8.98603665e-01 -4.37458811e-01 -3.37822640e-02 1.75919390e+02] [ 4.37145467e-01 8.99238443e-01 -1.65548652e-02 4.05020854e+01] [ 3.76203821e-02 1.08498993e-04 9.99292097e-01 6.64993046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.97, Y:40.53, Z:6.65 [[ 8.98689683e-01 -4.37282312e-01 -3.37792027e-02 1.75970774e+02] [ 4.36968608e-01 8.99324282e-01 -1.65611092e-02 4.05291453e+01] [ 3.76203373e-02 1.22846822e-04 9.99292097e-01 6.65098463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:40.56, Z:6.65 [[ 8.98886304e-01 -4.36878227e-01 -3.37761466e-02 1.76022661e+02] [ 4.36564004e-01 8.99520646e-01 -1.65673397e-02 4.05556342e+01] [ 3.76202512e-02 1.46704935e-04 9.99292097e-01 6.65132560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:40.58, Z:6.65 [[ 8.98902385e-01 -4.36845212e-01 -3.37751989e-02 1.76073663e+02] [ 4.36530893e-01 8.99536680e-01 -1.65692714e-02 4.05829345e+01] [ 3.76202372e-02 1.50239855e-04 9.99292097e-01 6.65336121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.12, Y:40.61, Z:6.65 [[ 8.98927071e-01 -4.36794645e-01 -3.37721817e-02 1.76123841e+02] [ 4.36480060e-01 8.99561234e-01 -1.65754190e-02 4.06103568e+01] [ 3.76201997e-02 1.59208996e-04 9.99292097e-01 6.65492794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:40.64, Z:6.66 [[ 8.98853041e-01 -4.36947123e-01 -3.37701402e-02 1.76174345e+02] [ 4.36632490e-01 8.99487180e-01 -1.65795772e-02 4.06375227e+01] [ 3.76202068e-02 1.57462946e-04 9.99292097e-01 6.66306153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.23, Y:40.67, Z:6.66 [[ 8.98760219e-01 -4.37138245e-01 -3.37671994e-02 1.76225745e+02] [ 4.36823521e-01 8.99394313e-01 -1.65855645e-02 4.06654023e+01] [ 3.76202117e-02 1.56138667e-04 9.99292097e-01 6.65929181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.28, Y:40.69, Z:6.66 [[ 8.98105613e-01 -4.38481792e-01 -3.37642797e-02 1.76276225e+02] [ 4.38167793e-01 8.98740066e-01 -1.65915061e-02 4.06930423e+01] [ 3.76203844e-02 1.06504832e-04 9.99292097e-01 6.66223065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.33, Y:40.72, Z:6.66 [[ 8.97739749e-01 -4.39230611e-01 -3.37611275e-02 1.76327654e+02] [ 4.38916901e-01 8.98374345e-01 -1.65979180e-02 4.07195727e+01] [ 3.76204445e-02 8.22812938e-05 9.99292097e-01 6.66442543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.38, Y:40.75, Z:6.67 [[ 8.97009975e-01 -4.40719305e-01 -3.37579539e-02 1.76377893e+02] [ 4.40406405e-01 8.97644971e-01 -1.66043702e-02 4.07467217e+01] [ 3.76205240e-02 2.70665621e-05 9.99292097e-01 6.66560609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.43, Y:40.77, Z:6.67 [[ 8.96657401e-01 -4.41436290e-01 -3.37565796e-02 1.76428316e+02] [ 4.41123793e-01 8.97292595e-01 -1.66071637e-02 4.07743259e+01] [ 3.76205336e-02 1.05783449e-07 9.99292097e-01 6.67059709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.408623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:176.48, Y:40.80, Z:6.67 [[ 8.97035540e-01 -4.40667615e-01 -3.37534186e-02 1.76478921e+02] [ 4.40354332e-01 8.97670347e-01 -1.66135857e-02 4.08022847e+01] [ 3.76205122e-02 3.95127084e-05 9.99292097e-01 6.67101564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:176.53, Y:40.83, Z:6.68 [[ 8.97716434e-01 -4.39279099e-01 -3.37502187e-02 1.76528669e+02] [ 4.38964590e-01 8.98350634e-01 -1.66200838e-02 4.08308055e+01] [ 3.76203858e-02 1.04971494e-04 9.99292097e-01 6.67733329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.58, Y:40.86, Z:6.68 [[ 8.98483688e-01 -4.37707814e-01 -3.37480504e-02 1.76579845e+02] [ 4.37392030e-01 8.99117255e-01 -1.66244855e-02 4.08604915e+01] [ 3.76201216e-02 1.75700733e-04 9.99292097e-01 6.67789521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.63, Y:40.89, Z:6.68 [[ 8.98591888e-01 -4.37485853e-01 -3.37453167e-02 1.76630246e+02] [ 4.37169704e-01 8.99225273e-01 -1.66300326e-02 4.08896202e+01] [ 3.76200456e-02 1.91182327e-04 9.99292097e-01 6.68178515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:40.92, Z:6.68 [[ 8.98103082e-01 -4.38488674e-01 -3.37422189e-02 1.76678929e+02] [ 4.38172997e-01 8.98736701e-01 -1.66363157e-02 4.09191951e+01] [ 3.76202065e-02 1.56197189e-04 9.99292097e-01 6.68376108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:40.95, Z:6.68 [[ 8.97541108e-01 -4.39637933e-01 -3.37408791e-02 1.76729449e+02] [ 4.39322964e-01 8.98175081e-01 -1.66390326e-02 4.09487713e+01] [ 3.76203667e-02 1.11072719e-04 9.99292097e-01 6.68452634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:40.98, Z:6.69 [[ 8.96172343e-01 -4.42421619e-01 -3.37378391e-02 1.76778283e+02] [ 4.42108388e-01 8.96807176e-01 -1.66451943e-02 4.09795104e+01] [ 3.76205300e-02 1.18115926e-06 9.99292097e-01 6.68576518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:41.01, Z:6.69 [[ 8.93931014e-01 -4.46933092e-01 -3.37365194e-02 1.76828113e+02] [ 4.46622964e-01 8.94567369e-01 -1.66478686e-02 4.10091121e+01] [ 3.76200728e-02 -1.85458218e-04 9.99292097e-01 6.68754890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.88, Y:41.04, Z:6.69 [[ 8.92459340e-01 -4.49864851e-01 -3.37334135e-02 1.76878684e+02] [ 4.49556575e-01 8.93096593e-01 -1.66541597e-02 4.10366003e+01] [ 3.76193177e-02 -3.01917517e-04 9.99292097e-01 6.69022422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:41.07, Z:6.69 [[ 8.91415604e-01 -4.51929743e-01 -3.37302436e-02 1.76926842e+02] [ 4.51622700e-01 8.92053452e-01 -1.66605773e-02 4.10675757e+01] [ 3.76185907e-02 -3.81845130e-04 9.99292097e-01 6.69035153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.98, Y:41.10, Z:6.69 [[ 8.90938332e-01 -4.52870017e-01 -3.37288722e-02 1.76977408e+02] [ 4.52563543e-01 8.91576453e-01 -1.66633532e-02 4.10964330e+01] [ 3.76182013e-02 -4.18437749e-04 9.99292097e-01 6.69274342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.068623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:177.03, Y:41.12, Z:6.69 [[ 8.89828625e-01 -4.55046794e-01 -3.37258682e-02 1.77028219e+02] [ 4.54741650e-01 8.90467384e-01 -1.66694310e-02 4.11242375e+01] [ 3.76171567e-02 -5.03620109e-04 9.99292097e-01 6.69391677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.128623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:41.15, Z:6.70 [[ 8.88632657e-01 -4.57378007e-01 -3.37247700e-02 1.77079525e+02] [ 4.57074454e-01 8.89272174e-01 -1.66716524e-02 4.11512504e+01] [ 3.76157467e-02 -5.99756062e-04 9.99292097e-01 6.69581890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:41.18, Z:6.70 [[ 8.87222289e-01 -4.60108082e-01 -3.37218357e-02 1.77130029e+02] [ 4.59806272e-01 8.87862630e-01 -1.66775856e-02 4.11792870e+01] [ 3.76138497e-02 -7.08785831e-04 9.99292097e-01 6.70108017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:41.20, Z:6.70 [[ 8.86624629e-01 -4.61258948e-01 -3.37186906e-02 1.77180776e+02] [ 4.60957727e-01 8.87265248e-01 -1.66839418e-02 4.12049801e+01] [ 3.76130399e-02 -7.50497268e-04 9.99292097e-01 6.70234002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:41.23, Z:6.70 [[ 8.86150465e-01 -4.62169336e-01 -3.37173367e-02 1.77232507e+02] [ 4.61868669e-01 8.86791344e-01 -1.66866777e-02 4.12310348e+01] [ 3.76123130e-02 -7.86074185e-04 9.99292097e-01 6.70415480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:41.26, Z:6.71 [[ 8.86188158e-01 -4.62097276e-01 -3.37143402e-02 1.77283732e+02] [ 4.61796327e-01 8.86828904e-01 -1.66927297e-02 4.12573114e+01] [ 3.76125163e-02 -7.76259064e-04 9.99292097e-01 6.70648632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:41.28, Z:6.71 [[ 8.86696233e-01 -4.61121843e-01 -3.37110717e-02 1.77335807e+02] [ 4.60819939e-01 8.87336529e-01 -1.66993278e-02 4.12832986e+01] [ 3.76134902e-02 -7.27502954e-04 9.99292097e-01 6.70609313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:41.31, Z:6.71 [[ 8.86892748e-01 -4.60743840e-01 -3.37100587e-02 1.77386551e+02] [ 4.60441585e-01 8.87532879e-01 -1.67013726e-02 4.13095124e+01] [ 3.76138399e-02 -7.09186612e-04 9.99292097e-01 6.70822856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.44, Y:41.34, Z:6.71 [[ 8.86900455e-01 -4.60729103e-01 -3.37087029e-02 1.77438869e+02] [ 4.60426733e-01 8.87540532e-01 -1.67041085e-02 4.13352291e+01] [ 3.76139090e-02 -7.05506506e-04 9.99292097e-01 6.71119782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:41.36, Z:6.71 [[ 8.86734020e-01 -4.61049587e-01 -3.37054364e-02 1.77490027e+02] [ 4.60747198e-01 8.87374088e-01 -1.67106971e-02 4.13596366e+01] [ 3.76137908e-02 -7.11741764e-04 9.99292098e-01 6.71265689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:41.38, Z:6.71 [[ 8.86852070e-01 -4.60822574e-01 -3.37040239e-02 1.77542850e+02] [ 4.60519914e-01 8.87492009e-01 -1.67135453e-02 4.13839067e+01] [ 3.76140309e-02 -6.98931926e-04 9.99292098e-01 6.71489578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.59, Y:41.41, Z:6.72 [[ 8.87382340e-01 -4.59800862e-01 -3.37009013e-02 1.77594349e+02] [ 4.59497226e-01 8.88021817e-01 -1.67198395e-02 4.14080692e+01] [ 3.76149322e-02 -6.48580360e-04 9.99292098e-01 6.71742070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.65, Y:41.43, Z:6.72 [[ 8.88344541e-01 -4.57939205e-01 -3.36995721e-02 1.77646500e+02] [ 4.57634126e-01 8.88983332e-01 -1.67225180e-02 4.14324091e+01] [ 3.76162545e-02 -5.66716676e-04 9.99292098e-01 6.71961679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:41.46, Z:6.72 [[ 8.88830713e-01 -4.56995079e-01 -3.36965988e-02 1.77698706e+02] [ 4.56689095e-01 8.89469071e-01 -1.67285071e-02 4.14566951e+01] [ 3.76169279e-02 -5.20058330e-04 9.99292098e-01 6.72287291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:41.48, Z:6.72 [[ 8.89222933e-01 -4.56231657e-01 -3.36934910e-02 1.77751935e+02] [ 4.55924888e-01 8.89860913e-01 -1.67347644e-02 4.14807666e+01] [ 3.76174499e-02 -4.80764874e-04 9.99292098e-01 6.72345739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:41.51, Z:6.73 [[ 8.89002969e-01 -4.56660356e-01 -3.36903611e-02 1.77804371e+02] [ 4.56353656e-01 8.89640982e-01 -1.67410632e-02 4.15053578e+01] [ 3.76173058e-02 -4.91864580e-04 9.99292098e-01 6.72647758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:41.53, Z:6.73 [[ 8.88769789e-01 -4.57114254e-01 -3.36870965e-02 1.77857160e+02] [ 4.56807631e-01 8.89407839e-01 -1.67476298e-02 4.15272101e+01] [ 3.76171480e-02 -5.03735342e-04 9.99292098e-01 6.72805594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:41.55, Z:6.73 [[ 8.88663350e-01 -4.57321249e-01 -3.36856823e-02 1.77909156e+02] [ 4.57014667e-01 8.89301420e-01 -1.67504737e-02 4.15512972e+01] [ 3.76170727e-02 -5.09318847e-04 9.99292098e-01 6.72972478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.96, Y:41.57, Z:6.73 [[ 8.88653230e-01 -4.57341017e-01 -3.36842952e-02 1.77962454e+02] [ 4.57034343e-01 8.89291255e-01 -1.67532627e-02 4.15733855e+01] [ 3.76171033e-02 -5.07038707e-04 9.99292098e-01 6.73386951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.02, Y:41.60, Z:6.74 [[ 8.88970073e-01 -4.56725081e-01 -3.36809969e-02 1.78015657e+02] [ 4.56417714e-01 8.89607765e-01 -1.67598909e-02 4.15964052e+01] [ 3.76175389e-02 -4.73562178e-04 9.99292098e-01 6.73625780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:41.62, Z:6.74 [[ 8.89431535e-01 -4.55825848e-01 -3.36799824e-02 1.78068781e+02] [ 4.55517759e-01 8.90068879e-01 -1.67619294e-02 4.16196793e+01] [ 3.76180249e-02 -4.33241546e-04 9.99292098e-01 6.73978798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:41.64, Z:6.74 [[ 8.90041423e-01 -4.54634076e-01 -3.36767234e-02 1.78120535e+02] [ 4.54324887e-01 8.90678233e-01 -1.67684746e-02 4.16429738e+01] [ 3.76186445e-02 -3.75536565e-04 9.99292098e-01 6.74147845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:41.67, Z:6.74 [[ 8.91684294e-01 -4.51403471e-01 -3.36753101e-02 1.78173180e+02] [ 4.51091867e-01 8.92319926e-01 -1.67713124e-02 4.16672705e+01] [ 3.76197788e-02 -2.35942675e-04 9.99292098e-01 6.74392383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.22, Y:41.69, Z:6.74 [[ 8.92840307e-01 -4.49112885e-01 -3.36719845e-02 1.78224508e+02] [ 4.48799399e-01 8.93475013e-01 -1.67779866e-02 4.16927599e+01] [ 3.76202867e-02 -1.31903660e-04 9.99292098e-01 6.74499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.508623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:41.72, Z:6.75 [[ 8.94370902e-01 -4.46057153e-01 -3.36705465e-02 1.78276436e+02] [ 4.45741390e-01 8.95004478e-01 -1.67808719e-02 4.17193049e+01] [ 3.76205178e-02 -3.26160175e-08 9.99292098e-01 6.74648447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:41.75, Z:6.75 [[ 8.94830752e-01 -4.45134179e-01 -3.36673108e-02 1.78328009e+02] [ 4.44817517e-01 8.95463880e-01 -1.67873611e-02 4.17461972e+01] [ 3.76204890e-02 4.60374047e-05 9.99292098e-01 6.74871840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:41.77, Z:6.75 [[ 8.94501978e-01 -4.45794561e-01 -3.36663113e-02 1.78379658e+02] [ 4.45478291e-01 8.95135302e-01 -1.67893654e-02 4.17732785e+01] [ 3.76205115e-02 2.05097771e-05 9.99292098e-01 6.75294687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:41.80, Z:6.75 [[ 8.93641882e-01 -4.47516458e-01 -3.36631480e-02 1.78430935e+02] [ 4.47201170e-01 8.94275695e-01 -1.67957054e-02 4.18001413e+01] [ 3.76204897e-02 -4.48533444e-05 9.99292098e-01 6.75450299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.48, Y:41.83, Z:6.76 [[ 8.92621154e-01 -4.49549198e-01 -3.36599721e-02 1.78482784e+02] [ 4.49235113e-01 8.93255565e-01 -1.68020677e-02 4.18258748e+01] [ 3.76203135e-02 -1.23360291e-04 9.99292098e-01 6.75604880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:41.85, Z:6.76 [[ 8.91430677e-01 -4.51905487e-01 -3.36567741e-02 1.78532512e+02] [ 4.51592837e-01 8.92065796e-01 -1.68084714e-02 4.18527949e+01] [ 3.76198974e-02 -2.15571068e-04 9.99292098e-01 6.75739073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.58, Y:41.88, Z:6.76 [[ 8.90666962e-01 -4.53408953e-01 -3.36553904e-02 1.78584040e+02] [ 4.53097271e-01 8.91302556e-01 -1.68112415e-02 4.18794478e+01] [ 3.76195029e-02 -2.75948165e-04 9.99292098e-01 6.75947823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.63, Y:41.90, Z:6.76 [[ 8.89774781e-01 -4.55157519e-01 -3.36522189e-02 1.78634766e+02] [ 4.54846846e-01 8.90410869e-01 -1.68175877e-02 4.19045408e+01] [ 3.76189530e-02 -3.42740203e-04 9.99292098e-01 6.76118140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.69, Y:41.93, Z:6.76 [[ 8.89148778e-01 -4.56379307e-01 -3.36508419e-02 1.78686572e+02] [ 4.56069404e-01 8.89785241e-01 -1.68203426e-02 4.19316061e+01] [ 3.76184787e-02 -3.91332347e-04 9.99292098e-01 6.76337718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.74, Y:41.96, Z:6.76 [[ 8.88900793e-01 -4.56862364e-01 -3.36475872e-02 1.78738040e+02] [ 4.56552561e-01 8.89537305e-01 -1.68268509e-02 4.19571042e+01] [ 3.76183389e-02 -4.04491007e-04 9.99292098e-01 6.76453691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.79, Y:41.98, Z:6.77 [[ 8.88481805e-01 -4.57676761e-01 -3.36461753e-02 1.78790316e+02] [ 4.57367434e-01 8.89118548e-01 -1.68296734e-02 4.19819870e+01] [ 3.76179890e-02 -4.35806297e-04 9.99292098e-01 6.76720704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.84, Y:42.01, Z:6.77 [[ 8.88485274e-01 -4.57670255e-01 -3.36430537e-02 1.78841600e+02] [ 4.57360687e-01 8.89121901e-01 -1.68359112e-02 4.20083174e+01] [ 3.76180717e-02 -4.28550949e-04 9.99292098e-01 6.77027201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:42.03, Z:6.77 [[ 8.88690933e-01 -4.57271014e-01 -3.36399227e-02 1.78893639e+02] [ 4.56960924e-01 8.89327305e-01 -1.68421651e-02 4.20338263e+01] [ 3.76183357e-02 -4.04650706e-04 9.99292098e-01 6.77355512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:42.06, Z:6.78 [[ 8.88580400e-01 -4.57486001e-01 -3.36367619e-02 1.78945399e+02] [ 4.57175825e-01 8.89216730e-01 -1.68484754e-02 4.20593897e+01] [ 3.76183131e-02 -4.06689372e-04 9.99292098e-01 6.77627918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.00, Y:42.08, Z:6.78 [[ 8.88571245e-01 -4.57504013e-01 -3.36336051e-02 1.78997506e+02] [ 4.57193612e-01 8.89207466e-01 -1.68547749e-02 4.20836319e+01] [ 3.76183799e-02 -4.00401113e-04 9.99292098e-01 6.77807318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.408623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:42.11, Z:6.78 [[ 8.88497869e-01 -4.57646599e-01 -3.36322349e-02 1.79048875e+02] [ 4.57336196e-01 8.89134089e-01 -1.68575085e-02 4.21093772e+01] [ 3.76183479e-02 -4.03377986e-04 9.99292098e-01 6.78009575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.10, Y:42.13, Z:6.78 [[ 8.88253886e-01 -4.58120196e-01 -3.36291518e-02 1.79101474e+02] [ 4.57809900e-01 8.88890158e-01 -1.68636567e-02 4.21334714e+01] [ 3.76182038e-02 -4.16549984e-04 9.99292098e-01 6.78202270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:42.16, Z:6.78 [[ 8.87920259e-01 -4.58766716e-01 -3.36260841e-02 1.79153527e+02] [ 4.58456652e-01 8.88556644e-01 -1.68697714e-02 4.21571603e+01] [ 3.76179701e-02 -4.37090105e-04 9.99292098e-01 6.78347956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:42.18, Z:6.78 [[ 8.87511364e-01 -4.59557345e-01 -3.36247608e-02 1.79206500e+02] [ 4.59247748e-01 8.88147976e-01 -1.68724086e-02 4.21818857e+01] [ 3.76176026e-02 -4.67641278e-04 9.99292098e-01 6.78431478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.26, Y:42.20, Z:6.79 [[ 8.86822684e-01 -4.60885133e-01 -3.36217567e-02 1.79261015e+02] [ 4.60576262e-01 8.87459648e-01 -1.68783927e-02 4.22046861e+01] [ 3.76169527e-02 -5.17241493e-04 9.99292098e-01 6.78552599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.31, Y:42.23, Z:6.79 [[ 8.86531700e-01 -4.61444812e-01 -3.36189163e-02 1.79313483e+02] [ 4.61136128e-01 8.87168755e-01 -1.68840484e-02 4.22284046e+01] [ 3.76167087e-02 -5.34652772e-04 9.99292098e-01 6.78604876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.37, Y:42.25, Z:6.79 [[ 8.86779091e-01 -4.60969284e-01 -3.36179116e-02 1.79368202e+02] [ 4.60660183e-01 8.87415944e-01 -1.68860487e-02 4.22512104e+01] [ 3.76170205e-02 -5.12238392e-04 9.99292098e-01 6.79121434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.42, Y:42.28, Z:6.79 [[ 8.87585673e-01 -4.59414516e-01 -3.36151081e-02 1.79420875e+02] [ 4.59104088e-01 8.88221881e-01 -1.68916278e-02 4.22750796e+01] [ 3.76179336e-02 -4.40066683e-04 9.99292098e-01 6.79451873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:42.30, Z:6.80 [[ 8.89750997e-01 -4.55206825e-01 -3.36141179e-02 1.79474380e+02] [ 4.54893315e-01 8.90385691e-01 -1.68935980e-02 4.22977702e+01] [ 3.76196108e-02 -2.59741833e-04 9.99292098e-01 6.79797309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:42.32, Z:6.80 [[ 8.91550894e-01 -4.51671683e-01 -3.36109073e-02 1.79526365e+02] [ 4.51355415e-01 8.92184219e-01 -1.68999835e-02 4.23230186e+01] [ 3.76203650e-02 -1.03269603e-04 9.99292098e-01 6.79992314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.58, Y:42.35, Z:6.80 [[ 8.93710083e-01 -4.47384411e-01 -3.36076901e-02 1.79578319e+02] [ 4.47064864e-01 8.94341759e-01 -1.69063789e-02 4.23493816e+01] [ 3.76204110e-02 8.45838759e-05 9.99292098e-01 6.80091838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.63, Y:42.38, Z:6.80 [[ 8.95652800e-01 -4.43482579e-01 -3.36045144e-02 1.79629743e+02] [ 4.43160044e-01 8.96282956e-01 -1.69126887e-02 4.23755660e+01] [ 3.76196363e-02 2.55718973e-04 9.99292098e-01 6.80313385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:42.40, Z:6.81 [[ 8.97178718e-01 -4.40387668e-01 -3.36013289e-02 1.79681116e+02] [ 4.40062722e-01 8.97807634e-01 -1.69190150e-02 4.24026662e+01] [ 3.76184552e-02 3.92687943e-04 9.99292098e-01 6.80704145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.73, Y:42.43, Z:6.81 [[ 8.98512929e-01 -4.37659335e-01 -3.35979709e-02 1.79730516e+02] [ 4.37332230e-01 8.99140724e-01 -1.69256809e-02 4.24304960e+01] [ 3.76169861e-02 5.14467643e-04 9.99292098e-01 6.80855862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.78, Y:42.46, Z:6.81 [[ 8.98983686e-01 -4.36691724e-01 -3.35956895e-02 1.79779795e+02] [ 4.36363774e-01 8.99611041e-01 -1.69302080e-02 4.24603116e+01] [ 3.76163349e-02 5.60038951e-04 9.99292098e-01 6.81071598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:42.49, Z:6.81 [[ 8.98501365e-01 -4.37683326e-01 -3.35946793e-02 1.79829903e+02] [ 4.37355994e-01 8.99129042e-01 -1.69322124e-02 4.24894770e+01] [ 3.76168988e-02 5.20781589e-04 9.99292098e-01 6.81277272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.88, Y:42.52, Z:6.81 [[ 8.96588556e-01 -4.41588695e-01 -3.35914671e-02 1.79878954e+02] [ 4.41263858e-01 8.97217528e-01 -1.69385826e-02 4.25200219e+01] [ 3.76187396e-02 3.64238933e-04 9.99292098e-01 6.81337793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:179.93, Y:42.55, Z:6.82 [[ 8.94756364e-01 -4.45289656e-01 -3.35882757e-02 1.79929365e+02] [ 4.44967183e-01 8.95386551e-01 -1.69449085e-02 4.25485532e+01] [ 3.76198828e-02 2.15884276e-04 9.99292098e-01 6.81637358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:42.58, Z:6.82 [[ 8.91819721e-01 -4.51142585e-01 -3.35850013e-02 1.79979294e+02] [ 4.50824004e-01 8.92451885e-01 -1.69513960e-02 4.25789262e+01] [ 3.76204943e-02 -2.33355211e-05 9.99292098e-01 6.81933989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.03, Y:42.61, Z:6.82 [[ 8.89502183e-01 -4.55695223e-01 -3.35816870e-02 1.80029127e+02] [ 4.55379630e-01 8.90135844e-01 -1.69579592e-02 4.26063904e+01] [ 3.76199243e-02 -2.08274423e-04 9.99292098e-01 6.82127998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:42.63, Z:6.82 [[ 8.85453757e-01 -4.63512746e-01 -3.35794376e-02 1.80080372e+02] [ 4.63202578e-01 8.86090090e-01 -1.69624122e-02 4.26342807e+01] [ 3.76167012e-02 -5.34650496e-04 9.99292098e-01 6.82065732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66862385299999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.13, Y:42.66, Z:6.82 [[ 8.82716545e-01 -4.68704586e-01 -3.35784349e-02 1.80132023e+02] [ 4.68398085e-01 8.83354653e-01 -1.69643969e-02 4.26597743e+01] [ 3.76129574e-02 -7.53320749e-04 9.99292098e-01 6.82256508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:42.68, Z:6.83 [[ 8.79391571e-01 -4.74913857e-01 -3.35751937e-02 1.80183795e+02] [ 4.74611616e-01 8.80031707e-01 -1.69708094e-02 4.26849551e+01] [ 3.76069076e-02 -1.01119017e-03 9.99292098e-01 6.82537178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.788623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:180.24, Y:42.71, Z:6.83 [[ 8.77160823e-01 -4.79021569e-01 -3.35741926e-02 1.80237422e+02] [ 4.78722250e-01 8.77802331e-01 -1.69727897e-02 4.27076521e+01] [ 3.76018369e-02 -1.18484685e-03 9.99292098e-01 6.82969606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:42.73, Z:6.83 [[ 8.76606895e-01 -4.80034730e-01 -3.35709716e-02 1.80288832e+02] [ 4.79735908e-01 8.77248634e-01 -1.69791581e-02 4.27313428e+01] [ 3.76006746e-02 -1.22115350e-03 9.99292098e-01 6.83190260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.908623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:180.34, Y:42.75, Z:6.84 [[ 8.76823451e-01 -4.79639154e-01 -3.35695802e-02 1.80342108e+02] [ 4.79339938e-01 8.77465007e-01 -1.69819086e-02 4.27541997e+01] [ 3.76013202e-02 -1.20110478e-03 9.99292098e-01 6.84213769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:42.78, Z:6.84 [[ 8.77662953e-01 -4.78101492e-01 -3.35664074e-02 1.80395223e+02] [ 4.77800912e-01 8.78303871e-01 -1.69881776e-02 4.27783910e+01] [ 3.76035787e-02 -1.12816593e-03 9.99292098e-01 6.83865787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:180.45, Y:42.80, Z:6.84 [[ 8.79724629e-01 -4.74297467e-01 -3.35632278e-02 1.80447917e+02] [ 4.73993876e-01 8.80364126e-01 -1.69944573e-02 4.27996649e+01] [ 3.76082897e-02 -9.58321823e-04 9.99292099e-01 6.83962826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:180.50, Y:42.82, Z:6.84 [[ 8.81568344e-01 -4.70861824e-01 -3.35618560e-02 1.80500339e+02] [ 4.70555637e-01 8.82206602e-01 -1.69971660e-02 4.28241924e+01] [ 3.76118075e-02 -8.08557050e-04 9.99292099e-01 6.84229895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:180.55, Y:42.85, Z:6.84 [[ 8.84171846e-01 -4.65954903e-01 -3.35585415e-02 1.80553893e+02] [ 4.65644925e-01 8.84808272e-01 -1.70037075e-02 4.28457013e+01] [ 3.76158360e-02 -5.92165055e-04 9.99292099e-01 6.84333605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208623853 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:180.61, Y:42.87, Z:6.85 [[ 8.85525168e-01 -4.63377921e-01 -3.35571056e-02 1.80607624e+02] [ 4.63065984e-01 8.86160636e-01 -1.70065407e-02 4.28679736e+01] [ 3.76174415e-02 -4.79434274e-04 9.99292099e-01 6.85263415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:42.89, Z:6.85 [[ 8.86145073e-01 -4.62191578e-01 -3.35537624e-02 1.80660480e+02] [ 4.61878540e-01 8.86780000e-01 -1.70131343e-02 4.28906899e+01] [ 3.76181328e-02 -4.21657629e-04 9.99292099e-01 6.84839258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:180.72, Y:42.91, Z:6.85 [[ 8.86856315e-01 -4.60825536e-01 -3.35515000e-02 1.80715590e+02] [ 4.60511351e-01 8.87490674e-01 -1.70175947e-02 4.29112612e+01] [ 3.76187856e-02 -3.58685251e-04 9.99292099e-01 6.84960306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:42.93, Z:6.85 [[ 8.87389789e-01 -4.59797649e-01 -3.35482242e-02 1.80769191e+02] [ 4.59482486e-01 8.88023663e-01 -1.70240502e-02 4.29340306e+01] [ 3.76192352e-02 -3.07853120e-04 9.99292099e-01 6.85116268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.82, Y:42.95, Z:6.85 [[ 8.88602534e-01 -4.57449755e-01 -3.35448612e-02 1.80822091e+02] [ 4.57132667e-01 8.89235448e-01 -1.70306742e-02 4.29549694e+01] [ 3.76199574e-02 -2.00951570e-04 9.99292099e-01 6.85212634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:180.87, Y:42.98, Z:6.85 [[ 8.89482854e-01 -4.55735770e-01 -3.35434062e-02 1.80874828e+02] [ 4.55417354e-01 8.90115101e-01 -1.70335396e-02 4.29781807e+01] [ 3.76202856e-02 -1.25207863e-04 9.99292099e-01 6.85400980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.568623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:180.93, Y:43.00, Z:6.86 [[ 8.90630175e-01 -4.53489745e-01 -3.35401660e-02 1.80928829e+02] [ 4.53169494e-01 8.91261494e-01 -1.70399174e-02 4.29999657e+01] [ 3.76204862e-02 -2.31154474e-05 9.99292099e-01 6.85616131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.628623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:43.02, Z:6.86 [[ 8.90987474e-01 -4.52787588e-01 -3.35368615e-02 1.80980489e+02] [ 4.52466595e-01 8.91618416e-01 -1.70464184e-02 4.30235936e+01] [ 3.76204901e-02 1.38357419e-05 9.99292099e-01 6.86350375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:181.03, Y:43.05, Z:6.86 [[ 8.91260932e-01 -4.52249246e-01 -3.35346322e-02 1.81034972e+02] [ 4.51927707e-01 8.91891596e-01 -1.70508031e-02 4.30451266e+01] [ 3.76204694e-02 4.14852120e-05 9.99292099e-01 6.86103382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:181.09, Y:43.07, Z:6.87 [[ 8.91286426e-01 -4.52199235e-01 -3.35314596e-02 1.81087842e+02] [ 4.51877426e-01 8.91916952e-01 -1.70570398e-02 4.30693993e+01] [ 3.76204576e-02 5.05983722e-05 9.99292099e-01 6.86879188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808623853 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:181.14, Y:43.09, Z:6.87 [[ 8.91893675e-01 -4.51000589e-01 -3.35282277e-02 1.81140955e+02] [ 4.50677694e-01 8.92523645e-01 -1.70633902e-02 4.30932764e+01] [ 3.76203351e-02 1.08305413e-04 9.99292099e-01 6.86656786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:181.19, Y:43.12, Z:6.87 [[ 8.92731774e-01 -4.49339580e-01 -3.35249213e-02 1.81192465e+02] [ 4.49015269e-01 8.93361017e-01 -1.70698840e-02 4.31176588e+01] [ 3.76200323e-02 1.85626277e-04 9.99292099e-01 6.86719313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:181.24, Y:43.14, Z:6.87 [[ 8.92921457e-01 -4.48962634e-01 -3.35234969e-02 1.81243548e+02] [ 4.48637953e-01 8.93550508e-01 -1.70726809e-02 4.31427700e+01] [ 3.76199335e-02 2.04650084e-04 9.99292099e-01 6.86795277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98862385299998 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:181.29, Y:43.17, Z:6.88 [[ 8.92485936e-01 -4.49827881e-01 -3.35220898e-02 1.81294785e+02] [ 4.49503705e-01 8.93115249e-01 -1.70754433e-02 4.31685744e+01] [ 3.76201000e-02 1.71289389e-04 9.99292099e-01 6.87689083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04862385299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:43.19, Z:6.87 [[ 8.91733199e-01 -4.51318497e-01 -3.35188933e-02 1.81347888e+02] [ 4.50995138e-01 8.92362931e-01 -1.70817156e-02 4.31920954e+01] [ 3.76203121e-02 1.15474998e-04 9.99292099e-01 6.87295026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:43.22, Z:6.88 [[ 8.90647245e-01 -4.53457865e-01 -3.35179047e-02 1.81400753e+02] [ 4.53135945e-01 8.91277714e-01 -1.70836553e-02 4.32167953e+01] [ 3.76204793e-02 2.73431350e-05 9.99292099e-01 6.87537463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16862385299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:181.45, Y:43.24, Z:6.88 [[ 8.89723069e-01 -4.55268737e-01 -3.35147449e-02 1.81453057e+02] [ 4.54947866e-01 8.90354073e-01 -1.70898519e-02 4.32419115e+01] [ 3.76204649e-02 -4.22261800e-05 9.99292099e-01 6.87857149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.228623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:43.27, Z:6.88 [[ 8.88535787e-01 -4.57581837e-01 -3.35114480e-02 1.81505473e+02] [ 4.57262366e-01 8.89167501e-01 -1.70963144e-02 4.32658587e+01] [ 3.76202534e-02 -1.32836859e-04 9.99292099e-01 6.88066280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.288623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:43.29, Z:6.88 [[ 8.87910745e-01 -4.58793757e-01 -3.35081816e-02 1.81557159e+02] [ 4.58474906e-01 8.88542772e-01 -1.71027141e-02 4.32916845e+01] [ 3.76200710e-02 -1.76976818e-04 9.99292099e-01 6.88226547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.348623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:43.31, Z:6.88 [[ 8.87235677e-01 -4.60098119e-01 -3.35048383e-02 1.81609171e+02] [ 4.59779950e-01 8.87868048e-01 -1.71092612e-02 4.33149607e+01] [ 3.76198142e-02 -2.24905946e-04 9.99292099e-01 6.88371730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.408623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:181.66, Y:43.34, Z:6.89 [[ 8.86826376e-01 -4.60886646e-01 -3.35033918e-02 1.81661537e+02] [ 4.60568933e-01 8.87458976e-01 -1.71120933e-02 4.33395740e+01] [ 3.76196210e-02 -2.55165733e-04 9.99292099e-01 6.88738665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.468623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:181.71, Y:43.37, Z:6.89 [[ 8.86624713e-01 -4.61274717e-01 -3.35000517e-02 1.81714113e+02] [ 4.60957034e-01 8.87257328e-01 -1.71186295e-02 4.33650136e+01] [ 3.76195574e-02 -2.64284498e-04 9.99292099e-01 6.89004924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:43.39, Z:6.89 [[ 8.86799900e-01 -4.60938074e-01 -3.34967085e-02 1.81765445e+02] [ 4.60619904e-01 8.87432269e-01 -1.71251689e-02 4.33891699e+01] [ 3.76197024e-02 -2.42652538e-04 9.99292099e-01 6.89151573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.588623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:43.41, Z:6.89 [[ 8.87493110e-01 -4.59602053e-01 -3.34952624e-02 1.81817511e+02] [ 4.59282823e-01 8.88124946e-01 -1.71279967e-02 4.34147587e+01] [ 3.76200406e-02 -1.82819614e-04 9.99292099e-01 6.89402921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:43.44, Z:6.90 [[ 8.88180483e-01 -4.58272547e-01 -3.34918244e-02 1.81868160e+02] [ 4.57952119e-01 8.88811711e-01 -1.71347168e-02 4.34406003e+01] [ 3.76202961e-02 -1.18930952e-04 9.99292099e-01 6.89541859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.708623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:43.47, Z:6.90 [[ 8.89448393e-01 -4.55806924e-01 -3.34903439e-02 1.81918625e+02] [ 4.55484637e-01 8.90078675e-01 -1.71376099e-02 4.34664582e+01] [ 3.76204822e-02 -1.13175541e-05 9.99292099e-01 6.89583099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:181.97, Y:43.49, Z:6.90 [[ 8.89951505e-01 -4.54823934e-01 -3.34889226e-02 1.81970630e+02] [ 4.54500846e-01 8.90581377e-01 -1.71403870e-02 4.34925487e+01] [ 3.76204690e-02 3.33696049e-05 9.99292099e-01 6.89719295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:182.02, Y:43.52, Z:6.90 [[ 8.90618558e-01 -4.53516581e-01 -3.34857235e-02 1.82021805e+02] [ 4.53192334e-01 8.91247834e-01 -1.71466344e-02 4.35199052e+01] [ 3.76203616e-02 9.56375906e-05 9.99292099e-01 6.90028899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:182.07, Y:43.55, Z:6.90 [[ 8.91216737e-01 -4.52340196e-01 -3.34824385e-02 1.82073220e+02] [ 4.52014878e-01 8.91845459e-01 -1.71530467e-02 4.35475804e+01] [ 3.76201733e-02 1.52521958e-04 9.99292099e-01 6.90293702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.948623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:43.58, Z:6.90 [[ 8.92255524e-01 -4.50287934e-01 -3.34791839e-02 1.82123298e+02] [ 4.49960931e-01 8.92883372e-01 -1.71593967e-02 4.35754707e+01] [ 3.76196759e-02 2.46241706e-04 9.99292099e-01 6.90385007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.008623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:43.60, Z:6.90 [[ 8.92658256e-01 -4.49489129e-01 -3.34777747e-02 1.82173008e+02] [ 4.49161461e-01 8.93285757e-01 -1.71621455e-02 4.36045958e+01] [ 3.76194172e-02 2.83004660e-04 9.99292099e-01 6.90491718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.068623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:182.22, Y:43.63, Z:6.91 [[ 8.92975615e-01 -4.48858556e-01 -3.34745825e-02 1.82222937e+02] [ 4.48530211e-01 8.93602762e-01 -1.71683696e-02 4.36344488e+01] [ 3.76191490e-02 3.16573885e-04 9.99292099e-01 6.90671921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.128623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:182.27, Y:43.66, Z:6.91 [[ 8.92994010e-01 -4.48822196e-01 -3.34713845e-02 1.82273735e+02] [ 4.48493593e-01 8.93621022e-01 -1.71746022e-02 4.36633101e+01] [ 3.76190755e-02 3.25115428e-04 9.99292099e-01 6.90904918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.188623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:182.32, Y:43.69, Z:6.91 [[ 8.92341470e-01 -4.50118415e-01 -3.34681075e-02 1.82322779e+02] [ 4.49790483e-01 8.92968832e-01 -1.71809858e-02 4.36934643e+01] [ 3.76194549e-02 2.77669937e-04 9.99292099e-01 6.91067919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.248623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:43.72, Z:6.91 [[ 8.91243553e-01 -4.52288525e-01 -3.34666919e-02 1.82372874e+02] [ 4.51962017e-01 8.91871658e-01 -1.71837427e-02 4.37235417e+01] [ 3.76200036e-02 1.89226306e-04 9.99292099e-01 6.91407489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.308623853 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:43.75, Z:6.92 [[ 8.88711676e-01 -4.57243653e-01 -3.34633761e-02 1.82423082e+02] [ 4.56920404e-01 8.89341465e-01 -1.71901974e-02 4.37532991e+01] [ 3.76204766e-02 -1.29701563e-05 9.99292099e-01 6.91782803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.368623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:182.47, Y:43.78, Z:6.92 [[ 8.86978929e-01 -4.60596156e-01 -3.34598340e-02 1.82473196e+02] [ 4.60275028e-01 8.87609801e-01 -1.71970892e-02 4.37807783e+01] [ 3.76201898e-02 -1.47270275e-04 9.99292099e-01 6.91850522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.428623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:43.81, Z:6.92 [[ 8.84093003e-01 -4.66111687e-01 -3.34582984e-02 1.82523536e+02] [ 4.65794380e-01 8.84725806e-01 -1.72000764e-02 4.38096496e+01] [ 3.76185766e-02 -3.78220210e-04 9.99292099e-01 6.91905704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:43.83, Z:6.92 [[ 8.81449168e-01 -4.71092492e-01 -3.34548501e-02 1.82574350e+02] [ 4.70778507e-01 8.82083626e-01 -1.72067808e-02 4.38348929e+01] [ 3.76159607e-02 -5.82921735e-04 9.99292099e-01 6.92165324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:182.63, Y:43.86, Z:6.92 [[ 8.79992982e-01 -4.73807160e-01 -3.34533539e-02 1.82625611e+02] [ 4.73495022e-01 8.80628350e-01 -1.72096891e-02 4.38601794e+01] [ 3.76140458e-02 -6.95590897e-04 9.99292099e-01 6.92456309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:43.89, Z:6.93 [[ 8.78739364e-01 -4.76128239e-01 -3.34518995e-02 1.82677712e+02] [ 4.75817671e-01 8.79375502e-01 -1.72125159e-02 4.38854260e+01] [ 3.76121457e-02 -7.91689637e-04 9.99292099e-01 6.92657490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:182.73, Y:43.91, Z:6.93 [[ 8.78296918e-01 -4.76944144e-01 -3.34485850e-02 1.82728839e+02] [ 4.76633922e-01 8.78933224e-01 -1.72189543e-02 4.39099050e+01] [ 3.76115521e-02 -8.19375728e-04 9.99292099e-01 6.92654720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:182.78, Y:43.94, Z:6.93 [[ 8.78806097e-01 -4.76005391e-01 -3.34471521e-02 1.82780887e+02] [ 4.75694384e-01 8.79442019e-01 -1.72217373e-02 4.39354679e+01] [ 3.76124708e-02 -7.76054684e-04 9.99292099e-01 6.92978428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.788623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:43.96, Z:6.93 [[ 8.80489586e-01 -4.72884334e-01 -3.34439066e-02 1.82832367e+02] [ 4.72570833e-01 8.81124283e-01 -1.72280375e-02 4.39600720e+01] [ 3.76151073e-02 -6.35507197e-04 9.99292099e-01 6.93096021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.848623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:182.88, Y:43.99, Z:6.93 [[ 8.80862334e-01 -4.72189738e-01 -3.34425044e-02 1.82883520e+02] [ 4.71875632e-01 8.81496732e-01 -1.72307591e-02 4.39862476e+01] [ 3.76156459e-02 -6.02776262e-04 9.99292099e-01 6.93354426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.908623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:182.94, Y:44.01, Z:6.94 [[ 8.81815634e-01 -4.70407273e-01 -3.34392644e-02 1.82935906e+02] [ 4.70091648e-01 8.82449277e-01 -1.72370446e-02 4.40121043e+01] [ 3.76168858e-02 -5.19623473e-04 9.99292099e-01 6.93568451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.968623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:182.99, Y:44.04, Z:6.94 [[ 8.83323050e-01 -4.67570778e-01 -3.34358735e-02 1.82987487e+02] [ 4.67252869e-01 8.83955550e-01 -1.72436195e-02 4.40373251e+01] [ 3.76184386e-02 -3.91321251e-04 9.99292099e-01 6.93575292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.028623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:183.04, Y:44.06, Z:6.94 [[ 8.84116001e-01 -4.66069777e-01 -3.34344040e-02 1.83039125e+02] [ 4.65750686e-01 8.84747906e-01 -1.72464684e-02 4.40637362e+01] [ 3.76190766e-02 -3.24217910e-04 9.99292099e-01 6.93906946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.088623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:44.09, Z:6.94 [[ 8.85405131e-01 -4.63616350e-01 -3.34310295e-02 1.83089891e+02] [ 4.63295261e-01 8.86036023e-01 -1.72530072e-02 4.40888212e+01] [ 3.76198726e-02 -2.12536414e-04 9.99292099e-01 6.94079217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.148623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.14, Y:44.12, Z:6.94 [[ 8.85643807e-01 -4.63160351e-01 -3.34295700e-02 1.83141322e+02] [ 4.62838830e-01 8.86274480e-01 -1.72558347e-02 4.41158671e+01] [ 3.76199932e-02 -1.89979957e-04 9.99292099e-01 6.94176014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20862385299998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:183.19, Y:44.14, Z:6.94 [[ 8.85213457e-01 -4.63982564e-01 -3.34262791e-02 1.83192449e+02] [ 4.63661389e-01 8.85844305e-01 -1.72622071e-02 4.41418881e+01] [ 3.76198421e-02 -2.17736966e-04 9.99292099e-01 6.94382452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26862385299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:44.17, Z:6.94 [[ 8.83919179e-01 -4.66443634e-01 -3.34248577e-02 1.83244835e+02] [ 4.66124111e-01 8.84550866e-01 -1.72649590e-02 4.41658769e+01] [ 3.76191170e-02 -3.19303708e-04 9.99292099e-01 6.94459414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32862385299998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:183.30, Y:44.19, Z:6.95 [[ 8.82755858e-01 -4.68641755e-01 -3.34215734e-02 1.83298091e+02] [ 4.68323564e-01 8.83388217e-01 -1.72713142e-02 4.41901604e+01] [ 3.76182832e-02 -4.05756582e-04 9.99292100e-01 6.94555694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38862385299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:183.35, Y:44.21, Z:6.95 [[ 8.81817945e-01 -4.70404440e-01 -3.34181897e-02 1.83350379e+02] [ 4.70087265e-01 8.82450814e-01 -1.72778589e-02 4.42136870e+01] [ 3.76174903e-02 -4.73539441e-04 9.99292100e-01 6.94724698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.448623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:44.24, Z:6.95 [[ 8.81646568e-01 -4.70725665e-01 -3.34167272e-02 1.83401992e+02] [ 4.70408614e-01 8.82279499e-01 -1.72806870e-02 4.42375401e+01] [ 3.76173562e-02 -4.84057903e-04 9.99292100e-01 6.95200767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.508623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:183.46, Y:44.26, Z:6.96 [[ 8.82245419e-01 -4.69602421e-01 -3.34153600e-02 1.83455032e+02] [ 4.69284464e-01 8.82877896e-01 -1.72833304e-02 4.42614082e+01] [ 3.76179765e-02 -4.33170192e-04 9.99292100e-01 6.95509842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.568623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:44.29, Z:6.96 [[ 8.82946693e-01 -4.68282780e-01 -3.34122008e-02 1.83507087e+02] [ 4.67963646e-01 8.83578577e-01 -1.72894356e-02 4.42862261e+01] [ 3.76186498e-02 -3.70045299e-04 9.99292100e-01 6.95815357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.628623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.56, Y:44.31, Z:6.96 [[ 8.84096161e-01 -4.66109231e-01 -3.34090332e-02 1.83559746e+02] [ 4.65788312e-01 8.84727140e-01 -1.72955543e-02 4.43110851e+01] [ 3.76194959e-02 -2.70604036e-04 9.99292100e-01 6.96080221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.688623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.61, Y:44.34, Z:6.96 [[ 8.84586165e-01 -4.65178850e-01 -3.34058915e-02 1.83612538e+02] [ 4.64857039e-01 8.85216690e-01 -1.73016204e-02 4.43360930e+01] [ 3.76198005e-02 -2.24189770e-04 9.99292100e-01 6.96200893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.748623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:183.66, Y:44.36, Z:6.96 [[ 8.84688190e-01 -4.64985020e-01 -3.34026699e-02 1.83664745e+02] [ 4.64662836e-01 8.85318523e-01 -1.73078377e-02 4.43621693e+01] [ 3.76198877e-02 -2.08939772e-04 9.99292100e-01 6.96408745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.808623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:183.72, Y:44.39, Z:6.97 [[ 8.85116035e-01 -4.64170319e-01 -3.33994008e-02 1.83717970e+02] [ 4.63847317e-01 8.85745949e-01 -1.73141440e-02 4.43857940e+01] [ 3.76200957e-02 -1.67195987e-04 9.99292100e-01 6.96633116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.868623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:44.41, Z:6.97 [[ 8.85366143e-01 -4.63693322e-01 -3.33960474e-02 1.83770344e+02] [ 4.63369737e-01 8.85995758e-01 -1.73206096e-02 4.44112896e+01] [ 3.76202074e-02 -1.39636448e-04 9.99292100e-01 6.96770822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.928623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:183.82, Y:44.44, Z:6.97 [[ 8.85598673e-01 -4.63249306e-01 -3.33926861e-02 1.83821501e+02] [ 4.62925161e-01 8.86228000e-01 -1.73270875e-02 4.44365784e+01] [ 3.76202947e-02 -1.13468846e-04 9.99292100e-01 6.96777197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98862385299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:44.46, Z:6.97 [[ 8.84919021e-01 -4.64546394e-01 -3.33912346e-02 1.83873959e+02] [ 4.64223065e-01 8.85548768e-01 -1.73298844e-02 4.44603906e+01] [ 3.76201019e-02 -1.65436955e-04 9.99292100e-01 6.96966569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04862385299998 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:183.93, Y:44.48, Z:6.97 [[ 8.83496913e-01 -4.67245600e-01 -3.33879331e-02 1.83926616e+02] [ 4.66923955e-01 8.84127522e-01 -1.73362426e-02 4.44831694e+01] [ 3.76194736e-02 -2.73108911e-04 9.99292100e-01 6.97236516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10862385299998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:183.98, Y:44.51, Z:6.98 [[ 8.82759678e-01 -4.68637059e-01 -3.33865086e-02 1.83979569e+02] [ 4.68316304e-01 8.83390740e-01 -1.73389855e-02 4.45075316e+01] [ 3.76190237e-02 -3.29289078e-04 9.99292100e-01 6.97546948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16862385299999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:184.03, Y:44.53, Z:6.98 [[ 8.82459827e-01 -4.69201685e-01 -3.33831255e-02 1.84031550e+02] [ 4.68881088e-01 8.83090969e-01 -1.73454967e-02 4.45302849e+01] [ 3.76188729e-02 -3.46012199e-04 9.99292100e-01 6.97737455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.228623853 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:184.08, Y:44.56, Z:6.98 [[ 8.82663456e-01 -4.68818609e-01 -3.33816604e-02 1.84083923e+02] [ 4.68497632e-01 8.83294404e-01 -1.73483159e-02 4.45556633e+01] [ 3.76190471e-02 -3.26504365e-04 9.99292100e-01 6.97878350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.288623853 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:184.14, Y:44.58, Z:6.98 [[ 8.83180692e-01 -4.67843719e-01 -3.33784478e-02 1.84135236e+02] [ 4.67521811e-01 8.83811166e-01 -1.73544948e-02 4.45806598e+01] [ 3.76194362e-02 -2.77997675e-04 9.99292100e-01 6.98002577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.348623853 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:184.19, Y:44.61, Z:6.98 [[ 8.83439378e-01 -4.67355151e-01 -3.33770603e-02 1.84187173e+02] [ 4.67032794e-01 8.84069623e-01 -1.73571629e-02 4.46061009e+01] [ 3.76196046e-02 -2.54180520e-04 9.99292100e-01 6.98338960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.408623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:184.24, Y:44.63, Z:6.99 [[ 8.83897350e-01 -4.66488648e-01 -3.33738919e-02 1.84239445e+02] [ 4.66165443e-01 8.84527160e-01 -1.73632529e-02 4.46311487e+01] [ 3.76198741e-02 -2.10421898e-04 9.99292100e-01 6.98664941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.468623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:184.29, Y:44.66, Z:6.99 [[ 8.84234238e-01 -4.65849985e-01 -3.33706930e-02 1.84291198e+02] [ 4.65526093e-01 8.84863696e-01 -1.73693987e-02 4.46564387e+01] [ 3.76200488e-02 -1.76311267e-04 9.99292100e-01 6.98781525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.528623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:184.34, Y:44.68, Z:6.99 [[ 8.85294283e-01 -4.63832559e-01 -3.33675018e-02 1.84342506e+02] [ 4.63507002e-01 8.85922881e-01 -1.73755268e-02 4.46825828e+01] [ 3.76203684e-02 -8.36161731e-05 9.99292100e-01 6.98716663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.588623853 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:184.39, Y:44.71, Z:6.99 [[ 8.86450712e-01 -4.61618709e-01 -3.33661994e-02 1.84393666e+02] [ 4.61291488e-01 8.87078445e-01 -1.73780276e-02 4.47101504e+01] [ 3.76204589e-02 1.32212392e-05 9.99292100e-01 6.98903333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.648623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:44.74, Z:6.99 [[ 8.86933270e-01 -4.60691095e-01 -3.33630105e-02 1.84445607e+02] [ 4.60362987e-01 8.87560540e-01 -1.73841476e-02 4.47369365e+01] [ 3.76204136e-02 5.94837096e-05 9.99292100e-01 6.99069437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70862385299998 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:184.50, Y:44.76, Z:6.99 [[ 8.87127459e-01 -4.60317272e-01 -3.33598571e-02 1.84496898e+02] [ 4.59988672e-01 8.87754472e-01 -1.73901968e-02 4.47632399e+01] [ 3.76203703e-02 8.21646843e-05 9.99292100e-01 6.99309818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76862385299998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:44.79, Z:6.99 [[ 8.87315645e-01 -4.59954648e-01 -3.33566655e-02 1.84547690e+02] [ 4.59625562e-01 8.87942403e-01 -1.73963165e-02 4.47919545e+01] [ 3.76203144e-02 1.04447694e-04 9.99292100e-01 6.99396653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82862385299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:184.60, Y:44.82, Z:7.00 [[ 8.87269540e-01 -4.60043815e-01 -3.33534402e-02 1.84597979e+02] [ 4.59714559e-01 8.87896208e-01 -1.74024982e-02 4.48186025e+01] [ 3.76203047e-02 1.07644552e-04 9.99292100e-01 6.99624273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88862385299998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:184.65, Y:44.85, Z:7.00 [[ 8.87236840e-01 -4.60106975e-01 -3.33520649e-02 1.84648871e+02] [ 4.59777666e-01 8.87863480e-01 -1.74051334e-02 4.48471009e+01] [ 3.76203038e-02 1.07941022e-04 9.99292100e-01 7.00069986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.948623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:184.70, Y:44.88, Z:7.00 [[ 8.86615549e-01 -4.61303283e-01 -3.33488996e-02 1.84698946e+02] [ 4.60974590e-01 8.87242513e-01 -1.74111963e-02 4.48755405e+01] [ 3.76204035e-02 6.40420838e-05 9.99292100e-01 7.00363874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.008623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:184.75, Y:44.90, Z:7.01 [[ 8.86216827e-01 -4.62069041e-01 -3.33457248e-02 1.84748741e+02] [ 4.61740661e-01 8.86843955e-01 -1.74172745e-02 4.49037043e+01] [ 3.76204378e-02 3.84046734e-05 9.99292100e-01 7.00545859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.068623853 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:44.93, Z:7.01 [[ 8.85713363e-01 -4.63033470e-01 -3.33443448e-02 1.84799455e+02] [ 4.62705674e-01 8.86340796e-01 -1.74199161e-02 4.49317229e+01] [ 3.76204572e-02 4.34931662e-07 9.99292100e-01 7.00894969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.128623853 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:184.85, Y:44.96, Z:7.01 [[ 8.85449348e-01 -4.63538383e-01 -3.33409687e-02 1.84849566e+02] [ 4.63210701e-01 8.86076841e-01 -1.74263754e-02 4.49596343e+01] [ 3.76204540e-02 -1.37207824e-05 9.99292100e-01 7.01091126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.188623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:184.90, Y:44.99, Z:7.01 [[ 8.84716868e-01 -4.64934986e-01 -3.33395097e-02 1.84898700e+02] [ 4.64608190e-01 8.85344822e-01 -1.74291661e-02 4.49882854e+01] [ 3.76203914e-02 -6.99320523e-05 9.99292100e-01 7.01092123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.248623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:184.95, Y:45.02, Z:7.01 [[ 8.83393255e-01 -4.67445161e-01 -3.33373447e-02 1.84949182e+02] [ 4.67119993e-01 8.84022054e-01 -1.74333063e-02 4.50177477e+01] [ 3.76200626e-02 -1.72075006e-04 9.99292100e-01 7.01252479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.308623853 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:185.00, Y:45.05, Z:7.02 [[ 8.82258923e-01 -4.69582818e-01 -3.33342051e-02 1.84999389e+02] [ 4.69258947e-01 8.82888391e-01 -1.74393074e-02 4.50454390e+01] [ 3.76195818e-02 -2.56389462e-04 9.99292100e-01 7.01522125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.368623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:185.05, Y:45.07, Z:7.02 [[ 8.81211956e-01 -4.71544735e-01 -3.33324421e-02 1.85050258e+02] [ 4.71222137e-01 8.81842078e-01 -1.74426765e-02 4.50727011e+01] [ 3.76189522e-02 -3.36289496e-04 9.99292100e-01 7.01975335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.428623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:45.10, Z:7.02 [[ 8.80189188e-01 -4.73451329e-01 -3.33291574e-02 1.85100231e+02] [ 4.73129859e-01 8.80819885e-01 -1.74489505e-02 4.51006489e+01] [ 3.76182134e-02 -4.10641957e-04 9.99292100e-01 7.01976071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48862385299998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:185.15, Y:45.13, Z:7.02 [[ 8.79312407e-01 -4.75077839e-01 -3.33277343e-02 1.85151160e+02] [ 4.74757433e-01 8.79943645e-01 -1.74516683e-02 4.51285320e+01] [ 3.76174289e-02 -4.77121089e-04 9.99292100e-01 7.02008841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54862385299998 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:185.20, Y:45.15, Z:7.02 [[ 8.78683059e-01 -4.76241080e-01 -3.33244066e-02 1.85201541e+02] [ 4.75921268e-01 8.79314599e-01 -1.74580203e-02 4.51548659e+01] [ 3.76168637e-02 -5.19727194e-04 9.99292100e-01 7.02116283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60862385299998 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:45.18, Z:7.03 [[ 8.78070364e-01 -4.77369952e-01 -3.33221402e-02 1.85252736e+02] [ 4.77050788e-01 8.78702232e-01 -1.74623450e-02 4.51807831e+01] [ 3.76162378e-02 -5.63185625e-04 9.99292100e-01 7.02528540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66862385299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:185.30, Y:45.21, Z:7.03 [[ 8.77403207e-01 -4.78595192e-01 -3.33204693e-02 1.85303784e+02] [ 4.78276790e-01 8.78035459e-01 -1.74655327e-02 4.52075045e+01] [ 3.76154736e-02 -6.12092669e-04 9.99292100e-01 7.02971775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.728623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:45.23, Z:7.03 [[ 8.76473822e-01 -4.80295338e-01 -3.33170781e-02 1.85354833e+02] [ 4.79977916e-01 8.77106567e-01 -1.74719994e-02 4.52325476e+01] [ 3.76143478e-02 -6.77711680e-04 9.99292100e-01 7.03112365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.788623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:45.26, Z:7.03 [[ 8.76360436e-01 -4.80502295e-01 -3.33156123e-02 1.85406499e+02] [ 4.80184917e-01 8.76993202e-01 -1.74747940e-02 4.52565236e+01] [ 3.76142441e-02 -6.83436449e-04 9.99292100e-01 7.03198449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.848623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:185.46, Y:45.28, Z:7.03 [[ 8.77013284e-01 -4.79309836e-01 -3.33133622e-02 1.85457373e+02] [ 4.78991434e-01 8.77645536e-01 -1.74790825e-02 4.52821264e+01] [ 3.76152198e-02 -6.27427614e-04 9.99292100e-01 7.03179683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.908623853 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:185.51, Y:45.31, Z:7.03 [[ 8.79186331e-01 -4.75312279e-01 -3.33111651e-02 1.85509278e+02] [ 4.74990843e-01 8.79817046e-01 -1.74832687e-02 4.53080590e+01] [ 3.76177431e-02 -4.51447570e-04 9.99292100e-01 7.03261749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.968623853 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:45.34, Z:7.04 [[ 8.80938228e-01 -4.72057643e-01 -3.33079605e-02 1.85560466e+02] [ 4.71733646e-01 8.81567631e-01 -1.74893718e-02 4.53355928e+01] [ 3.76192114e-02 -3.05429466e-04 9.99292100e-01 7.03601941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.028623853 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:185.61, Y:45.36, Z:7.04 [[ 8.83322398e-01 -4.67581377e-01 -3.33045969e-02 1.85611041e+02] [ 4.67253950e-01 8.83950023e-01 -1.74957745e-02 4.53631657e+01] [ 3.76202976e-02 -1.07295001e-04 9.99292100e-01 7.03812344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.088623853 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:45.39, Z:7.04 [[ 8.84424016e-01 -4.65494562e-01 -3.33012451e-02 1.85661106e+02] [ 4.65165414e-01 8.85050740e-01 -1.75021521e-02 4.53913817e+01] [ 3.76204482e-02 -1.12637961e-05 9.99292100e-01 7.03959723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.148623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:45.42, Z:7.04 [[ 8.85549684e-01 -4.63349632e-01 -3.32997961e-02 1.85711362e+02] [ 4.63018862e-01 8.86175554e-01 -1.75049085e-02 4.54208608e+01] [ 3.76203581e-02 8.30325308e-05 9.99292100e-01 7.04252187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20862385299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:185.76, Y:45.45, Z:7.05 [[ 8.85989035e-01 -4.62509217e-01 -3.32964621e-02 1.85760311e+02] [ 4.62177615e-01 8.86614465e-01 -1.75112478e-02 4.54498244e+01] [ 3.76202384e-02 1.25894146e-04 9.99292100e-01 7.04522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26862385299998 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:185.81, Y:45.48, Z:7.05 [[ 8.85993775e-01 -4.62500240e-01 -3.32950202e-02 1.85809724e+02] [ 4.62168529e-01 8.86619147e-01 -1.75139890e-02 4.54796589e+01] [ 3.76202265e-02 1.29374770e-04 9.99292100e-01 7.04753196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32862385299998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:45.51, Z:7.05 [[ 8.85626434e-01 -4.63203499e-01 -3.32917191e-02 1.85858242e+02] [ 4.62872049e-01 8.86251943e-01 -1.75202616e-02 4.55110450e+01] [ 3.76202973e-02 1.06600597e-04 9.99292100e-01 7.04875720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38862385299998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:45.54, Z:7.05 [[ 8.85166131e-01 -4.64082752e-01 -3.32884335e-02 1.85908118e+02] [ 4.63751688e-01 8.85791846e-01 -1.75265020e-02 4.55417830e+01] [ 3.76203703e-02 7.62987325e-05 9.99292100e-01 7.05086979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.448623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:45.57, Z:7.05 [[ 8.83786881e-01 -4.66704238e-01 -3.32851717e-02 1.85957538e+02] [ 4.66374797e-01 8.84413452e-01 -1.75326944e-02 4.55731637e+01] [ 3.76204364e-02 -2.81998964e-05 9.99292100e-01 7.05319448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.508623853 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:186.00, Y:45.60, Z:7.06 [[ 8.82685501e-01 -4.68784196e-01 -3.32818849e-02 1.86004830e+02] [ 4.68455997e-01 8.83312722e-01 -1.75389315e-02 4.56042298e+01] [ 3.76202863e-02 -1.09738011e-04 9.99292100e-01 7.06187217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.568623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:186.06, Y:45.63, Z:7.06 [[ 8.80671293e-01 -4.72557388e-01 -3.32804637e-02 1.86056198e+02] [ 4.72231774e-01 8.81299860e-01 -1.75416279e-02 4.56337803e+01] [ 3.76194938e-02 -2.67684245e-04 9.99292100e-01 7.05990769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.628623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:186.11, Y:45.66, Z:7.06 [[ 8.79851191e-01 -4.74082783e-01 -3.32775509e-02 1.86106443e+02] [ 4.73758050e-01 8.80480214e-01 -1.75471519e-02 4.56617423e+01] [ 3.76190278e-02 -3.26625143e-04 9.99292100e-01 7.06323613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.688623853 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:186.16, Y:45.69, Z:7.07 [[ 8.78267454e-01 -4.77010591e-01 -3.32742485e-02 1.86155233e+02] [ 4.76687717e-01 8.78897433e-01 -1.75534120e-02 4.56924939e+01] [ 3.76178150e-02 -4.44835071e-04 9.99292100e-01 7.06612977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.748623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:186.20, Y:45.72, Z:7.07 [[ 8.77591339e-01 -4.78253589e-01 -3.32708089e-02 1.86204477e+02] [ 4.77931360e-01 8.78221648e-01 -1.75599289e-02 4.57206705e+01] [ 3.76172437e-02 -4.90721486e-04 9.99292101e-01 7.06795726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.808623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:186.25, Y:45.75, Z:7.07 [[ 8.76933964e-01 -4.79458001e-01 -3.32693156e-02 1.86254496e+02] [ 4.79136531e-01 8.77564661e-01 -1.75627576e-02 4.57494388e+01] [ 3.76165804e-02 -5.39165803e-04 9.99292101e-01 7.06980888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.868623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:45.78, Z:7.07 [[ 8.76663204e-01 -4.79953116e-01 -3.32660885e-02 1.86304753e+02] [ 4.79631770e-01 8.77293965e-01 -1.75688681e-02 4.57792121e+01] [ 3.76163717e-02 -5.53492697e-04 9.99292101e-01 7.07295908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.928623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:45.81, Z:7.08 [[ 8.76224811e-01 -4.80753231e-01 -3.32627616e-02 1.86355480e+02] [ 4.80432222e-01 8.76855743e-01 -1.75751646e-02 4.58077195e+01] [ 3.76159607e-02 -5.80707211e-04 9.99292101e-01 7.07568691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98862385299998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:186.41, Y:45.83, Z:7.08 [[ 8.75606102e-01 -4.81879417e-01 -3.32592996e-02 1.86406674e+02] [ 4.81558971e-01 8.76237320e-01 -1.75817137e-02 4.58348330e+01] [ 3.76153055e-02 -6.21658290e-04 9.99292101e-01 7.07623784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04862385299998 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:186.46, Y:45.86, Z:7.08 [[ 8.75267959e-01 -4.82493572e-01 -3.32558833e-02 1.86456831e+02] [ 4.82173323e-01 8.75899277e-01 -1.75881733e-02 4.58614442e+01] [ 3.76149847e-02 -6.40735185e-04 9.99292101e-01 7.07766929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10862385299998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:45.89, Z:7.08 [[ 8.75364094e-01 -4.82319238e-01 -3.32544027e-02 1.86507101e+02] [ 4.81998758e-01 8.75995294e-01 -1.75909723e-02 4.58893172e+01] [ 3.76151646e-02 -6.30075279e-04 9.99292101e-01 7.08104015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16862385299999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:186.56, Y:45.92, Z:7.08 [[ 8.75748808e-01 -4.81620581e-01 -3.32511811e-02 1.86558153e+02] [ 4.81299366e-01 8.76379635e-01 -1.75970596e-02 4.59165821e+01] [ 3.76157641e-02 -5.93168383e-04 9.99292101e-01 7.08464321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.228623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:186.61, Y:45.94, Z:7.09 [[ 8.75727961e-01 -4.81658728e-01 -3.32476673e-02 1.86608402e+02] [ 4.81337289e-01 8.76358673e-01 -1.76036960e-02 4.59426389e+01] [ 3.76158555e-02 -5.87293216e-04 9.99292101e-01 7.08638213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.288623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:186.66, Y:45.97, Z:7.09 [[ 8.75501387e-01 -4.82070609e-01 -3.32452784e-02 1.86660481e+02] [ 4.81749295e-01 8.76132164e-01 -1.76082066e-02 4.59689519e+01] [ 3.76156565e-02 -5.99880142e-04 9.99292101e-01 7.08705267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.348623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:186.71, Y:46.00, Z:7.09 [[ 8.75238020e-01 -4.82548840e-01 -3.32419186e-02 1.86712285e+02] [ 4.82227629e-01 8.75868849e-01 -1.76145470e-02 4.59957557e+01] [ 3.76154402e-02 -6.13250360e-04 9.99292101e-01 7.08740751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.408623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:46.02, Z:7.09 [[ 8.74551746e-01 -4.83791733e-01 -3.32385806e-02 1.86764870e+02] [ 4.83471180e-01 8.75182909e-01 -1.76208436e-02 4.60196197e+01] [ 3.76146561e-02 -6.59556298e-04 9.99292101e-01 7.09023664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.468623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:186.82, Y:46.04, Z:7.09 [[ 8.74398611e-01 -4.84068686e-01 -3.32351489e-02 1.86817012e+02] [ 4.83748087e-01 8.75029751e-01 -1.76273139e-02 4.60438220e+01] [ 3.76145747e-02 -6.64140962e-04 9.99292101e-01 7.09484462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.528623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:46.07, Z:7.10 [[ 8.74714630e-01 -4.83497515e-01 -3.32335570e-02 1.86867844e+02] [ 4.83176389e-01 8.75345502e-01 -1.76303146e-02 4.60688004e+01] [ 3.76150580e-02 -6.36175938e-04 9.99292101e-01 7.09705969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.588623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:186.92, Y:46.09, Z:7.10 [[ 8.75569081e-01 -4.81948557e-01 -3.32320953e-02 1.86919731e+02] [ 4.81626212e-01 8.76199331e-01 -1.76330695e-02 4.60921878e+01] [ 3.76161720e-02 -5.66477696e-04 9.99292101e-01 7.09907979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.648623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:186.97, Y:46.12, Z:7.10 [[ 8.75953411e-01 -4.81249798e-01 -3.32303156e-02 1.86971452e+02] [ 4.80926823e-01 8.76583338e-01 -1.76364228e-02 4.61176891e+01] [ 3.76166658e-02 -5.32665405e-04 9.99292101e-01 7.10133645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:187.02, Y:46.14, Z:7.10 [[ 8.76488420e-01 -4.80274941e-01 -3.32269510e-02 1.87024822e+02] [ 4.79951025e-01 8.77117864e-01 -1.76427593e-02 4.61413774e+01] [ 3.76173275e-02 -4.83634951e-04 9.99292101e-01 7.10301871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76862385299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:187.08, Y:46.17, Z:7.10 [[ 8.77170135e-01 -4.79028968e-01 -3.32235095e-02 1.87075447e+02] [ 4.78703912e-01 8.77798991e-01 -1.76492378e-02 4.61668081e+01] [ 3.76180593e-02 -4.22839690e-04 9.99292101e-01 7.10494190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82862385299998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:46.19, Z:7.11 [[ 8.78747456e-01 -4.76129400e-01 -3.32220283e-02 1.87127685e+02] [ 4.75802164e-01 8.79375180e-01 -1.76520255e-02 4.61919918e+01] [ 3.76192754e-02 -2.95440421e-04 9.99292101e-01 7.10878920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:187.18, Y:46.22, Z:7.11 [[ 8.79724555e-01 -4.74321862e-01 -3.32186478e-02 1.87179435e+02] [ 4.73993096e-01 8.80351479e-01 -1.76583847e-02 4.62184858e+01] [ 3.76198437e-02 -2.10895112e-04 9.99292101e-01 7.11071760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.948623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:187.23, Y:46.24, Z:7.11 [[ 8.80693882e-01 -4.72519876e-01 -3.32152581e-02 1.87231955e+02] [ 4.72189587e-01 8.81320005e-01 -1.76647585e-02 4.62439708e+01] [ 3.76202209e-02 -1.26654208e-04 9.99292101e-01 7.11196358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.008623853 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:187.28, Y:46.27, Z:7.11 [[ 8.81244201e-01 -4.71492980e-01 -3.32118489e-02 1.87282662e+02] [ 4.71161720e-01 8.81869811e-01 -1.76711659e-02 4.62693751e+01] [ 3.76203576e-02 -7.55393950e-05 9.99292101e-01 7.11323554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.068623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:187.33, Y:46.29, Z:7.12 [[ 8.82273327e-01 -4.69564529e-01 -3.32103785e-02 1.87334762e+02] [ 4.69231797e-01 8.82898155e-01 -1.76739289e-02 4.62940500e+01] [ 3.76204320e-02 9.87049507e-06 9.99292101e-01 7.11715070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.128623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:187.39, Y:46.32, Z:7.12 [[ 8.83197426e-01 -4.67824325e-01 -3.32070418e-02 1.87386039e+02] [ 4.67490126e-01 8.83821471e-01 -1.76801958e-02 4.63204935e+01] [ 3.76203222e-02 9.11392380e-05 9.99292101e-01 7.11926204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.188623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:46.35, Z:7.12 [[ 8.84607792e-01 -4.65152199e-01 -3.32037095e-02 1.87436614e+02] [ 4.64815880e-01 8.85230697e-01 -1.76864518e-02 4.63474602e+01] [ 3.76198348e-02 2.11961641e-04 9.99292101e-01 7.11910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.248623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:46.38, Z:7.12 [[ 8.85335787e-01 -4.63765173e-01 -3.32025240e-02 1.87487881e+02] [ 4.63427795e-01 8.85958119e-01 -1.76886770e-02 4.63754706e+01] [ 3.76194381e-02 2.73446349e-04 9.99292101e-01 7.12163649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.308623853 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:187.54, Y:46.40, Z:7.12 [[ 8.86359719e-01 -4.61805429e-01 -3.31993126e-02 1.87538611e+02] [ 4.61466450e-01 8.86981180e-01 -1.76947023e-02 4.64037628e+01] [ 3.76186750e-02 3.63502427e-04 9.99292101e-01 7.12316831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:187.59, Y:46.43, Z:7.12 [[ 8.86966762e-01 -4.60638666e-01 -3.31961265e-02 1.87588725e+02] [ 4.60298645e-01 8.87587654e-01 -1.77006775e-02 4.64325864e+01] [ 3.76180885e-02 4.19780576e-04 9.99292101e-01 7.12476489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.428623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:187.64, Y:46.46, Z:7.13 [[ 8.87094005e-01 -4.60393805e-01 -3.31929356e-02 1.87638487e+02] [ 4.60053389e-01 8.87714680e-01 -1.77066592e-02 4.64628898e+01] [ 3.76178924e-02 4.36948741e-04 9.99292101e-01 7.12883347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48862385299998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:46.49, Z:7.14 [[ 8.86249571e-01 -4.62017476e-01 -3.31896102e-02 1.87687574e+02] [ 4.61677964e-01 8.86870741e-01 -1.77128902e-02 4.64925051e+01] [ 3.76185590e-02 3.75129675e-04 9.99292101e-01 7.13554069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:46.52, Z:7.13 [[ 8.85703046e-01 -4.63064423e-01 -3.31881753e-02 1.87739042e+02] [ 4.62725545e-01 8.86324562e-01 -1.77155784e-02 4.65204149e+01] [ 3.76189490e-02 3.33725253e-04 9.99292101e-01 7.13463112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60862385299998 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:187.79, Y:46.55, Z:7.14 [[ 8.84716240e-01 -4.64947247e-01 -3.31848170e-02 1.87787677e+02] [ 4.64609455e-01 8.85338347e-01 -1.77218668e-02 4.65492098e+01] [ 3.76195243e-02 2.60843646e-04 9.99292101e-01 7.13737694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:46.58, Z:7.14 [[ 8.82722757e-01 -4.68721024e-01 -3.31833630e-02 1.87838271e+02] [ 4.68385790e-01 8.83346246e-01 -1.77245891e-02 4.65773567e+01] [ 3.76202867e-02 1.03282452e-04 9.99292101e-01 7.13983114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:187.89, Y:46.61, Z:7.14 [[ 8.80278529e-01 -4.73295674e-01 -3.31800496e-02 1.87888331e+02] [ 4.72963446e-01 8.80903626e-01 -1.77307894e-02 4.66051111e+01] [ 3.76203319e-02 -8.49173617e-05 9.99292101e-01 7.14173977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.788623853 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:187.94, Y:46.63, Z:7.14 [[ 8.78261737e-01 -4.77027778e-01 -3.31786162e-02 1.87939689e+02] [ 4.76698105e-01 8.78888184e-01 -1.77334712e-02 4.66322295e+01] [ 3.76196522e-02 -2.41554262e-04 9.99292101e-01 7.14454116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.848623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:46.66, Z:7.15 [[ 8.75414414e-01 -4.82233343e-01 -3.31753950e-02 1.87992570e+02] [ 4.81907167e-01 8.76042689e-01 -1.77394954e-02 4.66570579e+01] [ 3.76176384e-02 -4.58050619e-04 9.99292101e-01 7.14915161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.908623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:46.68, Z:7.15 [[ 8.73683590e-01 -4.85362335e-01 -3.31720994e-02 1.88045491e+02] [ 4.85038175e-01 8.74312908e-01 -1.77456559e-02 4.66820579e+01] [ 3.76158677e-02 -5.85646246e-04 9.99292101e-01 7.15008110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.968623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:188.10, Y:46.71, Z:7.15 [[ 8.72320917e-01 -4.87807388e-01 -3.31688022e-02 1.88098587e+02] [ 4.87484758e-01 8.72951020e-01 -1.77518167e-02 4.67056993e+01] [ 3.76142070e-02 -6.84004486e-04 9.99292101e-01 7.14937144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.028623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:188.15, Y:46.73, Z:7.15 [[ 8.71846736e-01 -4.88654493e-01 -3.31670827e-02 1.88151777e+02] [ 4.88332352e-01 8.72477090e-01 -1.77550288e-02 4.67296140e+01] [ 3.76135944e-02 -7.16895565e-04 9.99292101e-01 7.15128891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:188.21, Y:46.75, Z:7.15 [[ 8.71810912e-01 -4.88718625e-01 -3.31638339e-02 1.88205141e+02] [ 4.88396300e-01 8.72441171e-01 -1.77610949e-02 4.67509578e+01] [ 3.76136720e-02 -7.12777469e-04 9.99292101e-01 7.15374212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.148623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.26, Y:46.77, Z:7.16 [[ 8.72163548e-01 -4.88089152e-01 -3.31621083e-02 1.88259069e+02] [ 4.87766250e-01 8.72793512e-01 -1.77643163e-02 4.67737000e+01] [ 3.76142430e-02 -6.81968036e-04 9.99292101e-01 7.15662565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:46.79, Z:7.16 [[ 8.73400969e-01 -4.85871621e-01 -3.31589283e-02 1.88312450e+02] [ 4.85546894e-01 8.74029995e-01 -1.77702501e-02 4.67943504e+01] [ 3.76159581e-02 -5.79660942e-04 9.99292101e-01 7.15788365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:46.82, Z:7.16 [[ 8.74705645e-01 -4.83519004e-01 -3.31573064e-02 1.88366412e+02] [ 4.83192471e-01 8.75333735e-01 -1.77732758e-02 4.68159285e+01] [ 3.76174255e-02 -4.74976078e-04 9.99292101e-01 7.16137682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:46.84, Z:7.16 [[ 8.75601889e-01 -4.81894314e-01 -3.31542115e-02 1.88419565e+02] [ 4.81566397e-01 8.76229257e-01 -1.77790471e-02 4.68386896e+01] [ 3.76183119e-02 -3.98586955e-04 9.99292101e-01 7.16492505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:188.47, Y:46.86, Z:7.17 [[ 8.77073721e-01 -4.79210500e-01 -3.31509216e-02 1.88473259e+02] [ 4.78880431e-01 8.77699960e-01 -1.77851794e-02 4.68599995e+01] [ 3.76194073e-02 -2.76414142e-04 9.99292101e-01 7.16563232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.53, Y:46.88, Z:7.17 [[ 8.77953834e-01 -4.77596272e-01 -3.31491641e-02 1.88526451e+02] [ 4.77264928e-01 8.78579398e-01 -1.77884546e-02 4.68839923e+01] [ 3.76198722e-02 -2.03491462e-04 9.99292101e-01 7.16886664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.508623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.58, Y:46.90, Z:7.17 [[ 8.79233973e-01 -4.75235697e-01 -3.31459430e-02 1.88579862e+02] [ 4.74902447e-01 8.79858524e-01 -1.77944546e-02 4.69041803e+01] [ 3.76203005e-02 -9.56004177e-05 9.99292101e-01 7.16860538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.568623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:188.63, Y:46.93, Z:7.17 [[ 8.79983594e-01 -4.73846319e-01 -3.31442468e-02 1.88633050e+02] [ 4.73511964e-01 8.80607555e-01 -1.77976133e-02 4.69280215e+01] [ 3.76204077e-02 -3.25896724e-05 9.99292101e-01 7.16898443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.628623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.69, Y:46.95, Z:7.17 [[ 8.81414012e-01 -4.71180425e-01 -3.31412959e-02 1.88685925e+02] [ 4.70843977e-01 8.82036847e-01 -1.78031065e-02 4.69513261e+01] [ 3.76203195e-02 8.75279882e-05 9.99292101e-01 7.17201527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.688623853 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:188.74, Y:46.98, Z:7.18 [[ 8.82183312e-01 -4.69738710e-01 -3.31383314e-02 1.88738730e+02] [ 4.69401036e-01 8.82805483e-01 -1.78086230e-02 4.69757630e+01] [ 3.76201002e-02 1.55302946e-04 9.99292101e-01 7.17961376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.748623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:47.00, Z:7.18 [[ 8.83385449e-01 -4.67474315e-01 -3.31347753e-02 1.88791564e+02] [ 4.67134798e-01 8.84006616e-01 -1.78152369e-02 4.69973633e+01] [ 3.76195263e-02 2.59314490e-04 9.99292101e-01 7.18150237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.808623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:47.02, Z:7.18 [[ 8.83939210e-01 -4.66426479e-01 -3.31332702e-02 1.88843962e+02] [ 4.66086121e-01 8.84559916e-01 -1.78180357e-02 4.70234762e+01] [ 3.76191664e-02 3.07103005e-04 9.99292101e-01 7.18302447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:188.90, Y:47.05, Z:7.18 [[ 8.84460478e-01 -4.65437494e-01 -3.31300750e-02 1.88896272e+02] [ 4.65096220e-01 8.85080681e-01 -1.78239748e-02 4.70487127e+01] [ 3.76187355e-02 3.55928624e-04 9.99292101e-01 7.18424406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.928623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:188.95, Y:47.07, Z:7.19 [[ 8.85343145e-01 -4.63756550e-01 -3.31266814e-02 1.88947226e+02] [ 4.63413863e-01 8.85962569e-01 -1.78302797e-02 4.70737700e+01] [ 3.76179088e-02 4.34552508e-04 9.99292101e-01 7.18538564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98862385299998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:189.00, Y:47.10, Z:7.20 [[ 8.86248729e-01 -4.62023712e-01 -3.31252270e-02 1.88997172e+02] [ 4.61679712e-01 8.86867424e-01 -1.78329812e-02 4.71029407e+01] [ 3.76169450e-02 5.11211667e-04 9.99292101e-01 7.19738873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04862385299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:189.05, Y:47.13, Z:7.19 [[ 8.87266029e-01 -4.60067315e-01 -3.31218763e-02 1.89047958e+02] [ 4.59721719e-01 8.87883835e-01 -1.78392026e-02 4.71311316e+01] [ 3.76156126e-02 6.01272493e-04 9.99292102e-01 7.19006324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:189.10, Y:47.16, Z:7.19 [[ 8.87219744e-01 -4.60156808e-01 -3.31185553e-02 1.89097660e+02] [ 4.59811044e-01 8.87837455e-01 -1.78453660e-02 4.71584991e+01] [ 3.76155604e-02 6.04483564e-04 9.99292102e-01 7.19199186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:189.15, Y:47.19, Z:7.19 [[ 8.86467613e-01 -4.61604186e-01 -3.31171691e-02 1.89147292e+02] [ 4.61259335e-01 8.87085834e-01 -1.78479380e-02 4.71862907e+01] [ 3.76164545e-02 5.46015558e-04 9.99292102e-01 7.19411744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.228623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:189.20, Y:47.21, Z:7.20 [[ 8.85784019e-01 -4.62914699e-01 -3.31157618e-02 1.89197711e+02] [ 4.62570665e-01 8.86402695e-01 -1.78505488e-02 4.72148433e+01] [ 3.76171819e-02 4.93350880e-04 9.99292102e-01 7.19553008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.288623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:47.24, Z:7.20 [[ 8.85123075e-01 -4.64177444e-01 -3.31125592e-02 1.89247957e+02] [ 4.63834071e-01 8.85742119e-01 -1.78564877e-02 4.72436589e+01] [ 3.76177671e-02 4.46456165e-04 9.99292102e-01 7.19742220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.348623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:189.30, Y:47.27, Z:7.20 [[ 8.84804488e-01 -4.64784669e-01 -3.31093686e-02 1.89297406e+02] [ 4.64441499e-01 8.85423644e-01 -1.78624016e-02 4.72723206e+01] [ 3.76179882e-02 4.27368280e-04 9.99292102e-01 7.20073293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.408623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:189.35, Y:47.30, Z:7.20 [[ 8.83947259e-01 -4.66413046e-01 -3.31075965e-02 1.89347321e+02] [ 4.66070894e-01 8.84566979e-01 -1.78656856e-02 4.73012061e+01] [ 3.76186754e-02 3.61836772e-04 9.99292102e-01 7.20462642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:47.33, Z:7.21 [[ 8.83526114e-01 -4.67210574e-01 -3.31041563e-02 1.89397140e+02] [ 4.66868743e-01 8.84146010e-01 -1.78720578e-02 4.73288547e+01] [ 3.76189221e-02 3.35133945e-04 9.99292102e-01 7.20625356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:189.45, Y:47.36, Z:7.21 [[ 8.82735671e-01 -4.68702469e-01 -3.31018170e-02 1.89447005e+02] [ 4.68361522e-01 8.83356055e-01 -1.78763894e-02 4.73577644e+01] [ 3.76193984e-02 2.76509174e-04 9.99292102e-01 7.20974451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.588623853 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:47.39, Z:7.21 [[ 8.82245067e-01 -4.69625363e-01 -3.31007603e-02 1.89496959e+02] [ 4.69284992e-01 8.82865766e-01 -1.78783459e-02 4.73868871e+01] [ 3.76196528e-02 2.39392462e-04 9.99292102e-01 7.21309442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.648623853 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:189.55, Y:47.41, Z:7.21 [[ 8.81686929e-01 -4.70672632e-01 -3.30973314e-02 1.89546148e+02] [ 4.70332760e-01 8.82307901e-01 -1.78846913e-02 4.74149218e+01] [ 3.76198718e-02 2.01939329e-04 9.99292102e-01 7.21428270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70862385299998 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:47.44, Z:7.22 [[ 8.81554766e-01 -4.70920227e-01 -3.30958485e-02 1.89595632e+02] [ 4.70580426e-01 8.82175777e-01 -1.78874351e-02 4.74437135e+01] [ 3.76199109e-02 1.94495119e-04 9.99292102e-01 7.21606167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76862385299998 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:189.65, Y:47.47, Z:7.22 [[ 8.81655343e-01 -4.70732024e-01 -3.30940769e-02 1.89645201e+02] [ 4.70391968e-01 8.82276215e-01 -1.78907122e-02 4.74739148e+01] [ 3.76198481e-02 2.06254005e-04 9.99292102e-01 7.21744453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82862385299998 meters Centerline goodness : 0.998323 with order 1 Centerline is valid? [True, True] Translation: X:189.69, Y:47.50, Z:7.22 [[ 8.81726831e-01 -4.70598335e-01 -3.30908163e-02 1.89694221e+02] [ 4.70257958e-01 8.82347528e-01 -1.78967410e-02 4.75044114e+01] [ 3.76197765e-02 2.18816975e-04 9.99292102e-01 7.22072218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88862385299998 meters Centerline goodness : 0.998429 with order 1 Centerline is valid? [True, True] Translation: X:189.74, Y:47.54, Z:7.22 [[ 8.81620620e-01 -4.70797520e-01 -3.30874396e-02 1.89744161e+02] [ 4.70457049e-01 8.82241264e-01 -1.79029817e-02 4.75350309e+01] [ 3.76197839e-02 2.17418645e-04 9.99292102e-01 7.22139645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.948623853 meters Centerline goodness : 0.998341 with order 1 Centerline is valid? [True, True] Translation: X:189.79, Y:47.57, Z:7.22 [[ 8.81528987e-01 -4.70969308e-01 -3.30840677e-02 1.89793121e+02] [ 4.70628724e-01 8.82149570e-01 -1.79092106e-02 4.75655962e+01] [ 3.76197846e-02 2.17175711e-04 9.99292102e-01 7.22159622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.008623853 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:47.60, Z:7.22 [[ 8.81667633e-01 -4.70709820e-01 -3.30824910e-02 1.89841350e+02] [ 4.70368944e-01 8.82288055e-01 -1.79121227e-02 4.75968349e+01] [ 3.76196987e-02 2.31562381e-04 9.99292102e-01 7.22299913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.068623853 meters Centerline goodness : 0.998249 with order 1 Centerline is valid? [True, True] Translation: X:189.89, Y:47.63, Z:7.23 [[ 8.82252179e-01 -4.69613419e-01 -3.30806632e-02 1.89889224e+02] [ 4.69271646e-01 8.82872107e-01 -1.79154977e-02 4.76297376e+01] [ 3.76193530e-02 2.82169576e-04 9.99292102e-01 7.22811901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.128623853 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:189.94, Y:47.66, Z:7.23 [[ 8.82491673e-01 -4.69163446e-01 -3.30772981e-02 1.89937327e+02] [ 4.68821124e-01 8.83111299e-01 -1.79217086e-02 4.76618882e+01] [ 3.76191462e-02 3.08422523e-04 9.99292102e-01 7.23242720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.188623853 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:189.98, Y:47.70, Z:7.23 [[ 8.82312001e-01 -4.69501500e-01 -3.30737660e-02 1.89983723e+02] [ 4.69159172e-01 8.82931623e-01 -1.79282245e-02 4.76954772e+01] [ 3.76192022e-02 3.01426979e-04 9.99292102e-01 7.23248419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.248623853 meters Centerline goodness : 0.997970 with order 1 Centerline is valid? [True, True] Translation: X:190.03, Y:47.73, Z:7.23 [[ 8.81617342e-01 -4.70804725e-01 -3.30722425e-02 1.90031409e+02] [ 4.70463207e-01 8.82237411e-01 -1.79310344e-02 4.77265702e+01] [ 3.76195854e-02 2.49037631e-04 9.99292102e-01 7.23436178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.308623853 meters Centerline goodness : 0.997709 with order 1 Centerline is valid? [True, True] Translation: X:190.08, Y:47.76, Z:7.25 [[ 8.80231918e-01 -4.73390002e-01 -3.30707827e-02 1.90077826e+02] [ 4.73050204e-01 8.80852931e-01 -1.79337265e-02 4.77622275e+01] [ 3.76201427e-02 1.41697949e-04 9.99292102e-01 7.24512280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.368623853 meters Centerline goodness : 0.998046 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:47.79, Z:7.24 [[ 8.78722188e-01 -4.76186799e-01 -3.30673484e-02 1.90127733e+02] [ 4.75848739e-01 8.79344149e-01 -1.79400567e-02 4.77935797e+01] [ 3.76203974e-02 2.92698294e-05 9.99292102e-01 7.24023188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.428623853 meters Centerline goodness : 0.998029 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:47.82, Z:7.24 [[ 8.75485790e-01 -4.82111377e-01 -3.30643645e-02 1.90175762e+02] [ 4.81777319e-01 8.76109909e-01 -1.79455544e-02 4.78244785e+01] [ 3.76197733e-02 -2.18583057e-04 9.99292102e-01 7.24108751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48862385299998 meters Centerline goodness : 0.998030 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:47.86, Z:7.24 [[ 8.73130862e-01 -4.86363386e-01 -3.30628868e-02 1.90225601e+02] [ 4.86032264e-01 8.73756544e-01 -1.79482764e-02 4.78551066e+01] [ 3.76182982e-02 -3.98435657e-04 9.99292102e-01 7.24387511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54862385299998 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:47.89, Z:7.25 [[ 8.69920970e-01 -4.92081884e-01 -3.30594102e-02 1.90274890e+02] [ 4.91754631e-01 8.70548684e-01 -1.79546779e-02 4.78860733e+01] [ 3.76149978e-02 -6.37967223e-04 9.99292102e-01 7.24723481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60862385299998 meters Centerline goodness : 0.997842 with order 1 Centerline is valid? [True, True] Translation: X:190.33, Y:47.92, Z:7.25 [[ 8.67678860e-01 -4.96024739e-01 -3.30583362e-02 1.90325233e+02] [ 4.95700263e-01 8.68308014e-01 -1.79566550e-02 4.79157208e+01] [ 3.76117634e-02 -8.06416046e-04 9.99292102e-01 7.25027875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66862385299999 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:190.38, Y:47.94, Z:7.25 [[ 8.66363003e-01 -4.98319697e-01 -3.30549061e-02 1.90376536e+02] [ 4.97996646e-01 8.66992890e-01 -1.79629671e-02 4.79432690e+01] [ 3.76096689e-02 -8.98782301e-04 9.99292102e-01 7.25233482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.728623853 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:47.97, Z:7.25 [[ 8.65271958e-01 -5.00211996e-01 -3.30514414e-02 1.90426362e+02] [ 4.99890080e-01 8.65902426e-01 -1.79693397e-02 4.79707278e+01] [ 3.76078026e-02 -9.73721932e-04 9.99292102e-01 7.25189078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.788623853 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:48.00, Z:7.25 [[ 8.65257470e-01 -5.00237145e-01 -3.30500885e-02 1.90477255e+02] [ 4.99915153e-01 8.65887899e-01 -1.79718277e-02 4.79978567e+01] [ 3.76078475e-02 -9.71981900e-04 9.99292102e-01 7.25373515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.848623853 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:48.02, Z:7.26 [[ 8.66469369e-01 -4.98135269e-01 -3.30467268e-02 1.90527639e+02] [ 4.97811511e-01 8.67098893e-01 -1.79780072e-02 4.80247851e+01] [ 3.76102596e-02 -8.73648449e-04 9.99292102e-01 7.25659538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.908623853 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:190.58, Y:48.05, Z:7.26 [[ 8.68776328e-01 -4.94100931e-01 -3.30448411e-02 1.90578803e+02] [ 4.93774118e-01 8.69404272e-01 -1.79814726e-02 4.80518145e+01] [ 3.76139883e-02 -6.94809540e-04 9.99292102e-01 7.26065408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.968623853 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:190.63, Y:48.08, Z:7.26 [[ 8.70352778e-01 -4.91318947e-01 -3.30413988e-02 1.90629515e+02] [ 4.90989886e-01 8.70979547e-01 -1.79877957e-02 4.80780896e+01] [ 3.76161273e-02 -5.67264678e-04 9.99292102e-01 7.26133692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.028623853 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:48.11, Z:7.27 [[ 8.72382588e-01 -4.87705897e-01 -3.30390579e-02 1.90679832e+02] [ 4.87374077e-01 8.73007900e-01 -1.79920942e-02 4.81059418e+01] [ 3.76182090e-02 -4.06390634e-04 9.99292102e-01 7.26537118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.088623853 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:48.13, Z:7.27 [[ 8.73702259e-01 -4.85338036e-01 -3.30356385e-02 1.90731112e+02] [ 4.85004285e-01 8.74326542e-01 -1.79983704e-02 4.81342300e+01] [ 3.76192293e-02 -2.97209348e-04 9.99292102e-01 7.26930460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.148623853 meters Centerline goodness : 0.998449 with order 1 Centerline is valid? [True, True] Translation: X:190.78, Y:48.16, Z:7.27 [[ 8.76169258e-01 -4.80870331e-01 -3.30326554e-02 1.90782008e+02] [ 4.80533190e-01 8.76791717e-01 -1.80038438e-02 4.81626701e+01] [ 3.76202729e-02 -9.88728123e-05 9.99292102e-01 7.27360296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20862385299998 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:190.83, Y:48.19, Z:7.27 [[ 8.78084652e-01 -4.77364035e-01 -3.30291183e-02 1.90832422e+02] [ 4.77024164e-01 8.78705625e-01 -1.80103304e-02 4.81919204e+01] [ 3.76203560e-02 5.89071479e-05 9.99292102e-01 7.27479996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26862385299998 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:48.22, Z:7.27 [[ 8.80731968e-01 -4.72462180e-01 -3.30255953e-02 1.90881442e+02] [ 4.72118611e-01 8.81350902e-01 -1.80167883e-02 4.82222824e+01] [ 3.76193892e-02 2.75963236e-04 9.99292102e-01 7.27454905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32862385299998 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:48.25, Z:7.28 [[ 8.81287614e-01 -4.71425159e-01 -3.30221156e-02 1.90931503e+02] [ 4.71080623e-01 8.81906011e-01 -1.80231638e-02 4.82512252e+01] [ 3.76189751e-02 3.27512250e-04 9.99292102e-01 7.27624791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38862385299998 meters Centerline goodness : 0.998085 with order 1 Centerline is valid? [True, True] Translation: X:190.98, Y:48.28, Z:7.28 [[ 8.82739899e-01 -4.68700370e-01 -3.30186747e-02 1.90980186e+02] [ 4.68353690e-01 8.83357096e-01 -1.80294653e-02 4.82823163e+01] [ 3.76176977e-02 4.50910258e-04 9.99292102e-01 7.28488347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.448623853 meters Centerline goodness : 0.998488 with order 1 Centerline is valid? [True, True] Translation: X:191.03, Y:48.31, Z:7.28 [[ 8.82997677e-01 -4.68214796e-01 -3.30152740e-02 1.91030409e+02] [ 4.67867543e-01 8.83614552e-01 -1.80356904e-02 4.83118245e+01] [ 3.76173537e-02 4.78697556e-04 9.99292102e-01 7.28167295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.508623853 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:191.08, Y:48.34, Z:7.28 [[ 8.82193705e-01 -4.69728095e-01 -3.30118753e-02 1.91079865e+02] [ 4.69381668e-01 8.82811044e-01 -1.80419092e-02 4.83415981e+01] [ 3.76180397e-02 4.21289674e-04 9.99292102e-01 7.28280226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.568623853 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:191.13, Y:48.37, Z:7.28 [[ 8.81227235e-01 -4.71538975e-01 -3.30084044e-02 1.91128423e+02] [ 4.71193579e-01 8.81845152e-01 -1.80482572e-02 4.83709046e+01] [ 3.76187580e-02 3.51267570e-04 9.99292102e-01 7.28399869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.628623853 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:191.18, Y:48.40, Z:7.29 [[ 8.79771042e-01 -4.74250418e-01 -3.30068989e-02 1.91178045e+02] [ 4.73906823e-01 8.80389961e-01 -1.80510100e-02 4.84014694e+01] [ 3.76196415e-02 2.38561277e-04 9.99292102e-01 7.28610434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.688623853 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:48.43, Z:7.30 [[ 8.77964595e-01 -4.77586579e-01 -3.30034734e-02 1.91226907e+02] [ 4.77245100e-01 8.78584685e-01 -1.80572708e-02 4.84329851e+01] [ 3.76202565e-02 1.02898458e-04 9.99292102e-01 7.29871142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.748623853 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:48.46, Z:7.29 [[ 8.76573664e-01 -4.80134995e-01 -3.29999783e-02 1.91277237e+02] [ 4.79795079e-01 8.77194612e-01 -1.80636559e-02 4.84602535e+01] [ 3.76203965e-02 8.97883255e-07 9.99292102e-01 7.29093446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.808623853 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:191.33, Y:48.49, Z:7.30 [[ 8.74607254e-01 -4.83707812e-01 -3.29985284e-02 1.91328221e+02] [ 4.83370333e-01 8.75229530e-01 -1.80663042e-02 4.84893118e+01] [ 3.76200990e-02 -1.49588917e-04 9.99292102e-01 7.29537522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.868623853 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:191.38, Y:48.52, Z:7.30 [[ 8.73116447e-01 -4.86393831e-01 -3.29956173e-02 1.91378625e+02] [ 4.86058065e-01 8.73739649e-01 -1.80716194e-02 4.85177044e+01] [ 3.76195032e-02 -2.59157812e-04 9.99292102e-01 7.29830620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.928623853 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:191.43, Y:48.55, Z:7.30 [[ 8.70706691e-01 -4.90694786e-01 -3.29922034e-02 1.91429163e+02] [ 4.90361862e-01 8.71331416e-01 -1.80778498e-02 4.85451512e+01] [ 3.76178499e-02 -4.37613471e-04 9.99292102e-01 7.30029135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98862385299998 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:48.57, Z:7.30 [[ 8.68460141e-01 -4.94660220e-01 -3.29886505e-02 1.91481128e+02] [ 4.94329902e-01 8.69086247e-01 -1.80843307e-02 4.85718664e+01] [ 3.76155815e-02 -6.01755996e-04 9.99292102e-01 7.30332837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04862385299998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:191.53, Y:48.60, Z:7.30 [[ 8.66963291e-01 -4.97279230e-01 -3.29851229e-02 1.91532076e+02] [ 4.96950559e-01 8.67590264e-01 -1.80907627e-02 4.85976436e+01] [ 3.76137320e-02 -7.07948121e-04 9.99292102e-01 7.30484539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10862385299998 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:48.62, Z:7.30 [[ 8.65801694e-01 -4.99299018e-01 -3.29835926e-02 1.91584973e+02] [ 4.98971703e-01 8.66429375e-01 -1.80935524e-02 4.86209269e+01] [ 3.76120465e-02 -7.92451029e-04 9.99292102e-01 7.30464941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16862385299999 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:191.64, Y:48.65, Z:7.30 [[ 8.66110812e-01 -4.98762687e-01 -3.29824750e-02 1.91636936e+02] [ 4.98434906e-01 8.66738250e-01 -1.80955894e-02 4.86467484e+01] [ 3.76125774e-02 -7.66831209e-04 9.99292102e-01 7.30465249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.228623853 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:48.67, Z:7.31 [[ 8.68253663e-01 -4.95023033e-01 -3.29814221e-02 1.91689464e+02] [ 4.94692476e-01 8.68879643e-01 -1.80975082e-02 4.86730663e+01] [ 3.76155697e-02 -6.02433575e-04 9.99292102e-01 7.30772205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.288623853 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:48.70, Z:7.31 [[ 8.70152595e-01 -4.91677618e-01 -3.29784972e-02 1.91741823e+02] [ 4.91344453e-01 8.70777191e-01 -1.81028366e-02 4.86990096e+01] [ 3.76176827e-02 -4.51571459e-04 9.99292102e-01 7.31065260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.348623853 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:191.79, Y:48.73, Z:7.31 [[ 8.72525005e-01 -4.87455387e-01 -3.29751754e-02 1.91793925e+02] [ 4.87118970e-01 8.73147855e-01 -1.81088854e-02 4.87250159e+01] [ 3.76194774e-02 -2.62378188e-04 9.99292102e-01 7.31334051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.408623853 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:191.84, Y:48.75, Z:7.31 [[ 8.73878438e-01 -4.85025092e-01 -3.29717426e-02 1.91843946e+02] [ 4.84686707e-01 8.74500222e-01 -1.81151335e-02 4.87514745e+01] [ 3.76200905e-02 -1.50540836e-04 9.99292103e-01 7.31390396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.468623853 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:191.90, Y:48.78, Z:7.32 [[ 8.75883178e-01 -4.81395518e-01 -3.29698993e-02 1.91895686e+02] [ 4.81054431e-01 8.76503483e-01 -1.81184877e-02 4.87775065e+01] [ 3.76203904e-02 9.36243270e-06 9.99292103e-01 7.31698001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.528623853 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:191.95, Y:48.80, Z:7.32 [[ 8.77268914e-01 -4.78865803e-01 -3.29665683e-02 1.91946944e+02] [ 4.78522700e-01 8.77888106e-01 -1.81245465e-02 4.88044400e+01] [ 3.76201837e-02 1.24850001e-04 9.99292103e-01 7.31981945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.588623853 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:192.00, Y:48.83, Z:7.32 [[ 8.78994472e-01 -4.75691236e-01 -3.29630986e-02 1.91997288e+02] [ 4.75345659e-01 8.79612287e-01 -1.81308547e-02 4.88324084e+01] [ 3.76194352e-02 2.68055184e-04 9.99292103e-01 7.32141018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.648623853 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:192.05, Y:48.86, Z:7.32 [[ 8.79277108e-01 -4.75168841e-01 -3.29596684e-02 1.92048489e+02] [ 4.74822664e-01 8.79894587e-01 -1.81370881e-02 4.88616414e+01] [ 3.76192130e-02 2.97528839e-04 9.99292103e-01 7.32443791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70862385299998 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:48.89, Z:7.33 [[ 8.78674032e-01 -4.76283320e-01 -3.29566963e-02 1.92099830e+02] [ 4.75937723e-01 8.79291836e-01 -1.81424871e-02 4.88876184e+01] [ 3.76195180e-02 2.55997312e-04 9.99292103e-01 7.32814868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76862385299998 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:48.91, Z:7.33 [[ 8.76903752e-01 -4.79534915e-01 -3.29556484e-02 1.92151209e+02] [ 4.79191538e-01 8.77522793e-01 -1.81443904e-02 4.89142422e+01] [ 3.76202013e-02 1.18816195e-04 9.99292103e-01 7.32935872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82862385299998 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:48.94, Z:7.33 [[ 8.75641215e-01 -4.81836708e-01 -3.29522322e-02 1.92202444e+02] [ 4.81494724e-01 8.76261026e-01 -1.81505924e-02 4.89403801e+01] [ 3.76203785e-02 2.70808421e-05 9.99292103e-01 7.33036239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88862385299998 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:192.25, Y:48.97, Z:7.33 [[ 8.73911107e-01 -4.84967710e-01 -3.29499065e-02 1.92253544e+02] [ 4.84627788e-01 8.74532052e-01 -1.81548136e-02 4.89675165e+01] [ 3.76202477e-02 -1.02747075e-04 9.99292103e-01 7.33448060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.948623853 meters Centerline goodness : 0.998647 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:48.99, Z:7.34 [[ 8.72840313e-01 -4.86892513e-01 -3.29464499e-02 1.92304885e+02] [ 4.86553724e-01 8.73461876e-01 -1.81610842e-02 4.89928922e+01] [ 3.76199639e-02 -1.78491516e-04 9.99292103e-01 7.33828982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.008623853 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:49.02, Z:7.34 [[ 8.72385773e-01 -4.87706563e-01 -3.29449813e-02 1.92356111e+02] [ 4.87368253e-01 8.73007597e-01 -1.81637479e-02 4.90202107e+01] [ 3.76197980e-02 -2.10542694e-04 9.99292103e-01 7.34049855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.068623853 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:49.05, Z:7.34 [[ 8.71622991e-01 -4.89068720e-01 -3.29415914e-02 1.92407694e+02] [ 4.88731149e-01 8.72245217e-01 -1.81698938e-02 4.90468644e+01] [ 3.76194722e-02 -2.62284619e-04 9.99292103e-01 7.34279075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.128623853 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:49.07, Z:7.35 [[ 8.70728702e-01 -4.90659355e-01 -3.29381931e-02 1.92459570e+02] [ 4.90322688e-01 8.71351418e-01 -1.81760520e-02 4.90737060e+01] [ 3.76189912e-02 -3.23933224e-04 9.99292103e-01 7.34516591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.188623853 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:49.10, Z:7.35 [[ 8.69372198e-01 -4.93059102e-01 -3.29348219e-02 1.92512080e+02] [ 4.92723923e-01 8.69995715e-01 -1.81821585e-02 4.91008590e+01] [ 3.76180327e-02 -4.20711529e-04 9.99292103e-01 7.34589241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.248623853 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:192.56, Y:49.13, Z:7.35 [[ 8.68906017e-01 -4.93880383e-01 -3.29317650e-02 1.92562363e+02] [ 4.93545583e-01 8.69529738e-01 -1.81876936e-02 4.91272343e+01] [ 3.76176941e-02 -4.49930805e-04 9.99292103e-01 7.34763426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.308623853 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:192.61, Y:49.15, Z:7.35 [[ 8.68046098e-01 -4.95390351e-01 -3.29298047e-02 1.92614964e+02] [ 4.95056502e-01 8.68670328e-01 -1.81912422e-02 4.91526004e+01] [ 3.76169101e-02 -5.11277101e-04 9.99292103e-01 7.35169882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.368623853 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:192.67, Y:49.18, Z:7.35 [[ 8.67670719e-01 -4.96047759e-01 -3.29263418e-02 1.92666778e+02] [ 4.95714145e-01 8.68295075e-01 -1.81975079e-02 4.91789900e+01] [ 3.76166134e-02 -5.32608554e-04 9.99292103e-01 7.35472520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.428623853 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:192.72, Y:49.20, Z:7.36 [[ 8.66910885e-01 -4.97374710e-01 -3.29228714e-02 1.92719198e+02] [ 4.97041814e-01 8.67535623e-01 -1.82037844e-02 4.92035596e+01] [ 3.76158657e-02 -5.82984882e-04 9.99292103e-01 7.35855440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48862385299998 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:192.77, Y:49.23, Z:7.36 [[ 8.66382349e-01 -4.98295044e-01 -3.29192197e-02 1.92771022e+02] [ 4.97962561e-01 8.67007307e-01 -1.82103855e-02 4.92284144e+01] [ 3.76153489e-02 -6.15382389e-04 9.99292103e-01 7.36037341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54862385299998 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:49.25, Z:7.36 [[ 8.66085687e-01 -4.98810596e-01 -3.29176653e-02 1.92825249e+02] [ 4.98478378e-01 8.66710786e-01 -1.82131949e-02 4.92512058e+01] [ 3.76150302e-02 -6.34557011e-04 9.99292103e-01 7.36202655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60862385299998 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:192.88, Y:49.28, Z:7.36 [[ 8.66501621e-01 -4.98087941e-01 -3.29141856e-02 1.92878057e+02] [ 4.97754963e-01 8.67126316e-01 -1.82194811e-02 4.92765326e+01] [ 3.76156603e-02 -5.95989299e-04 9.99292103e-01 7.36304737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66862385299999 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:192.93, Y:49.30, Z:7.37 [[ 8.68702568e-01 -4.94239544e-01 -3.29108250e-02 1.92931044e+02] [ 4.93903568e-01 8.69325655e-01 -1.82255496e-02 4.93013861e+01] [ 3.76180118e-02 -4.22192192e-04 9.99292103e-01 7.36555107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.728623853 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:192.98, Y:49.33, Z:7.37 [[ 8.72742069e-01 -4.87071236e-01 -3.29073135e-02 1.92983287e+02] [ 4.86729903e-01 8.73362239e-01 -1.82318875e-02 4.93274920e+01] [ 3.76202330e-02 -1.05238279e-04 9.99292103e-01 7.36879663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.788623853 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:193.03, Y:49.36, Z:7.37 [[ 8.75834609e-01 -4.81488396e-01 -3.29038271e-02 1.93033740e+02] [ 4.81142873e-01 8.76452454e-01 -1.82381775e-02 4.93555144e+01] [ 3.76201108e-02 1.42185185e-04 9.99292103e-01 7.37043941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.848623853 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:49.39, Z:7.37 [[ 8.79602570e-01 -4.74570211e-01 -3.29003715e-02 1.93083979e+02] [ 4.74219596e-01 8.80217539e-01 -1.82444090e-02 4.93868172e+01] [ 3.76177371e-02 4.45828133e-04 9.99292103e-01 7.37113490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.908623853 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:49.42, Z:7.37 [[ 8.81330954e-01 -4.71352865e-01 -3.28972035e-02 1.93132740e+02] [ 4.70999792e-01 8.81944516e-01 -1.82501196e-02 4.94165622e+01] [ 3.76157543e-02 5.89819346e-04 9.99292103e-01 7.37188841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.968623853 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:193.18, Y:49.45, Z:7.38 [[ 8.82252475e-01 -4.69625921e-01 -3.28947623e-02 1.93181954e+02] [ 4.69271483e-01 8.82865249e-01 -1.82545186e-02 4.94485259e+01] [ 3.76144376e-02 6.68520275e-04 9.99292103e-01 7.37540382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.028623853 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:193.23, Y:49.48, Z:7.38 [[ 8.81450315e-01 -4.71130001e-01 -3.28917063e-02 1.93229971e+02] [ 4.70776404e-01 8.82063574e-01 -1.82600233e-02 4.94803422e+01] [ 3.76154209e-02 6.10664061e-04 9.99292103e-01 7.37563109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.088623853 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:193.28, Y:49.51, Z:7.38 [[ 8.79930313e-01 -4.73962952e-01 -3.28901978e-02 1.93279231e+02] [ 4.73611228e-01 8.80544648e-01 -1.82627402e-02 4.95115664e+01] [ 3.76171498e-02 4.92771734e-04 9.99292103e-01 7.37879314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.148623853 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:193.33, Y:49.54, Z:7.38 [[ 8.78050006e-01 -4.77437584e-01 -3.28867827e-02 1.93329286e+02] [ 4.77088060e-01 8.78665597e-01 -1.82688877e-02 4.95426807e+01] [ 3.76187382e-02 3.51105628e-04 9.99292103e-01 7.38362586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20862385299998 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:49.57, Z:7.39 [[ 8.74908551e-01 -4.83170459e-01 -3.28836670e-02 1.93378377e+02] [ 4.82824759e-01 8.75526296e-01 -1.82744943e-02 4.95740983e+01] [ 3.76202110e-02 1.11462784e-04 9.99292103e-01 7.38556311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26862385299998 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:193.43, Y:49.61, Z:7.39 [[ 8.71262180e-01 -4.89715339e-01 -3.28800956e-02 1.93426714e+02] [ 4.89374037e-01 8.71882366e-01 -1.82809178e-02 4.96050069e+01] [ 3.76200214e-02 -1.63192865e-04 9.99292103e-01 7.38563688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32862385299998 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:49.64, Z:7.39 [[ 8.68733915e-01 -4.94186649e-01 -3.28776627e-02 1.93476605e+02] [ 4.93848373e-01 8.69355757e-01 -1.82852923e-02 4.96352214e+01] [ 3.76187327e-02 -3.51526674e-04 9.99292103e-01 7.38878460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38862385299998 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:49.66, Z:7.39 [[ 8.65191464e-01 -5.00362889e-01 -3.28741526e-02 1.93526283e+02] [ 5.00028812e-01 8.65815572e-01 -1.82916007e-02 4.96649893e+01] [ 3.76153914e-02 -6.12286700e-04 9.99292103e-01 7.39230165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.448623853 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:193.58, Y:49.69, Z:7.39 [[ 8.63358701e-01 -5.03518893e-01 -3.28706219e-02 1.93575669e+02] [ 5.03186856e-01 8.63983896e-01 -1.82979432e-02 4.96941766e+01] [ 3.76130481e-02 -7.42376395e-04 9.99292103e-01 7.39302913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.508623853 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:193.63, Y:49.72, Z:7.40 [[ 8.61027677e-01 -5.07494818e-01 -3.28686598e-02 1.93626027e+02] [ 5.07165534e-01 8.61654326e-01 -1.83014671e-02 4.97229772e+01] [ 3.76093227e-02 -9.11781709e-04 9.99292103e-01 7.39981069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.568623853 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:193.68, Y:49.75, Z:7.40 [[ 8.59547651e-01 -5.09997762e-01 -3.28651543e-02 1.93675712e+02] [ 5.09670061e-01 8.60175130e-01 -1.83077601e-02 4.97502280e+01] [ 3.76067050e-02 -1.01399297e-03 9.99292103e-01 7.39700026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.628623853 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:49.78, Z:7.40 [[ 8.59145600e-01 -5.10674891e-01 -3.28632588e-02 1.93726971e+02] [ 5.10347555e-01 8.59773269e-01 -1.83111618e-02 4.97778102e+01] [ 3.76060021e-02 -1.03972967e-03 9.99292103e-01 7.39877721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.688623853 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:49.80, Z:7.41 [[ 8.59907890e-01 -5.09390473e-01 -3.28598065e-02 1.93777184e+02] [ 5.09061962e-01 8.60534946e-01 -1.83173551e-02 4.98039267e+01] [ 3.76076980e-02 -9.76439378e-04 9.99292103e-01 7.40830648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.748623853 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:193.83, Y:49.83, Z:7.40 [[ 8.60675121e-01 -5.08093185e-01 -3.28580437e-02 1.93828098e+02] [ 5.07763609e-01 8.61301618e-01 -1.83205167e-02 4.98313653e+01] [ 3.76092158e-02 -9.16105858e-04 9.99292103e-01 7.40224721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.808623853 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:193.88, Y:49.86, Z:7.40 [[ 8.63189641e-01 -5.03809707e-01 -3.28545827e-02 1.93878086e+02] [ 5.03476786e-01 8.63814365e-01 -1.83267212e-02 4.98587133e+01] [ 3.76134406e-02 -7.22083821e-04 9.99292103e-01 7.40320317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.868623853 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:49.89, Z:7.41 [[ 8.65061835e-01 -5.00588370e-01 -3.28527758e-02 1.93927718e+02] [ 5.00252999e-01 8.65685248e-01 -1.83299598e-02 4.98865726e+01] [ 3.76159281e-02 -5.78150995e-04 9.99292103e-01 7.40566427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.928623853 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:49.91, Z:7.41 [[ 8.67748063e-01 -4.95917450e-01 -3.28509169e-02 1.93978671e+02] [ 4.95578597e-01 8.68369590e-01 -1.83332906e-02 4.99138128e+01] [ 3.76185360e-02 -3.71533880e-04 9.99292103e-01 7.40810324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98862385299998 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:194.03, Y:49.94, Z:7.42 [[ 8.69393591e-01 -4.93027201e-01 -3.28475873e-02 1.94029058e+02] [ 4.92686056e-01 8.70013863e-01 -1.83392544e-02 4.99416923e+01] [ 3.76196075e-02 -2.39518023e-04 9.99292103e-01 7.41673025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04862385299998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:194.08, Y:49.97, Z:7.41 [[ 8.70083142e-01 -4.91809494e-01 -3.28442870e-02 1.94080263e+02] [ 4.91467258e-01 8.70702813e-01 -1.83451631e-02 4.99683038e+01] [ 3.76199384e-02 -1.80074538e-04 9.99292103e-01 7.41286986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10862385299998 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:194.13, Y:49.99, Z:7.41 [[ 8.69813838e-01 -4.92285778e-01 -3.28420537e-02 1.94130453e+02] [ 4.91943731e-01 8.70433613e-01 -1.83491604e-02 4.99944277e+01] [ 3.76198581e-02 -1.96088819e-04 9.99292103e-01 7.41447887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16862385299999 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:50.02, Z:7.42 [[ 8.69232773e-01 -4.93311163e-01 -3.28402636e-02 1.94182013e+02] [ 4.92969726e-01 8.69852884e-01 -1.83523636e-02 5.00208662e+01] [ 3.76196238e-02 -2.36779830e-04 9.99292103e-01 7.41676064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.228623853 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:194.23, Y:50.05, Z:7.42 [[ 8.68575364e-01 -4.94467961e-01 -3.28370609e-02 1.94233746e+02] [ 4.94127133e-01 8.69195811e-01 -1.83580922e-02 5.00474106e+01] [ 3.76193242e-02 -2.80296172e-04 9.99292103e-01 7.41884273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.288623853 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:194.29, Y:50.07, Z:7.42 [[ 8.67580183e-01 -4.96212215e-01 -3.28338894e-02 1.94286977e+02] [ 4.95872419e-01 8.68201196e-01 -1.83637627e-02 5.00702224e+01] [ 3.76187454e-02 -3.49383612e-04 9.99292103e-01 7.42324631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.348623853 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:194.34, Y:50.09, Z:7.43 [[ 8.67098151e-01 -4.97054262e-01 -3.28307391e-02 1.94338186e+02] [ 4.96714857e-01 8.67719377e-01 -1.83693931e-02 5.00948372e+01] [ 3.76184536e-02 -3.79449099e-04 9.99292103e-01 7.42516524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.408623853 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:194.39, Y:50.12, Z:7.43 [[ 8.66930302e-01 -4.97347098e-01 -3.28285919e-02 1.94389192e+02] [ 4.97007757e-01 8.67551563e-01 -1.83732296e-02 5.01208785e+01] [ 3.76183687e-02 -3.87755320e-04 9.99292103e-01 7.42507680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.468623853 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:194.44, Y:50.14, Z:7.42 [[ 8.66568950e-01 -4.97976626e-01 -3.28258359e-02 1.94443054e+02] [ 4.97637550e-01 8.67190355e-01 -1.83781523e-02 5.01448424e+01] [ 3.76181386e-02 -4.09432382e-04 9.99292103e-01 7.42444866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.528623853 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:194.50, Y:50.17, Z:7.43 [[ 8.66452724e-01 -4.98179010e-01 -3.28230313e-02 1.94496827e+02] [ 4.97839890e-01 8.67074105e-01 -1.83831598e-02 5.01679199e+01] [ 3.76181049e-02 -4.12475427e-04 9.99292103e-01 7.42943141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.588623853 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:194.55, Y:50.19, Z:7.43 [[ 8.66749953e-01 -4.97661922e-01 -3.28196648e-02 1.94548547e+02] [ 4.97322203e-01 8.67371008e-01 -1.83891682e-02 5.01940795e+01] [ 3.76184145e-02 -3.83137353e-04 9.99292103e-01 7.43217780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.648623853 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:50.22, Z:7.43 [[ 8.67870439e-01 -4.95705549e-01 -3.28163118e-02 1.94599765e+02] [ 4.95364204e-01 8.68490601e-01 -1.83951498e-02 5.02199609e+01] [ 3.76192362e-02 -2.91419451e-04 9.99292104e-01 7.43362613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70862385299998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:50.25, Z:7.44 [[ 8.68999782e-01 -4.93723190e-01 -3.28144919e-02 1.94651239e+02] [ 4.93380308e-01 8.69619095e-01 -1.83983957e-02 5.02462257e+01] [ 3.76198234e-02 -2.01822210e-04 9.99292104e-01 7.43511514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76862385299998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:50.27, Z:7.44 [[ 8.71208024e-01 -4.89816297e-01 -3.28112073e-02 1.94702613e+02] [ 4.89470417e-01 8.71825668e-01 -1.84042514e-02 5.02729623e+01] [ 3.76203550e-02 -2.61838218e-05 9.99292104e-01 7.43886821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82862385299998 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:194.75, Y:50.30, Z:7.45 [[ 8.73749878e-01 -4.85267767e-01 -3.28076943e-02 1.94751834e+02] [ 4.84918436e-01 8.74365578e-01 -1.84105116e-02 5.03004038e+01] [ 3.76199465e-02 1.77126454e-04 9.99292104e-01 7.44641692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88862385299998 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:50.33, Z:7.45 [[ 8.75096493e-01 -4.82835274e-01 -3.28058737e-02 1.94803047e+02] [ 4.82484111e-01 8.75711149e-01 -1.84137553e-02 5.03295163e+01] [ 3.76192799e-02 2.85499929e-04 9.99292104e-01 7.44556656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.948623853 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:50.36, Z:7.45 [[ 8.76655096e-01 -4.79999815e-01 -3.28027424e-02 1.94852396e+02] [ 4.79646455e-01 8.77268492e-01 -1.84193317e-02 5.03590426e+01] [ 3.76180882e-02 4.13681873e-04 9.99292104e-01 7.44804033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.008623853 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:194.90, Y:50.39, Z:7.45 [[ 8.77251621e-01 -4.78908837e-01 -3.28012193e-02 1.94901922e+02] [ 4.78554612e-01 8.77864518e-01 -1.84220436e-02 5.03903172e+01] [ 3.76175061e-02 4.63592810e-04 9.99292104e-01 7.45003718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.068623853 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:50.42, Z:7.45 [[ 8.77155803e-01 -4.79084534e-01 -3.27979551e-02 1.94951357e+02] [ 4.78730216e-01 8.77768645e-01 -1.84278533e-02 5.04198788e+01] [ 3.76175161e-02 4.62726369e-04 9.99292104e-01 7.45049713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.128623853 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:195.00, Y:50.45, Z:7.45 [[ 8.76477426e-01 -4.80324724e-01 -3.27945148e-02 1.94999468e+02] [ 4.79971044e-01 8.77090637e-01 -1.84339737e-02 5.04498557e+01] [ 3.76180552e-02 4.16544370e-04 9.99292104e-01 7.45111229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.188623853 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:195.05, Y:50.48, Z:7.45 [[ 8.75683045e-01 -4.81771547e-01 -3.27930130e-02 1.95048995e+02] [ 4.81418780e-01 8.76296781e-01 -1.84366449e-02 5.04807027e+01] [ 3.76186627e-02 3.57485036e-04 9.99292104e-01 7.45424168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.248623853 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:195.10, Y:50.51, Z:7.46 [[ 8.74397941e-01 -4.84100287e-01 -3.27895356e-02 1.95099641e+02] [ 4.83748922e-01 8.75012481e-01 -1.84428274e-02 5.05091432e+01] [ 3.76194309e-02 2.64467815e-04 9.99292104e-01 7.45758300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.308623853 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:195.15, Y:50.54, Z:7.46 [[ 8.72994526e-01 -4.86626658e-01 -3.27880181e-02 1.95149826e+02] [ 4.86276971e-01 8.73610022e-01 -1.84455248e-02 5.05392694e+01] [ 3.76200253e-02 1.58784058e-04 9.99292104e-01 7.46133245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.368623853 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:50.57, Z:7.46 [[ 8.72214050e-01 -4.88024376e-01 -3.27850539e-02 1.95198923e+02] [ 4.87675477e-01 8.72829993e-01 -1.84507920e-02 5.05696158e+01] [ 3.76202146e-02 1.04573177e-04 9.99292104e-01 7.46474515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.428623853 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:195.25, Y:50.60, Z:7.47 [[ 8.71943441e-01 -4.88507940e-01 -3.27815398e-02 1.95249196e+02] [ 4.88159147e-01 8.72559445e-01 -1.84570333e-02 5.05983464e+01] [ 3.76202495e-02 9.08805343e-05 9.99292104e-01 7.47220285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48862385299998 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:50.63, Z:7.47 [[ 8.71604556e-01 -4.89112451e-01 -3.27796974e-02 1.95298326e+02] [ 4.88763963e-01 8.72220732e-01 -1.84603048e-02 5.06274567e+01] [ 3.76202966e-02 6.85509691e-05 9.99292104e-01 7.46697244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54862385299998 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:50.66, Z:7.47 [[ 8.70931975e-01 -4.90309201e-01 -3.27777694e-02 1.95348255e+02] [ 4.89961431e-01 8.71548557e-01 -1.84637276e-02 5.06595276e+01] [ 3.76203531e-02 2.08079348e-05 9.99292104e-01 7.46790534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60862385299998 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:50.69, Z:7.47 [[ 8.69967186e-01 -4.92019224e-01 -3.27746690e-02 1.95396653e+02] [ 4.91672458e-01 8.70584333e-01 -1.84692294e-02 5.06889461e+01] [ 3.76203293e-02 -4.67784926e-05 9.99292104e-01 7.46871989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66862385299999 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:195.45, Y:50.72, Z:7.47 [[ 8.69242664e-01 -4.93298224e-01 -3.27727623e-02 1.95446445e+02] [ 4.92952239e-01 8.69860249e-01 -1.84726121e-02 5.07184327e+01] [ 3.76202299e-02 -9.82240255e-05 9.99292104e-01 7.47133302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.728623853 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:195.50, Y:50.75, Z:7.47 [[ 8.68176920e-01 -4.95171698e-01 -3.27692727e-02 1.95495222e+02] [ 4.94826813e-01 8.68795119e-01 -1.84788004e-02 5.07484038e+01] [ 3.76199631e-02 -1.72246705e-04 9.99292104e-01 7.47224620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.788623853 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:195.55, Y:50.78, Z:7.47 [[ 8.67783256e-01 -4.95861389e-01 -3.27674192e-02 1.95545399e+02] [ 4.95516871e-01 8.68401660e-01 -1.84820864e-02 5.07780331e+01] [ 3.76198343e-02 -1.98363908e-04 9.99292104e-01 7.47323777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.848623853 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:50.81, Z:7.48 [[ 8.68132542e-01 -4.95249854e-01 -3.27638616e-02 1.95593885e+02] [ 4.94904662e-01 8.68750571e-01 -1.84883910e-02 5.08076060e+01] [ 3.76199964e-02 -1.64614010e-04 9.99292104e-01 7.47611033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.908623853 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:50.84, Z:7.48 [[ 8.68662300e-01 -4.94320207e-01 -3.27619072e-02 1.95643643e+02] [ 4.93974223e-01 8.69279885e-01 -1.84918535e-02 5.08384357e+01] [ 3.76201638e-02 -1.20361645e-04 9.99292104e-01 7.47800792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.968623853 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:50.87, Z:7.48 [[ 8.69602363e-01 -4.92664812e-01 -3.27584051e-02 1.95692509e+02] [ 4.92317419e-01 8.70219157e-01 -1.84980556e-02 5.08700398e+01] [ 3.76203327e-02 -4.15805924e-05 9.99292104e-01 7.48137733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.028623853 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:50.90, Z:7.48 [[ 8.69820545e-01 -4.92279622e-01 -3.27565873e-02 1.95742100e+02] [ 4.91931834e-01 8.70437117e-01 -1.85012739e-02 5.09011074e+01] [ 3.76203495e-02 -2.12199660e-05 9.99292104e-01 7.48497245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.088623853 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:50.93, Z:7.49 [[ 8.69603598e-01 -4.92662951e-01 -3.27535996e-02 1.95791680e+02] [ 4.92315236e-01 8.70220211e-01 -1.85065617e-02 5.09298517e+01] [ 3.76203417e-02 -3.17235329e-05 9.99292104e-01 7.48699679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.148623853 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:50.96, Z:7.49 [[ 8.68431829e-01 -4.94725663e-01 -3.27517257e-02 1.95840626e+02] [ 4.94379288e-01 8.69049196e-01 -1.85098773e-02 5.09599442e+01] [ 3.76201723e-02 -1.17208212e-04 9.99292104e-01 7.49142085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20862385299998 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:50.99, Z:7.49 [[ 8.67663330e-01 -4.96072479e-01 -3.27481509e-02 1.95890331e+02] [ 4.95726823e-01 8.68281099e-01 -1.85161999e-02 5.09894554e+01] [ 3.76199776e-02 -1.68309068e-04 9.99292104e-01 7.49266014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26862385299998 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:195.94, Y:51.02, Z:7.49 [[ 8.66481838e-01 -4.98133532e-01 -3.27446068e-02 1.95940406e+02] [ 4.97789109e-01 8.67100295e-01 -1.85224652e-02 5.10167930e+01] [ 3.76195193e-02 -2.50528954e-04 9.99292104e-01 7.49371416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32862385299998 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:195.99, Y:51.04, Z:7.50 [[ 8.65562128e-01 -4.99730044e-01 -3.27427265e-02 1.95991163e+02] [ 4.99386635e-01 8.66181149e-01 -1.85257885e-02 5.10443517e+01] [ 3.76190256e-02 -3.16059117e-04 9.99292104e-01 7.49559201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38862385299998 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:51.07, Z:7.50 [[ 8.65332824e-01 -5.00127229e-01 -3.27392511e-02 1.96040874e+02] [ 4.99783872e-01 8.65951874e-01 -1.85319284e-02 5.10729479e+01] [ 3.76189378e-02 -3.26263739e-04 9.99292104e-01 7.49747920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.448623853 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:196.09, Y:51.10, Z:7.50 [[ 8.65094421e-01 -5.00539616e-01 -3.27373536e-02 1.96091533e+02] [ 5.00196428e-01 8.65713565e-01 -1.85352797e-02 5.11009499e+01] [ 3.76188129e-02 -3.40340325e-04 9.99292104e-01 7.49932240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.508623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:51.13, Z:7.50 [[ 8.64814302e-01 -5.01023673e-01 -3.27338059e-02 1.96143176e+02] [ 5.00680595e-01 8.65433506e-01 -1.85415429e-02 5.11279439e+01] [ 3.76186843e-02 -3.54189968e-04 9.99292104e-01 7.50059304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.568623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:51.16, Z:7.50 [[ 8.65007088e-01 -5.00690989e-01 -3.27302949e-02 1.96194220e+02] [ 5.00347438e-01 8.65626030e-01 -1.85477386e-02 5.11561277e+01] [ 3.76188808e-02 -3.32593897e-04 9.99292104e-01 7.50380328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.628623853 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:51.18, Z:7.51 [[ 8.65713947e-01 -4.99468035e-01 -3.27268023e-02 1.96244482e+02] [ 4.99123376e-01 8.66332274e-01 -1.85538992e-02 5.11841278e+01] [ 3.76193646e-02 -2.72342741e-04 9.99292104e-01 7.51037945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.688623853 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:51.21, Z:7.51 [[ 8.67756140e-01 -4.95911754e-01 -3.27232820e-02 1.96295051e+02] [ 4.95564327e-01 8.68372915e-01 -1.85601058e-02 5.12127519e+01] [ 3.76201864e-02 -1.10845466e-04 9.99292104e-01 7.50784831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.748623853 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:196.34, Y:51.24, Z:7.51 [[ 8.70155023e-01 -4.91690606e-01 -3.27197907e-02 1.96343543e+02] [ 4.91339956e-01 8.70769971e-01 -1.85662585e-02 5.12422985e+01] [ 3.76202661e-02 7.89826070e-05 9.99292104e-01 7.51107566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.808623853 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:196.39, Y:51.27, Z:7.51 [[ 8.71096369e-01 -4.90021082e-01 -3.27178055e-02 1.96393300e+02] [ 4.89669122e-01 8.71710568e-01 -1.85697563e-02 5.12727652e+01] [ 3.76200289e-02 1.55148227e-04 9.99292104e-01 7.51307221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.868623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:196.44, Y:51.30, Z:7.51 [[ 8.71743488e-01 -4.88869164e-01 -3.27143999e-02 1.96442507e+02] [ 4.88516167e-01 8.72357092e-01 -1.85757540e-02 5.13020743e+01] [ 3.76197521e-02 2.11779318e-04 9.99292104e-01 7.51396916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.928623853 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:196.49, Y:51.33, Z:7.52 [[ 8.71526016e-01 -4.89256876e-01 -3.27125931e-02 1.96492078e+02] [ 4.88904033e-01 8.72139708e-01 -1.85789353e-02 5.13316263e+01] [ 3.76198232e-02 1.98706818e-04 9.99292104e-01 7.51681373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98862385299998 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:196.54, Y:51.36, Z:7.52 [[ 8.70644806e-01 -4.90823518e-01 -3.27092577e-02 1.96540373e+02] [ 4.90471558e-01 8.71259006e-01 -1.85848056e-02 5.13616926e+01] [ 3.76200950e-02 1.37803827e-04 9.99292104e-01 7.51871690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04862385299998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:51.39, Z:7.52 [[ 8.69321073e-01 -4.93164370e-01 -3.27074230e-02 1.96590590e+02] [ 4.92813943e-01 8.69936148e-01 -1.85880339e-02 5.13906281e+01] [ 3.76203256e-02 4.02954043e-05 9.99292104e-01 7.51996671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10862385299998 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:51.42, Z:7.52 [[ 8.66616570e-01 -4.97901757e-01 -3.27041510e-02 1.96641688e+02] [ 4.97554475e-01 8.67233426e-01 -1.85937889e-02 5.14192053e+01] [ 3.76200131e-02 -1.58411128e-04 9.99292104e-01 7.52480871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16862385299999 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:196.69, Y:51.45, Z:7.53 [[ 8.64643319e-01 -5.01320811e-01 -3.27013106e-02 1.96691890e+02] [ 5.00975780e-01 8.65261436e-01 -1.85987832e-02 5.14465817e+01] [ 3.76191400e-02 -3.01250946e-04 9.99292104e-01 7.52619770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.228623853 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:51.47, Z:7.53 [[ 8.63790218e-01 -5.02789416e-01 -3.26995695e-02 1.96742219e+02] [ 5.02445320e-01 8.64408857e-01 -1.86018438e-02 5.14745162e+01] [ 3.76186076e-02 -3.61654927e-04 9.99292104e-01 7.52661823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.288623853 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:51.50, Z:7.53 [[ 8.63748183e-01 -5.02861837e-01 -3.26963282e-02 1.96792384e+02] [ 5.02517577e-01 8.64366730e-01 -1.86075392e-02 5.15020959e+01] [ 3.76186396e-02 -3.58251459e-04 9.99292104e-01 7.52988316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.348623853 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:51.53, Z:7.53 [[ 8.65290865e-01 -5.00202819e-01 -3.26934078e-02 1.96842258e+02] [ 4.99856464e-01 8.65908242e-01 -1.86126690e-02 5.15309225e+01] [ 3.76196007e-02 -2.36638774e-04 9.99292104e-01 7.53219879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.408623853 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:51.56, Z:7.53 [[ 8.67033600e-01 -4.97176113e-01 -3.26902129e-02 1.96891895e+02] [ 4.96827391e-01 8.67649643e-01 -1.86182785e-02 5.15602817e+01] [ 3.76202149e-02 -9.87201717e-05 9.99292104e-01 7.53435355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.468623853 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:51.59, Z:7.54 [[ 8.70121245e-01 -4.91752555e-01 -3.26870436e-02 1.96940536e+02] [ 4.91399785e-01 8.70734979e-01 -1.86238412e-02 5.15906751e+01] [ 3.76200737e-02 1.42593689e-04 9.99292104e-01 7.53795179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.528623853 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:196.99, Y:51.62, Z:7.54 [[ 8.73026420e-01 -4.86576373e-01 -3.26849029e-02 1.96989123e+02] [ 4.86219823e-01 8.73637967e-01 -1.86275972e-02 5.16229408e+01] [ 3.76185208e-02 3.70336786e-04 9.99292104e-01 7.54022240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.588623853 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:197.04, Y:51.65, Z:7.54 [[ 8.74566614e-01 -4.83802788e-01 -3.26818138e-02 1.97037712e+02] [ 4.83444096e-01 8.75176906e-01 -1.86330154e-02 5.16541627e+01] [ 3.76170735e-02 4.95983184e-04 9.99292104e-01 7.54055464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.648623853 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:51.69, Z:7.54 [[ 8.75919770e-01 -4.81348789e-01 -3.26787279e-02 1.97084528e+02] [ 4.80988186e-01 8.76528935e-01 -1.86384260e-02 5.16884553e+01] [ 3.76154343e-02 6.07683802e-04 9.99292104e-01 7.54073414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70862385299998 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:51.72, Z:7.55 [[ 8.76101290e-01 -4.81018534e-01 -3.26756604e-02 1.97133901e+02] [ 4.80657501e-01 8.76710200e-01 -1.86438022e-02 5.17197054e+01] [ 3.76150992e-02 6.28057921e-04 9.99292104e-01 7.54542335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76862385299998 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:197.18, Y:51.75, Z:7.55 [[ 8.75731745e-01 -4.81691222e-01 -3.26722797e-02 1.97182633e+02] [ 4.81330436e-01 8.76340801e-01 -1.86497248e-02 5.17535358e+01] [ 3.76154605e-02 6.05993407e-04 9.99292104e-01 7.54988118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82862385299998 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:51.79, Z:7.55 [[ 8.74798860e-01 -4.83383573e-01 -3.26691867e-02 1.97229847e+02] [ 4.83023763e-01 8.75408493e-01 -1.86551412e-02 5.17862144e+01] [ 3.76164724e-02 5.39502771e-04 9.99292104e-01 7.54992084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88862385299998 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:197.28, Y:51.82, Z:7.55 [[ 8.73429881e-01 -4.85852927e-01 -3.26676579e-02 1.97278670e+02] [ 4.85494741e-01 8.74040470e-01 -1.86578180e-02 5.18184618e+01] [ 3.76178106e-02 4.36319654e-04 9.99292104e-01 7.55362316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.948623853 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:197.33, Y:51.85, Z:7.56 [[ 8.72569931e-01 -4.87395913e-01 -3.26640298e-02 1.97328356e+02] [ 4.87038568e-01 8.73181013e-01 -1.86641675e-02 5.18482329e+01] [ 3.76184496e-02 3.77148997e-04 9.99292104e-01 7.55552951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.008623853 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:51.88, Z:7.56 [[ 8.70065207e-01 -4.91853468e-01 -3.26604060e-02 1.97376092e+02] [ 4.91499016e-01 8.70677971e-01 -1.86705066e-02 5.18792173e+01] [ 3.76198495e-02 1.92000786e-04 9.99292104e-01 7.55621543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.068623853 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:197.42, Y:51.91, Z:7.56 [[ 8.68772781e-01 -4.94132832e-01 -3.26588377e-02 1.97424188e+02] [ 4.93779885e-01 8.69386413e-01 -1.86732496e-02 5.19105759e+01] [ 3.76202155e-02 9.65339151e-05 9.99292104e-01 7.55787469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.128623853 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:197.47, Y:51.94, Z:7.56 [[ 8.67871462e-01 -4.95714258e-01 -3.26573102e-02 1.97472511e+02] [ 4.95362328e-01 8.68485678e-01 -1.86759206e-02 5.19429569e+01] [ 3.76203263e-02 3.10973015e-05 9.99292104e-01 7.56137624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.188623853 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:197.52, Y:51.98, Z:7.56 [[ 8.68248304e-01 -4.95054150e-01 -3.26538080e-02 1.97519277e+02] [ 4.94701523e-01 8.68862120e-01 -1.86820420e-02 5.19751288e+01] [ 3.76202793e-02 6.67627360e-05 9.99292105e-01 7.56362594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.248623853 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:197.57, Y:52.01, Z:7.57 [[ 8.68770518e-01 -4.94137268e-01 -3.26519133e-02 1.97567032e+02] [ 4.93783869e-01 8.69383890e-01 -1.86853528e-02 5.20081597e+01] [ 3.76201766e-02 1.10295584e-04 9.99292105e-01 7.56607826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.308623853 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:197.61, Y:52.04, Z:7.57 [[ 8.69403650e-01 -4.93022698e-01 -3.26483178e-02 1.97613418e+02] [ 4.92668276e-01 8.70016432e-01 -1.86916330e-02 5.20415694e+01] [ 3.76199723e-02 1.65783520e-04 9.99292105e-01 7.56801902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.368623853 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:52.07, Z:7.58 [[ 8.69536196e-01 -4.92788994e-01 -3.26467587e-02 1.97660541e+02] [ 4.92434306e-01 8.70148823e-01 -1.86943558e-02 5.20731191e+01] [ 3.76199115e-02 1.79035091e-04 9.99292105e-01 7.57787702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.428623853 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:52.11, Z:7.57 [[ 8.69510687e-01 -4.92834105e-01 -3.26452221e-02 1.97707712e+02] [ 4.92479348e-01 8.70123274e-01 -1.86970387e-02 5.21086432e+01] [ 3.76199059e-02 1.80177282e-04 9.99292105e-01 7.57099603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48862385299998 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:52.14, Z:7.57 [[ 8.69239159e-01 -4.93313083e-01 -3.26418022e-02 1.97755301e+02] [ 4.92958440e-01 8.69851812e-01 -1.87030074e-02 5.21420202e+01] [ 3.76199690e-02 1.66334537e-04 9.99292105e-01 7.57393988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54862385299998 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:197.80, Y:52.18, Z:7.57 [[ 8.68111768e-01 -4.95294571e-01 -3.26381272e-02 1.97802295e+02] [ 4.94941084e-01 8.68725089e-01 -1.87094183e-02 5.21750412e+01] [ 3.76202333e-02 8.79161529e-05 9.99292105e-01 7.57493975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60862385299998 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:197.85, Y:52.21, Z:7.58 [[ 8.65959198e-01 -4.99048620e-01 -3.26365377e-02 1.97849514e+02] [ 4.98697688e-01 8.66573984e-01 -1.87121907e-02 5.22105949e+01] [ 3.76202674e-02 -7.17722007e-05 9.99292105e-01 7.57984904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66862385299999 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:197.90, Y:52.24, Z:7.59 [[ 8.64174584e-01 -5.02132804e-01 -3.26333577e-02 1.97897371e+02] [ 5.01783857e-01 8.64790499e-01 -1.87177349e-02 5.22423562e+01] [ 3.76198064e-02 -1.99501342e-04 9.99292105e-01 7.58768571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.728623853 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:52.27, Z:7.58 [[ 8.61428731e-01 -5.06829204e-01 -3.26297219e-02 1.97945822e+02] [ 5.06483375e-01 8.62046402e-01 -1.87240707e-02 5.22739032e+01] [ 3.76182403e-02 -3.96959232e-04 9.99292105e-01 7.57892060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.788623853 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:198.00, Y:52.30, Z:7.58 [[ 8.58707886e-01 -5.11425627e-01 -3.26281423e-02 1.97995532e+02] [ 5.11082999e-01 8.59327338e-01 -1.87268230e-02 5.23034671e+01] [ 3.76156318e-02 -5.94818271e-04 9.99292105e-01 7.58238129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.848623853 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:52.33, Z:7.59 [[ 8.57337496e-01 -5.13719828e-01 -3.26244873e-02 1.98043632e+02] [ 5.13378615e-01 8.57957729e-01 -1.87331884e-02 5.23332777e+01] [ 3.76140413e-02 -6.88049299e-04 9.99292105e-01 7.58523435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.908623853 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:198.09, Y:52.36, Z:7.60 [[ 8.56478326e-01 -5.15151065e-01 -3.26229496e-02 1.98092602e+02] [ 5.14810787e-01 8.57099073e-01 -1.87358658e-02 5.23634173e+01] [ 3.76129010e-02 -7.47783379e-04 9.99292105e-01 7.59562790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.968623853 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:52.39, Z:7.59 [[ 8.56687236e-01 -5.14803805e-01 -3.26193404e-02 1.98142053e+02] [ 5.14463037e-01 8.57307714e-01 -1.87421472e-02 5.23929185e+01] [ 3.76133409e-02 -7.25286618e-04 9.99292105e-01 7.59019406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.028623853 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:52.42, Z:7.59 [[ 8.57861094e-01 -5.12845474e-01 -3.26169014e-02 1.98191014e+02] [ 5.12503128e-01 8.58480703e-01 -1.87463909e-02 5.24241660e+01] [ 3.76149822e-02 -6.34464607e-04 9.99292105e-01 7.59018237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.088623853 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:52.45, Z:7.59 [[ 8.59075668e-01 -5.10808541e-01 -3.26133765e-02 1.98239233e+02] [ 5.10464492e-01 8.59694333e-01 -1.87525211e-02 5.24548806e+01] [ 3.76164829e-02 -5.38136066e-04 9.99292105e-01 7.59122848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.148623853 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:52.48, Z:7.59 [[ 8.58837196e-01 -5.11209504e-01 -3.26115597e-02 1.98289573e+02] [ 5.10865625e-01 8.59455955e-01 -1.87556802e-02 5.24842651e+01] [ 3.76162811e-02 -5.52048970e-04 9.99292105e-01 7.59417387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20862385299998 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:198.34, Y:52.51, Z:7.60 [[ 8.57906714e-01 -5.12769716e-01 -3.26080947e-02 1.98339148e+02] [ 5.12426733e-01 8.58525970e-01 -1.87617025e-02 5.25129053e+01] [ 3.76153290e-02 -6.13468878e-04 9.99292105e-01 7.59658518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26862385299998 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:198.39, Y:52.54, Z:7.60 [[ 8.56801511e-01 -5.14614429e-01 -3.26061399e-02 1.98390540e+02] [ 5.14272649e-01 8.57421433e-01 -1.87650990e-02 5.25404402e+01] [ 3.76139939e-02 -6.90480782e-04 9.99292105e-01 7.59836635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32862385299998 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:198.44, Y:52.57, Z:7.60 [[ 8.56411935e-01 -5.15262707e-01 -3.26027490e-02 1.98441100e+02] [ 5.14921173e-01 8.57031992e-01 -1.87709886e-02 5.25684392e+01] [ 3.76135893e-02 -7.12147088e-04 9.99292105e-01 7.60112067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38862385299998 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:52.60, Z:7.60 [[ 8.56411458e-01 -5.15263717e-01 -3.25993394e-02 1.98491188e+02] [ 5.14921958e-01 8.57031391e-01 -1.87769082e-02 5.25955878e+01] [ 3.76137167e-02 -7.05356328e-04 9.99292105e-01 7.60434786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.448623853 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:198.54, Y:52.62, Z:7.61 [[ 8.56419358e-01 -5.15250707e-01 -3.25974289e-02 1.98541163e+02] [ 5.14908813e-01 8.57039216e-01 -1.87802242e-02 5.26221527e+01] [ 3.76137987e-02 -7.00955884e-04 9.99292105e-01 7.60760402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.508623853 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:52.65, Z:7.61 [[ 8.56361384e-01 -5.15347174e-01 -3.25955385e-02 1.98592560e+02] [ 5.15005225e-01 8.56981212e-01 -1.87835048e-02 5.26489297e+01] [ 3.76137902e-02 -7.01404491e-04 9.99292105e-01 7.60935288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.568623853 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:198.64, Y:52.67, Z:7.62 [[ 8.56843467e-01 -5.14545448e-01 -3.25922497e-02 1.98644294e+02] [ 5.14202702e-01 8.57462854e-01 -1.87892096e-02 5.26746077e+01] [ 3.76145457e-02 -6.59611336e-04 9.99292105e-01 7.62073703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.628623853 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:198.69, Y:52.70, Z:7.62 [[ 8.57770172e-01 -5.12999329e-01 -3.25886594e-02 1.98694643e+02] [ 5.12655230e-01 8.58388809e-01 -1.87954347e-02 5.27020699e+01] [ 3.76157859e-02 -5.84583379e-04 9.99292105e-01 7.61822124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.688623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:198.75, Y:52.73, Z:7.62 [[ 8.60048292e-01 -5.09170936e-01 -3.25866947e-02 1.98745897e+02] [ 5.08823954e-01 8.60665317e-01 -1.87988404e-02 5.27299389e+01] [ 3.76180610e-02 -4.12980280e-04 9.99292105e-01 7.61663731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.748623853 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:52.76, Z:7.62 [[ 8.63321698e-01 -5.03601018e-01 -3.25831318e-02 1.98795792e+02] [ 5.03249822e-01 8.63936334e-01 -1.88050138e-02 5.27592117e+01] [ 3.76199755e-02 -1.62678805e-04 9.99292105e-01 7.61926495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.808623853 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:52.79, Z:7.62 [[ 8.65136192e-01 -5.00477719e-01 -3.25794907e-02 1.98845061e+02] [ 5.00124066e-01 8.65749417e-01 -1.88113197e-02 5.27880038e+01] [ 3.76203215e-02 -1.94338585e-05 9.99292105e-01 7.62054677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.868623853 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:198.90, Y:52.82, Z:7.62 [[ 8.65772853e-01 -4.99375656e-01 -3.25779140e-02 1.98895211e+02] [ 4.99021121e-01 8.66385568e-01 -1.88140500e-02 5.28174054e+01] [ 3.76203131e-02 3.16265844e-05 9.99292105e-01 7.62274559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.928623853 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:198.94, Y:52.85, Z:7.62 [[ 8.67532606e-01 -4.96312493e-01 -3.25743130e-02 1.98944129e+02] [ 4.95955560e-01 8.68143928e-01 -1.88202827e-02 5.28494217e+01] [ 3.76199334e-02 1.71797243e-04 9.99292105e-01 7.62354796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98862385299998 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:52.88, Z:7.62 [[ 8.68376440e-01 -4.94834829e-01 -3.25707089e-02 1.98992072e+02] [ 4.94476621e-01 8.68987015e-01 -1.88265178e-02 5.28799360e+01] [ 3.76195399e-02 2.43050386e-04 9.99292105e-01 7.62467015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04862385299998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:52.91, Z:7.63 [[ 8.68180806e-01 -4.95178088e-01 -3.25691513e-02 1.99041282e+02] [ 4.94820020e-01 8.68791464e-01 -1.88292121e-02 5.29096775e+01] [ 3.76196139e-02 2.31292403e-04 9.99292105e-01 7.62623778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10862385299998 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:199.09, Y:52.94, Z:7.63 [[ 8.66830027e-01 -4.97539129e-01 -3.25656045e-02 1.99089865e+02] [ 4.97182495e-01 8.67441523e-01 -1.88353444e-02 5.29410133e+01] [ 3.76200784e-02 1.35993585e-04 9.99292105e-01 7.62942912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16862385299999 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:199.14, Y:52.97, Z:7.64 [[ 8.64610137e-01 -5.01386940e-01 -3.25645124e-02 1.99138962e+02] [ 5.01032957e-01 8.65223171e-01 -1.88372322e-02 5.29704139e+01] [ 3.76203129e-02 -2.90320073e-05 9.99292105e-01 7.64111643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.228623853 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:199.19, Y:53.00, Z:7.63 [[ 8.62729657e-01 -5.04616028e-01 -3.25607725e-02 1.99188572e+02] [ 5.04264094e-01 8.63343870e-01 -1.88436946e-02 5.29984341e+01] [ 3.76199737e-02 -1.62214287e-04 9.99292105e-01 7.63304796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.288623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:199.24, Y:53.03, Z:7.64 [[ 8.60367781e-01 -5.08632661e-01 -3.25591505e-02 1.99239400e+02] [ 5.08283489e-01 8.60983568e-01 -1.88464968e-02 5.30271924e+01] [ 3.76188374e-02 -3.34360032e-04 9.99292105e-01 7.63604103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.348623853 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:199.29, Y:53.06, Z:7.64 [[ 8.59276835e-01 -5.10473764e-01 -3.25554521e-02 1.99289169e+02] [ 5.10125669e-01 8.59893232e-01 -1.88528833e-02 5.30574124e+01] [ 3.76181152e-02 -4.07525903e-04 9.99292105e-01 7.63876068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.408623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:53.09, Z:7.64 [[ 8.59322571e-01 -5.10396841e-01 -3.25543126e-02 1.99337918e+02] [ 5.10048617e-01 8.59938895e-01 -1.88548506e-02 5.30864321e+01] [ 3.76181758e-02 -4.01883368e-04 9.99292105e-01 7.64127715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.468623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:199.39, Y:53.12, Z:7.64 [[ 8.60102099e-01 -5.09082239e-01 -3.25523178e-02 1.99387867e+02] [ 5.08732943e-01 8.60717815e-01 -1.88582939e-02 5.31158117e+01] [ 3.76187824e-02 -3.40378260e-04 9.99292105e-01 7.64306371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.528623853 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:199.44, Y:53.15, Z:7.64 [[ 8.61059156e-01 -5.07462036e-01 -3.25486013e-02 1.99436313e+02] [ 5.07111338e-01 8.61674076e-01 -1.88647064e-02 5.31468846e+01] [ 3.76194082e-02 -2.62136558e-04 9.99292105e-01 7.64399665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.588623853 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:199.49, Y:53.18, Z:7.65 [[ 8.61337913e-01 -5.06988849e-01 -3.25469891e-02 1.99486285e+02] [ 5.06637708e-01 8.61952580e-01 -1.88674874e-02 5.31771248e+01] [ 3.76195670e-02 -2.38249707e-04 9.99292105e-01 7.64637800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.648623853 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:199.53, Y:53.21, Z:7.65 [[ 8.61245502e-01 -5.07146045e-01 -3.25434184e-02 1.99534738e+02] [ 5.06794785e-01 8.61860100e-01 -1.88736442e-02 5.32068128e+01] [ 3.76195679e-02 -2.37993527e-04 9.99292105e-01 7.64718755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70862385299998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:199.58, Y:53.24, Z:7.65 [[ 8.60685210e-01 -5.08096466e-01 -3.25415259e-02 1.99583818e+02] [ 5.07745761e-01 8.61300125e-01 -1.88769068e-02 5.32361547e+01] [ 3.76193099e-02 -2.75747315e-04 9.99292105e-01 7.64850670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76862385299998 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:199.63, Y:53.27, Z:7.65 [[ 8.59657038e-01 -5.09834234e-01 -3.25396765e-02 1.99634534e+02] [ 5.09484651e-01 8.60272592e-01 -1.88800943e-02 5.32663867e+01] [ 3.76187102e-02 -3.48059793e-04 9.99292105e-01 7.65367793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82862385299998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:53.29, Z:7.66 [[ 8.58163164e-01 -5.12344958e-01 -3.25365496e-02 1.99685079e+02] [ 5.11996972e-01 8.58779622e-01 -1.88854814e-02 5.32942895e+01] [ 3.76176069e-02 -4.51790395e-04 9.99292105e-01 7.65823930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88862385299998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:199.73, Y:53.32, Z:7.66 [[ 8.57247864e-01 -5.13875191e-01 -3.25328573e-02 1.99734486e+02] [ 5.13528064e-01 8.57864806e-01 -1.88918396e-02 5.33225340e+01] [ 3.76168411e-02 -5.11546052e-04 9.99292105e-01 7.66086291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.948623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:199.79, Y:53.35, Z:7.66 [[ 8.55674393e-01 -5.16491094e-01 -3.25312632e-02 1.99785795e+02] [ 5.16145749e-01 8.56292334e-01 -1.88945842e-02 5.33482202e+01] [ 3.76151558e-02 -6.23261348e-04 9.99292105e-01 7.66295984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.008623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:53.38, Z:7.66 [[ 8.54681802e-01 -5.18132090e-01 -3.25292948e-02 1.99837453e+02] [ 5.17787802e-01 8.55300333e-01 -1.88979726e-02 5.33757177e+01] [ 3.76139627e-02 -6.91518758e-04 9.99292105e-01 7.66360745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.068623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:53.40, Z:7.67 [[ 8.53692154e-01 -5.19761273e-01 -3.25257547e-02 1.99890080e+02] [ 5.19417933e-01 8.54311212e-01 -1.89040635e-02 5.33997206e+01] [ 3.76127170e-02 -7.56209552e-04 9.99292105e-01 7.66574754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.128623853 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:53.43, Z:7.67 [[ 8.53764803e-01 -5.19642156e-01 -3.25221478e-02 1.99940769e+02] [ 5.19298494e-01 8.54383682e-01 -1.89102667e-02 5.34252643e+01] [ 3.76129641e-02 -7.43782213e-04 9.99292105e-01 7.66877738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.188623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:199.99, Y:53.45, Z:7.67 [[ 8.54846429e-01 -5.17861007e-01 -3.25201535e-02 1.99992268e+02] [ 5.17515924e-01 8.55464517e-01 -1.89136957e-02 5.34507183e+01] [ 3.76145029e-02 -6.61392113e-04 9.99292105e-01 7.67085860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.248623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:200.04, Y:53.47, Z:7.67 [[ 8.56499212e-01 -5.15122990e-01 -3.25177494e-02 2.00044379e+02] [ 5.14775775e-01 8.57116105e-01 -1.89178280e-02 5.34749157e+01] [ 3.76164949e-02 -5.36244866e-04 9.99292105e-01 7.67070114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.308623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:53.50, Z:7.67 [[ 8.57631149e-01 -5.13236326e-01 -3.25159377e-02 2.00096387e+02] [ 5.12887635e-01 8.58247209e-01 -1.89209415e-02 5.35008952e+01] [ 3.76176273e-02 -4.49833622e-04 9.99292105e-01 7.67270593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:53.53, Z:7.67 [[ 8.60038610e-01 -5.09192041e-01 -3.25123722e-02 2.00147621e+02] [ 5.08840221e-01 8.60652889e-01 -1.89270662e-02 5.35272968e+01] [ 3.76193785e-02 -2.65594916e-04 9.99292105e-01 7.67358966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.428623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:200.20, Y:53.55, Z:7.68 [[ 8.62882166e-01 -5.04358550e-01 -3.25087797e-02 2.00199077e+02] [ 5.04003057e-01 8.63494326e-01 -1.89332347e-02 5.35541665e+01] [ 3.76202856e-02 -4.73737994e-05 9.99292105e-01 7.67587354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.25, Y:53.58, Z:7.68 [[ 8.65074758e-01 -5.00588732e-01 -3.25051332e-02 2.00248924e+02] [ 5.00230337e-01 8.65685223e-01 -1.89394931e-02 5.35821507e+01] [ 3.76201103e-02 1.24023700e-04 9.99292105e-01 7.67786590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:200.30, Y:53.61, Z:7.68 [[ 8.67577464e-01 -4.96238741e-01 -3.25031689e-02 2.00298311e+02] [ 4.95877158e-01 8.68186047e-01 -1.89428635e-02 5.36120137e+01] [ 3.76189804e-02 3.16822490e-04 9.99292105e-01 7.68023565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:53.64, Z:7.68 [[ 8.68576684e-01 -4.94487940e-01 -3.24995709e-02 2.00347657e+02] [ 4.94124900e-01 8.69184398e-01 -1.89490343e-02 5.36425716e+01] [ 3.76181889e-02 3.99842142e-04 9.99292105e-01 7.68312650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66862385299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:53.67, Z:7.69 [[ 8.68432764e-01 -4.94740886e-01 -3.24959919e-02 2.00397585e+02] [ 4.94377793e-01 8.69040447e-01 -1.89551700e-02 5.36719429e+01] [ 3.76182290e-02 3.95993935e-04 9.99292105e-01 7.68507548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.728623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:200.45, Y:53.70, Z:7.69 [[ 8.68257434e-01 -4.95048757e-01 -3.24924232e-02 2.00446278e+02] [ 4.94685651e-01 8.68865108e-01 -1.89612855e-02 5.37024434e+01] [ 3.76182936e-02 3.89741619e-04 9.99292105e-01 7.68764691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.788623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:200.50, Y:53.73, Z:7.69 [[ 8.68254751e-01 -4.95053564e-01 -3.24908808e-02 2.00496234e+02] [ 4.94690362e-01 8.68862368e-01 -1.89639280e-02 5.37325464e+01] [ 3.76182638e-02 3.92595003e-04 9.99292105e-01 7.69092962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.848623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:200.54, Y:53.76, Z:7.69 [[ 8.69135140e-01 -4.93506519e-01 -3.24872757e-02 2.00544622e+02] [ 4.93142006e-01 8.69741972e-01 -1.89701021e-02 5.37643840e+01] [ 3.76174162e-02 4.66742060e-04 9.99292106e-01 7.69460876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:200.59, Y:53.80, Z:7.69 [[ 8.69697263e-01 -4.92515469e-01 -3.24835897e-02 2.00591468e+02] [ 4.92150029e-01 8.70303536e-01 -1.89764117e-02 5.37968895e+01] [ 3.76167593e-02 5.16933718e-04 9.99292106e-01 7.69420263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.968623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:200.64, Y:53.83, Z:7.70 [[ 8.69497290e-01 -4.92868520e-01 -3.24820604e-02 2.00638550e+02] [ 4.92503228e-01 8.70103653e-01 -1.89790290e-02 5.38309657e+01] [ 3.76169254e-02 5.04694744e-04 9.99292106e-01 7.69589439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.028623853 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:200.69, Y:53.86, Z:7.70 [[ 8.68266817e-01 -4.95033213e-01 -3.24785095e-02 2.00686371e+02] [ 4.94669205e-01 8.68873952e-01 -1.89851037e-02 5.38628646e+01] [ 3.76179877e-02 4.18017126e-04 9.99292106e-01 7.69799684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.088623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:200.73, Y:53.90, Z:7.70 [[ 8.66367557e-01 -4.98349779e-01 -3.24769702e-02 2.00734172e+02] [ 4.97987997e-01 8.66976021e-01 -1.89877365e-02 5.38965363e+01] [ 3.76192887e-02 2.77217511e-04 9.99292106e-01 7.70074444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.148623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:200.78, Y:53.93, Z:7.70 [[ 8.65144753e-01 -5.00469813e-01 -3.24734203e-02 2.00782178e+02] [ 5.00109294e-01 8.65753966e-01 -1.89938058e-02 5.39288798e+01] [ 3.76198188e-02 1.92132117e-04 9.99292106e-01 7.70328052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:53.96, Z:7.71 [[ 8.63175063e-01 -5.03859620e-01 -3.24698849e-02 2.00830016e+02] [ 5.03501267e-01 8.63785552e-01 -1.89998475e-02 5.39619292e+01] [ 3.76202734e-02 5.15663678e-05 9.99292106e-01 7.70638653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:53.99, Z:7.71 [[ 8.61929990e-01 -5.05986800e-01 -3.24661369e-02 2.00878010e+02] [ 5.05629712e-01 8.62541220e-01 -1.90062497e-02 5.39920008e+01] [ 3.76202929e-02 -3.37868166e-05 9.99292106e-01 7.70687909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32862385299998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:200.93, Y:54.02, Z:7.71 [[ 8.59916224e-01 -5.09401750e-01 -3.24645141e-02 2.00926196e+02] [ 5.09046984e-01 8.60528805e-01 -1.90090213e-02 5.40231534e+01] [ 3.76198783e-02 -1.79797130e-04 9.99292106e-01 7.70790778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:54.05, Z:7.71 [[ 8.58707085e-01 -5.11437503e-01 -3.24626334e-02 2.00975660e+02] [ 5.11084068e-01 8.59320435e-01 -1.90122326e-02 5.40534700e+01] [ 3.76193730e-02 -2.65195920e-04 9.99292106e-01 7.71010395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.448623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.03, Y:54.08, Z:7.71 [[ 8.57991803e-01 -5.12636777e-01 -3.24592179e-02 2.01025116e+02] [ 5.12283979e-01 8.58605520e-01 -1.90180620e-02 5.40841546e+01] [ 3.76190216e-02 -3.10995993e-04 9.99292106e-01 7.71192732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.07, Y:54.12, Z:7.71 [[ 8.58387702e-01 -5.11973808e-01 -3.24557129e-02 2.01073070e+02] [ 5.11620310e-01 8.59001015e-01 -1.90240417e-02 5.41164235e+01] [ 3.76193014e-02 -2.74998465e-04 9.99292106e-01 7.71419564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.568623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:201.12, Y:54.15, Z:7.72 [[ 8.58991981e-01 -5.10959517e-01 -3.24522434e-02 2.01121961e+02] [ 5.10605071e-01 8.59604747e-01 -1.90299583e-02 5.41482419e+01] [ 3.76196408e-02 -2.23698422e-04 9.99292106e-01 7.71608236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.628623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:201.17, Y:54.18, Z:7.72 [[ 8.60230853e-01 -5.08871258e-01 -3.24487675e-02 2.01170455e+02] [ 5.08515102e-01 8.60842626e-01 -1.90358833e-02 5.41795365e+01] [ 3.76200961e-02 -1.25434200e-04 9.99292106e-01 7.71928872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.688623853 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:54.21, Z:7.73 [[ 8.60896964e-01 -5.07743764e-01 -3.24451412e-02 2.01218069e+02] [ 5.07386573e-01 8.61508134e-01 -1.90420620e-02 5.42115231e+01] [ 3.76202413e-02 -6.89756133e-05 9.99292106e-01 7.72829720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.748623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:201.27, Y:54.24, Z:7.72 [[ 8.60506185e-01 -5.08405995e-01 -3.24414826e-02 2.01267125e+02] [ 5.08049039e-01 8.61117493e-01 -1.90482931e-02 5.42422336e+01] [ 3.76201945e-02 -9.06900404e-05 9.99292106e-01 7.71920870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.808623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:201.32, Y:54.27, Z:7.72 [[ 8.59534328e-01 -5.10047412e-01 -3.24403577e-02 2.01316791e+02] [ 5.09691551e-01 8.60146274e-01 -1.90502087e-02 5.42730367e+01] [ 3.76199624e-02 -1.60267867e-04 9.99292106e-01 7.72070774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:54.30, Z:7.72 [[ 8.58328943e-01 -5.12073513e-01 -3.24367672e-02 2.01366014e+02] [ 5.11718866e-01 8.58941592e-01 -1.90563202e-02 5.43027333e+01] [ 3.76195253e-02 -2.41914532e-04 9.99292106e-01 7.72474208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.41, Y:54.33, Z:7.73 [[ 8.56959315e-01 -5.14362430e-01 -3.24349093e-02 2.01414905e+02] [ 5.14009299e-01 8.57572840e-01 -1.90594820e-02 5.43329821e+01] [ 3.76187787e-02 -3.38644323e-04 9.99292106e-01 7.72913181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98862385299998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:54.36, Z:7.73 [[ 8.55654211e-01 -5.16530684e-01 -3.24333549e-02 2.01463840e+02] [ 5.16179008e-01 8.56268571e-01 -1.90621267e-02 5.43618738e+01] [ 3.76178358e-02 -4.30827938e-04 9.99292106e-01 7.73116275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:54.39, Z:7.73 [[ 8.54956177e-01 -5.17685366e-01 -3.24314268e-02 2.01514023e+02] [ 5.17334395e-01 8.55570940e-01 -1.90654066e-02 5.43913742e+01] [ 3.76172683e-02 -4.77805440e-04 9.99292106e-01 7.73384050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.56, Y:54.42, Z:7.73 [[ 8.54460539e-01 -5.18503243e-01 -3.24279958e-02 2.01563801e+02] [ 5.18152639e-01 8.55075512e-01 -1.90712404e-02 5.44214260e+01] [ 3.76168851e-02 -5.07029290e-04 9.99292106e-01 7.73456989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.61, Y:54.45, Z:7.74 [[ 8.54586800e-01 -5.18295328e-01 -3.24245860e-02 2.01614147e+02] [ 5.17944355e-01 8.55201562e-01 -1.90770360e-02 5.44508950e+01] [ 3.76170952e-02 -4.91148089e-04 9.99292106e-01 7.73699973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.228623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:201.66, Y:54.48, Z:7.74 [[ 8.55127324e-01 -5.17403253e-01 -3.24212057e-02 2.01662848e+02] [ 5.17051421e-01 8.55741594e-01 -1.90827790e-02 5.44797768e+01] [ 3.76176662e-02 -4.45224770e-04 9.99292106e-01 7.73852900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.288623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.71, Y:54.51, Z:7.74 [[ 8.55980314e-01 -5.15990975e-01 -3.24193890e-02 2.01712129e+02] [ 5.15638012e-01 8.56593935e-01 -1.90858649e-02 5.45082216e+01] [ 3.76183860e-02 -3.79544649e-04 9.99292106e-01 7.74107334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.76, Y:54.54, Z:7.74 [[ 8.56912709e-01 -5.14441192e-01 -3.24171161e-02 2.01761547e+02] [ 5.14086974e-01 8.57525606e-01 -1.90897245e-02 5.45382929e+01] [ 3.76190478e-02 -3.06989577e-04 9.99292106e-01 7.74308068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:54.57, Z:7.74 [[ 8.58553633e-01 -5.11698155e-01 -3.24138336e-02 2.01809757e+02] [ 5.11341769e-01 8.59165272e-01 -1.90952966e-02 5.45679325e+01] [ 3.76198682e-02 -1.80210681e-04 9.99292106e-01 7.74353576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.468623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:54.60, Z:7.75 [[ 8.59069193e-01 -5.10832231e-01 -3.24122543e-02 2.01860050e+02] [ 5.10475127e-01 8.59680413e-01 -1.90979770e-02 5.45970748e+01] [ 3.76200423e-02 -1.39165930e-04 9.99292106e-01 7.74653300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.528623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:201.91, Y:54.63, Z:7.75 [[ 8.59430399e-01 -5.10224524e-01 -3.24087147e-02 2.01909747e+02] [ 5.09866761e-01 8.60041234e-01 -1.91039816e-02 5.46261605e+01] [ 3.76201509e-02 -1.05583842e-04 9.99292106e-01 7.74930880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.96, Y:54.66, Z:7.75 [[ 8.60713985e-01 -5.08056435e-01 -3.24051589e-02 2.01956987e+02] [ 5.07696906e-01 8.61323783e-01 -1.91100113e-02 5.46577776e+01] [ 3.76202982e-02 -3.74491922e-06 9.99292106e-01 7.75110990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.01, Y:54.69, Z:7.76 [[ 8.61906901e-01 -5.06030167e-01 -3.24031516e-02 2.02005793e+02] [ 5.05669076e-01 8.62515775e-01 -1.91134142e-02 5.46880141e+01] [ 3.76201936e-02 8.87118270e-05 9.99292106e-01 7.75687322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:54.72, Z:7.76 [[ 8.62359272e-01 -5.05259105e-01 -3.23994190e-02 2.02054393e+02] [ 5.04897233e-01 8.62967682e-01 -1.91197394e-02 5.47175081e+01] [ 3.76200739e-02 1.29707573e-04 9.99292106e-01 7.75755234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:54.75, Z:7.76 [[ 8.63036868e-01 -5.04100930e-01 -3.23978030e-02 2.02103324e+02] [ 5.03738138e-01 8.63644730e-01 -1.91224773e-02 5.47478590e+01] [ 3.76198503e-02 1.83393927e-04 9.99292106e-01 7.75885668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:54.78, Z:7.76 [[ 8.62060219e-01 -5.05769510e-01 -3.23941716e-02 2.02152695e+02] [ 5.05407664e-01 8.62668644e-01 -1.91286270e-02 5.47785408e+01] [ 3.76201124e-02 1.17765809e-04 9.99292106e-01 7.76154922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.20, Y:54.81, Z:7.76 [[ 8.61460825e-01 -5.06790001e-01 -3.23904623e-02 2.02202221e+02] [ 5.06428640e-01 8.62069538e-01 -1.91349058e-02 5.48064134e+01] [ 3.76202098e-02 8.05139850e-05 9.99292106e-01 7.76421728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.948623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.25, Y:54.84, Z:7.77 [[ 8.62196627e-01 -5.05537278e-01 -3.23888555e-02 2.02251166e+02] [ 5.05174930e-01 8.62804753e-01 -1.91376252e-02 5.48372225e+01] [ 3.76200414e-02 1.38358071e-04 9.99292106e-01 7.76646544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.008623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:54.87, Z:7.77 [[ 8.63613841e-01 -5.03112643e-01 -3.23852206e-02 2.02300810e+02] [ 5.02748357e-01 8.64220808e-01 -1.91437743e-02 5.48684206e+01] [ 3.76194564e-02 2.51211933e-04 9.99292106e-01 7.76650914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:54.90, Z:7.77 [[ 8.64158852e-01 -5.02176144e-01 -3.23820733e-02 2.02349527e+02] [ 5.01811001e-01 8.64765304e-01 -1.91490966e-02 5.48995012e+01] [ 3.76191129e-02 2.98180676e-04 9.99292106e-01 7.76847678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:54.93, Z:7.77 [[ 8.64315927e-01 -5.01905978e-01 -3.23784964e-02 2.02398753e+02] [ 5.01540419e-01 8.64922129e-01 -1.91551427e-02 5.49310136e+01] [ 3.76189587e-02 3.16970333e-04 9.99292106e-01 7.77400862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.188623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.45, Y:54.96, Z:7.78 [[ 8.64265723e-01 -5.01992631e-01 -3.23752710e-02 2.02448581e+02] [ 5.01626929e-01 8.64871838e-01 -1.91605925e-02 5.49607075e+01] [ 3.76189364e-02 3.19535590e-04 9.99292106e-01 7.77802613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.50, Y:54.99, Z:7.78 [[ 8.64596951e-01 -5.01422005e-01 -3.23741285e-02 2.02497274e+02] [ 5.01055831e-01 8.65202781e-01 -1.91625229e-02 5.49902445e+01] [ 3.76186966e-02 3.46613018e-04 9.99292106e-01 7.77997314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.55, Y:55.02, Z:7.78 [[ 8.65584766e-01 -4.99714970e-01 -3.23722229e-02 2.02545773e+02] [ 4.99347480e-01 8.66189799e-01 -1.91657415e-02 5.50226098e+01] [ 3.76178972e-02 4.24585910e-04 9.99292106e-01 7.78084225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:55.05, Z:7.78 [[ 8.66240432e-01 -4.98577750e-01 -3.23688212e-02 2.02593739e+02] [ 4.98209251e-01 8.66844851e-01 -1.91714849e-02 5.50549189e+01] [ 3.76172218e-02 4.80669149e-04 9.99292106e-01 7.78418148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:55.09, Z:7.79 [[ 8.66436584e-01 -4.98237033e-01 -3.23651606e-02 2.02642558e+02] [ 4.97868066e-01 8.67040718e-01 -1.91776627e-02 5.50861966e+01] [ 3.76169338e-02 5.02648624e-04 9.99292106e-01 7.78670604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:55.12, Z:7.79 [[ 8.66309690e-01 -4.98457873e-01 -3.23615363e-02 2.02690575e+02] [ 4.98088832e-01 8.66913778e-01 -1.91837765e-02 5.51192282e+01] [ 3.76169662e-02 5.00171645e-04 9.99292106e-01 7.78980594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:55.15, Z:7.79 [[ 8.66307643e-01 -4.98461666e-01 -3.23579293e-02 2.02737679e+02] [ 4.98092400e-01 8.66911593e-01 -1.91898588e-02 5.51526527e+01] [ 3.76168730e-02 5.07082654e-04 9.99292106e-01 7.79174907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.79, Y:55.19, Z:7.79 [[ 8.66251990e-01 -4.98558608e-01 -3.23543517e-02 2.02785721e+02] [ 4.98189185e-01 8.66855844e-01 -1.91958887e-02 5.51854481e+01] [ 3.76168344e-02 5.09888696e-04 9.99292106e-01 7.79349633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.83, Y:55.22, Z:7.80 [[ 8.66229511e-01 -4.98597894e-01 -3.23507960e-02 2.02830930e+02] [ 4.98228274e-01 8.66833245e-01 -1.92018793e-02 5.52203511e+01] [ 3.76167620e-02 5.15153238e-04 9.99292106e-01 7.79664304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.728623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.88, Y:55.26, Z:7.80 [[ 8.65380401e-01 -5.00070339e-01 -3.23483881e-02 2.02876024e+02] [ 4.99701594e-01 8.65984670e-01 -1.92059348e-02 5.52554222e+01] [ 3.76175265e-02 4.55898452e-04 9.99292106e-01 7.79845703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.788623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:202.92, Y:55.29, Z:7.80 [[ 8.64533053e-01 -5.01533926e-01 -3.23468729e-02 2.02923743e+02] [ 5.01166110e-01 8.65137888e-01 -1.92084864e-02 5.52885705e+01] [ 3.76182129e-02 3.95214922e-04 9.99292106e-01 7.79901147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.848623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:202.97, Y:55.32, Z:7.80 [[ 8.63187772e-01 -5.03845981e-01 -3.23434157e-02 2.02969899e+02] [ 5.03479567e-01 8.63793457e-01 -1.92143059e-02 5.53246064e+01] [ 3.76190817e-02 3.01304979e-04 9.99292106e-01 7.80003352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.908623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:55.36, Z:7.80 [[ 8.62421336e-01 -5.05156972e-01 -3.23399757e-02 2.03016391e+02] [ 5.04791261e-01 8.63027445e-01 -1.92200941e-02 5.53587203e+01] [ 3.76194511e-02 2.50882075e-04 9.99292106e-01 7.80221681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.06, Y:55.40, Z:7.80 [[ 8.61160017e-01 -5.07304320e-01 -3.23380878e-02 2.03061666e+02] [ 5.06940001e-01 8.61766964e-01 -1.92232701e-02 5.53967208e+01] [ 3.76199437e-02 1.60841327e-04 9.99292106e-01 7.80474436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.028623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.11, Y:55.43, Z:7.81 [[ 8.60370219e-01 -5.08642853e-01 -3.23347327e-02 2.03108963e+02] [ 5.08279266e-01 8.60977605e-01 -1.92289119e-02 5.54309855e+01] [ 3.76201293e-02 1.08908901e-04 9.99292106e-01 7.80738908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.15, Y:55.47, Z:7.81 [[ 8.59238040e-01 -5.10553300e-01 -3.23313895e-02 2.03153726e+02] [ 5.10190853e-01 8.59846106e-01 -1.92345314e-02 5.54679187e+01] [ 3.76202729e-02 3.18618644e-05 9.99292106e-01 7.81303544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:55.50, Z:7.81 [[ 8.58017856e-01 -5.12601483e-01 -3.23276626e-02 2.03199403e+02] [ 5.12240251e-01 8.58626646e-01 -1.92407933e-02 5.55019528e+01] [ 3.76202517e-02 -5.05857378e-05 9.99292106e-01 7.81166520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.24, Y:55.54, Z:7.81 [[ 8.55623006e-01 -5.16589157e-01 -3.23251400e-02 2.03244375e+02] [ 5.16230602e-01 8.56233376e-01 -1.92450303e-02 5.55379908e+01] [ 3.76196378e-02 -2.20735844e-04 9.99292107e-01 7.81361284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.29, Y:55.57, Z:7.82 [[ 8.52334488e-01 -5.21997270e-01 -3.23229119e-02 2.03290731e+02] [ 5.21642446e-01 8.52947034e-01 -1.92487719e-02 5.55737071e+01] [ 3.76175382e-02 -4.54610684e-04 9.99292107e-01 7.82109345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32862385299998 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:203.34, Y:55.61, Z:7.83 [[ 8.49382837e-01 -5.26786579e-01 -3.23217692e-02 2.03337723e+02] [ 5.26435136e-01 8.49997329e-01 -1.92506903e-02 5.56061344e+01] [ 3.76144228e-02 -6.64109005e-04 9.99292107e-01 7.82763462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:55.64, Z:7.82 [[ 8.45425015e-01 -5.33115323e-01 -3.23202272e-02 2.03387219e+02] [ 5.32768379e-01 8.46042059e-01 -1.92532790e-02 5.56370459e+01] [ 3.76084896e-02 -9.41991377e-04 9.99292107e-01 7.82405669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:203.44, Y:55.67, Z:7.83 [[ 8.41979228e-01 -5.38541190e-01 -3.23166450e-02 2.03436014e+02] [ 5.38197992e-01 8.42598363e-01 -1.92592898e-02 5.56678043e+01] [ 3.76018730e-02 -1.17683151e-03 9.99292107e-01 7.82564610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.508623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:55.69, Z:7.83 [[ 8.39170649e-01 -5.42907439e-01 -3.23130712e-02 2.03487284e+02] [ 5.42567231e-01 8.39791432e-01 -1.92652840e-02 5.56943510e+01] [ 3.75955063e-02 -1.36515275e-03 9.99292107e-01 7.82891799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.568623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:55.72, Z:7.83 [[ 8.38349328e-01 -5.44174952e-01 -3.23114012e-02 2.03537296e+02] [ 5.43835574e-01 8.38970565e-01 -1.92680845e-02 5.57229337e+01] [ 3.75935235e-02 -1.41870374e-03 9.99292107e-01 7.83210993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.59, Y:55.75, Z:7.83 [[ 8.37368267e-01 -5.45683595e-01 -3.23078825e-02 2.03587927e+02] [ 5.45345109e-01 8.37989991e-01 -1.92739828e-02 5.57504998e+01] [ 3.75911783e-02 -1.47952411e-03 9.99292107e-01 7.83354807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.688623853 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:203.64, Y:55.78, Z:7.84 [[ 8.38037545e-01 -5.44655396e-01 -3.23043724e-02 2.03639299e+02] [ 5.44315921e-01 8.38658730e-01 -1.92798641e-02 5.57763804e+01] [ 3.75932259e-02 -1.42653420e-03 9.99292107e-01 7.84416910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:55.80, Z:7.84 [[ 8.41054425e-01 -5.39985140e-01 -3.23032897e-02 2.03692606e+02] [ 5.39642145e-01 8.41673673e-01 -1.92816779e-02 5.58018460e+01] [ 3.76006481e-02 -1.21527602e-03 9.99292107e-01 7.83566700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.74, Y:55.83, Z:7.84 [[ 8.45295880e-01 -5.33321287e-01 -3.22998476e-02 2.03743928e+02] [ 5.32973189e-01 8.45912273e-01 -1.92874423e-02 5.58285483e+01] [ 3.76092411e-02 -9.11357233e-04 9.99292107e-01 7.83962566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.79, Y:55.86, Z:7.84 [[ 8.48374341e-01 -5.28410763e-01 -3.22961815e-02 2.03794244e+02] [ 5.28058863e-01 8.48988572e-01 -1.92935790e-02 5.58560140e+01] [ 3.76140239e-02 -6.86107511e-04 9.99292107e-01 7.84173997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.928623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.85, Y:55.88, Z:7.84 [[ 8.52341785e-01 -5.21987107e-01 -3.22945905e-02 2.03846067e+02] [ 5.21630477e-01 8.52953282e-01 -1.92962419e-02 5.58824064e+01] [ 3.76181664e-02 -3.98849343e-04 9.99292107e-01 7.84418787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.90, Y:55.91, Z:7.84 [[ 8.55541123e-01 -5.16726894e-01 -3.22909246e-02 2.03896806e+02] [ 5.16366272e-01 8.56150274e-01 -1.93023746e-02 5.59095128e+01] [ 3.76199400e-02 -1.59969123e-04 9.99292107e-01 7.84394030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.95, Y:55.94, Z:7.85 [[ 8.57464799e-01 -5.13528498e-01 -3.22893280e-02 2.03946836e+02] [ 5.13165504e-01 8.58072538e-01 -1.93050449e-02 5.59389037e+01] [ 3.76202764e-02 -1.63728005e-05 9.99292107e-01 7.84858936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:55.97, Z:7.85 [[ 8.60098675e-01 -5.09105003e-01 -3.22856981e-02 2.03996146e+02] [ 5.08738655e-01 8.60704399e-01 -1.93111136e-02 5.59683080e+01] [ 3.76198270e-02 1.84480594e-04 9.99292107e-01 7.85235440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.04, Y:56.00, Z:7.85 [[ 8.61107296e-01 -5.07397213e-01 -3.22845769e-02 2.04044025e+02] [ 5.07029593e-01 8.61712249e-01 -1.93129879e-02 5.59982056e+01] [ 3.76193716e-02 2.61318926e-04 9.99292107e-01 7.85479250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.09, Y:56.03, Z:7.86 [[ 8.61207741e-01 -5.07226822e-01 -3.22827972e-02 2.04093202e+02] [ 5.06858971e-01 8.61812553e-01 -1.93159623e-02 5.60296249e+01] [ 3.76192941e-02 2.72230882e-04 9.99292107e-01 7.85514771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.14, Y:56.06, Z:7.86 [[ 8.60464139e-01 -5.08487449e-01 -3.22797182e-02 2.04142104e+02] [ 5.08120291e-01 8.61069373e-01 -1.93211064e-02 5.60602794e+01] [ 3.76196168e-02 2.23139378e-04 9.99292107e-01 7.85790062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.19, Y:56.09, Z:7.86 [[ 8.59026844e-01 -5.10912055e-01 -3.22762051e-02 2.04190583e+02] [ 5.10546385e-01 8.59632978e-01 -1.93269734e-02 5.60905672e+01] [ 3.76200740e-02 1.23889084e-04 9.99292107e-01 7.86014634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.24, Y:56.12, Z:7.86 [[ 8.57718166e-01 -5.13106122e-01 -3.22746938e-02 2.04238719e+02] [ 5.12741908e-01 8.58325175e-01 -1.93294969e-02 5.61216865e+01] [ 3.76202653e-02 3.06725264e-05 9.99292107e-01 7.86285289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.29, Y:56.15, Z:7.86 [[ 8.56747845e-01 -5.14724779e-01 -3.22727904e-02 2.04287673e+02] [ 5.14361592e-01 8.57355469e-01 -1.93326743e-02 5.61522277e+01] [ 3.76202598e-02 -3.66568142e-05 9.99292107e-01 7.86373968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:56.18, Z:7.86 [[ 8.54850455e-01 -5.17870047e-01 -3.22694060e-02 2.04336609e+02] [ 5.17508882e-01 8.55459284e-01 -1.93383217e-02 5.61830400e+01] [ 3.76199005e-02 -1.68331059e-04 9.99292107e-01 7.86476133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:56.21, Z:7.87 [[ 8.53502452e-01 -5.20088902e-01 -3.22660531e-02 2.04385881e+02] [ 5.19729108e-01 8.54112093e-01 -1.93439143e-02 5.62130738e+01] [ 3.76193813e-02 -2.59528729e-04 9.99292107e-01 7.86678646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:56.24, Z:7.87 [[ 8.53582386e-01 -5.19957908e-01 -3.22627360e-02 2.04435153e+02] [ 5.19597812e-01 8.54191848e-01 -1.93494452e-02 5.62441228e+01] [ 3.76194631e-02 -2.47301476e-04 9.99292107e-01 7.87043727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:56.28, Z:7.88 [[ 8.54878952e-01 -5.17823526e-01 -3.22610194e-02 2.04484677e+02] [ 5.17461800e-01 8.55487448e-01 -1.93523069e-02 5.62757062e+01] [ 3.76199769e-02 -1.49965334e-04 9.99292107e-01 7.87666092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.53, Y:56.31, Z:7.88 [[ 8.55916863e-01 -5.16106341e-01 -3.22578368e-02 2.04533271e+02] [ 5.15743194e-01 8.56524512e-01 -1.93576103e-02 5.63076252e+01] [ 3.76202134e-02 -6.82546851e-05 9.99292107e-01 7.87841000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.58, Y:56.34, Z:7.88 [[ 8.58196331e-01 -5.12307260e-01 -3.22541435e-02 2.04579649e+02] [ 5.11941192e-01 8.58802224e-01 -1.93637624e-02 5.63414997e+01] [ 3.76201262e-02 1.05685176e-04 9.99292107e-01 7.88032081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.63, Y:56.38, Z:7.88 [[ 8.60579410e-01 -5.08294118e-01 -3.22516441e-02 2.04626431e+02] [ 5.07925069e-01 8.61183493e-01 -1.93679243e-02 5.63762453e+01] [ 3.76191855e-02 2.86218357e-04 9.99292107e-01 7.88388546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.67, Y:56.41, Z:7.89 [[ 8.61647035e-01 -5.06482307e-01 -3.22499521e-02 2.04672877e+02] [ 5.06111882e-01 8.62250275e-01 -1.93707414e-02 5.64121633e+01] [ 3.76184678e-02 3.68657943e-04 9.99292107e-01 7.88591854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.72, Y:56.45, Z:7.89 [[ 8.61514689e-01 -5.06707625e-01 -3.22462847e-02 2.04719501e+02] [ 5.06337130e-01 8.62117885e-01 -1.93768444e-02 5.64470302e+01] [ 3.76184936e-02 3.65944850e-04 9.99292107e-01 7.88672659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.068623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.77, Y:56.48, Z:7.89 [[ 8.59600082e-01 -5.09949128e-01 -3.22426282e-02 2.04766004e+02] [ 5.09580679e-01 8.60204530e-01 -1.93829269e-02 5.64819305e+01] [ 3.76195615e-02 2.31345127e-04 9.99292107e-01 7.88811244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.128623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:204.81, Y:56.52, Z:7.89 [[ 8.56549508e-01 -5.15056757e-01 -3.22409249e-02 2.04813726e+02] [ 5.14691806e-01 8.57156075e-01 -1.93857598e-02 5.65159935e+01] [ 3.76202712e-02 1.07231651e-05 9.99292107e-01 7.88934955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:56.55, Z:7.89 [[ 8.54621447e-01 -5.18249871e-01 -3.22374566e-02 2.04861521e+02] [ 5.17886969e-01 8.55229242e-01 -1.93915256e-02 5.65484519e+01] [ 3.76200712e-02 -1.22945059e-04 9.99292107e-01 7.89104133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.248623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.91, Y:56.58, Z:7.90 [[ 8.51672354e-01 -5.23082372e-01 -3.22340294e-02 2.04909756e+02] [ 5.22722703e-01 8.52282068e-01 -1.93972209e-02 5.65829299e+01] [ 3.76188295e-02 -3.29382135e-04 9.99292107e-01 7.89621799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:56.62, Z:7.90 [[ 8.49791074e-01 -5.26133350e-01 -3.22308706e-02 2.04957989e+02] [ 5.25775671e-01 8.50401957e-01 -1.94024682e-02 5.66155125e+01] [ 3.76174810e-02 -4.58163325e-04 9.99292107e-01 7.89560239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.01, Y:56.65, Z:7.90 [[ 8.49395293e-01 -5.26772131e-01 -3.22297636e-02 2.05007153e+02] [ 5.26414842e-01 8.50006404e-01 -1.94043069e-02 5.66479708e+01] [ 3.76171535e-02 -4.84299002e-04 9.99292107e-01 7.89632879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.05, Y:56.68, Z:7.90 [[ 8.50137918e-01 -5.25572983e-01 -3.22266923e-02 2.05054744e+02] [ 5.25214638e-01 8.50748411e-01 -1.94094063e-02 5.66815008e+01] [ 3.76178669e-02 -4.25258269e-04 9.99292107e-01 7.89956939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:56.71, Z:7.90 [[ 8.50699707e-01 -5.24663391e-01 -3.22232096e-02 2.05103501e+02] [ 5.24304175e-01 8.51309687e-01 -1.94151866e-02 5.67131258e+01] [ 3.76183681e-02 -3.78269768e-04 9.99292107e-01 7.90251292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:56.75, Z:7.91 [[ 8.52753759e-01 -5.21318439e-01 -3.22197420e-02 2.05149505e+02] [ 5.20956613e-01 8.53362194e-01 -1.94209394e-02 5.67462219e+01] [ 3.76196035e-02 -2.23808567e-04 9.99292107e-01 7.90500507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:56.78, Z:7.91 [[ 8.53742920e-01 -5.19697038e-01 -3.22182404e-02 2.05197165e+02] [ 5.19333962e-01 8.54350611e-01 -1.94234301e-02 5.67790778e+01] [ 3.76199725e-02 -1.49410574e-04 9.99292107e-01 7.90607845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.24, Y:56.81, Z:7.91 [[ 8.54541720e-01 -5.18382728e-01 -3.22148363e-02 2.05244822e+02] [ 5.18018504e-01 8.55148724e-01 -1.94290744e-02 5.68119569e+01] [ 3.76201727e-02 -8.49266116e-05 9.99292107e-01 7.90573704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.29, Y:56.85, Z:7.91 [[ 8.54098028e-01 -5.19113506e-01 -3.22137794e-02 2.05292446e+02] [ 5.18749735e-01 8.54705303e-01 -1.94308266e-02 5.68450465e+01] [ 3.76200926e-02 -1.15058867e-04 9.99292107e-01 7.90821121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.34, Y:56.88, Z:7.91 [[ 8.53325390e-01 -5.20382807e-01 -3.22104550e-02 2.05340390e+02] [ 5.20019732e-01 8.53933081e-01 -1.94363358e-02 5.68765829e+01] [ 3.76199081e-02 -1.64553378e-04 9.99292107e-01 7.91317669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.848623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:56.91, Z:7.92 [[ 8.52133110e-01 -5.22333105e-01 -3.22070024e-02 2.05389613e+02] [ 5.21971204e-01 8.52741501e-01 -1.94420553e-02 5.69092751e+01] [ 3.76194767e-02 -2.43908796e-04 9.99292107e-01 7.91953018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:56.94, Z:7.92 [[ 8.50694613e-01 -5.24672842e-01 -3.22037936e-02 2.05437710e+02] [ 5.24312414e-01 8.51303878e-01 -1.94473689e-02 5.69392873e+01] [ 3.76187207e-02 -3.41076778e-04 9.99292107e-01 7.92158158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.968623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.49, Y:56.97, Z:7.92 [[ 8.49454702e-01 -5.26678066e-01 -3.22013138e-02 2.05487215e+02] [ 5.26318920e-01 8.50064724e-01 -1.94514742e-02 5.69693565e+01] [ 3.76178657e-02 -4.25014446e-04 9.99292107e-01 7.92372823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.54, Y:57.00, Z:7.92 [[ 8.47513188e-01 -5.29796855e-01 -3.21976444e-02 2.05536643e+02] [ 5.29439724e-01 8.48124391e-01 -1.94575461e-02 5.69989808e+01] [ 3.76161543e-02 -5.56185004e-04 9.99292107e-01 7.92434170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.59, Y:57.03, Z:7.92 [[ 8.45863407e-01 -5.32427126e-01 -3.21939754e-02 2.05587023e+02] [ 5.32071664e-01 8.46475583e-01 -1.94636149e-02 5.70280755e+01] [ 3.76143706e-02 -6.65942478e-04 9.99292107e-01 7.92484163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.64, Y:57.06, Z:7.93 [[ 8.43282959e-01 -5.36505018e-01 -3.21903333e-02 2.05637548e+02] [ 5.36152286e-01 8.43896712e-01 -1.94696367e-02 5.70555555e+01] [ 3.76108741e-02 -8.40507954e-04 9.99292107e-01 7.92682014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:57.08, Z:7.93 [[ 8.41702578e-01 -5.38981247e-01 -3.21867350e-02 2.05688929e+02] [ 5.38630093e-01 8.42317235e-01 -1.94755834e-02 5.70830569e+01] [ 3.76084159e-02 -9.44095262e-04 9.99292107e-01 7.92905811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.74, Y:57.11, Z:7.93 [[ 8.41027653e-01 -5.40034008e-01 -3.21831733e-02 2.05740811e+02] [ 5.39683399e-01 8.41642621e-01 -1.94814673e-02 5.71091779e+01] [ 3.76073852e-02 -9.84271584e-04 9.99292107e-01 7.93191738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.79, Y:57.14, Z:7.93 [[ 8.41065138e-01 -5.39975845e-01 -3.21794950e-02 2.05791694e+02] [ 5.39624961e-01 8.41679949e-01 -1.94875413e-02 5.71358939e+01] [ 3.76076373e-02 -9.74567117e-04 9.99292107e-01 7.93384308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.84, Y:57.16, Z:7.94 [[ 8.41768050e-01 -5.38879488e-01 -3.21783634e-02 2.05843824e+02] [ 5.38527732e-01 8.42382362e-01 -1.94894096e-02 5.71608962e+01] [ 3.76089288e-02 -9.23378797e-04 9.99292107e-01 7.93519983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.90, Y:57.19, Z:7.94 [[ 8.43694893e-01 -5.35857910e-01 -3.21749482e-02 2.05897001e+02] [ 5.35503739e-01 8.44307817e-01 -1.94950461e-02 5.71867438e+01] [ 3.76121349e-02 -7.81934222e-04 9.99292107e-01 7.94013992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:57.21, Z:7.94 [[ 8.46615856e-01 -5.31231177e-01 -3.21718625e-02 2.05949051e+02] [ 5.30873462e-01 8.47226718e-01 -1.95001369e-02 5.72120500e+01] [ 3.76159422e-02 -5.70062988e-04 9.99292107e-01 7.94317814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.568623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:57.24, Z:7.95 [[ 8.48657350e-01 -5.27963925e-01 -3.21682453e-02 2.06000392e+02] [ 5.27603632e-01 8.49266695e-01 -1.95061022e-02 5.72390311e+01] [ 3.76179377e-02 -4.18086008e-04 9.99292107e-01 7.94575762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.628623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.05, Y:57.26, Z:7.95 [[ 8.52079837e-01 -5.22422621e-01 -3.21645254e-02 2.06051209e+02] [ 5.22058134e-01 8.52686682e-01 -1.95122341e-02 5.72649004e+01] [ 3.76198950e-02 -1.65770868e-04 9.99292107e-01 7.94613845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.688623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:57.29, Z:7.95 [[ 8.54254028e-01 -5.18859906e-01 -3.21629277e-02 2.06101588e+02] [ 5.18492789e-01 8.54859285e-01 -1.95148674e-02 5.72937594e+01] [ 3.76202597e-02 -5.59206931e-06 9.99292107e-01 7.94877949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.748623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:57.32, Z:7.95 [[ 8.57716452e-01 -5.13116238e-01 -3.21592170e-02 2.06151614e+02] [ 5.12744838e-01 8.58319091e-01 -1.95209805e-02 5.73219314e+01] [ 3.76194020e-02 2.53993642e-04 9.99292107e-01 7.95189802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.20, Y:57.35, Z:7.96 [[ 8.60415852e-01 -5.08576886e-01 -3.21576143e-02 2.06201398e+02] [ 5.08202209e-01 8.61016459e-01 -1.95236202e-02 5.73517388e+01] [ 3.76174972e-02 4.55861709e-04 9.99292107e-01 7.95610303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:57.38, Z:7.96 [[ 8.61128387e-01 -5.07369551e-01 -3.21564824e-02 2.06251054e+02] [ 5.06993962e-01 8.61728425e-01 -1.95254844e-02 5.73822178e+01] [ 3.76167912e-02 5.10806515e-04 9.99292107e-01 7.96032585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:57.41, Z:7.96 [[ 8.60643095e-01 -5.08192510e-01 -3.21533149e-02 2.06300137e+02] [ 5.07817301e-01 8.61243369e-01 -1.95306990e-02 5.74124376e+01] [ 3.76171843e-02 4.80951669e-04 9.99292108e-01 7.95974699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.35, Y:57.44, Z:7.96 [[ 8.58709948e-01 -5.11452341e-01 -3.21516287e-02 2.06350795e+02] [ 5.11079306e-01 8.59311577e-01 -1.95334745e-02 5.74427879e+01] [ 3.76187080e-02 3.41556794e-04 9.99292108e-01 7.95784475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.40, Y:57.47, Z:7.96 [[ 8.57042616e-01 -5.14241604e-01 -3.21485254e-02 2.06399825e+02] [ 5.13870336e-01 8.57645336e-01 -1.95385807e-02 5.74727915e+01] [ 3.76195839e-02 2.25222773e-04 9.99292108e-01 7.95854518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:206.45, Y:57.50, Z:7.97 [[ 8.53953757e-01 -5.19355060e-01 -3.21450044e-02 2.06449268e+02] [ 5.18987183e-01 8.54558553e-01 -1.95443717e-02 5.75021649e+01] [ 3.76202568e-02 7.14437619e-06 9.99292108e-01 7.96762621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:57.53, Z:7.97 [[ 8.51545226e-01 -5.23294994e-01 -3.21415296e-02 2.06500634e+02] [ 5.22929700e-01 8.52151585e-01 -1.95500844e-02 5.75301634e+01] [ 3.76199167e-02 -1.59979374e-04 9.99292108e-01 7.96620327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.228623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.55, Y:57.56, Z:7.97 [[ 8.47976009e-01 -5.29059274e-01 -3.21399046e-02 2.06551266e+02] [ 5.28698000e-01 8.48584772e-01 -1.95527557e-02 5.75578249e+01] [ 3.76180003e-02 -4.12035517e-04 9.99292108e-01 7.97106195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.288623853 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:206.60, Y:57.59, Z:7.98 [[ 8.45201499e-01 -5.33480736e-01 -3.21361416e-02 2.06602123e+02] [ 5.33122411e-01 8.45812002e-01 -1.95589384e-02 5.75856378e+01] [ 3.76154511e-02 -6.01253217e-04 9.99292108e-01 7.98299643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.66, Y:57.61, Z:7.97 [[ 8.43651655e-01 -5.35928545e-01 -3.21322356e-02 2.06655272e+02] [ 5.35571747e-01 8.44263052e-01 -1.95653533e-02 5.76094764e+01] [ 3.76136906e-02 -7.02774852e-04 9.99292108e-01 7.97147442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:57.64, Z:7.98 [[ 8.43435472e-01 -5.36268805e-01 -3.21305519e-02 2.06705328e+02] [ 5.35912149e-01 8.44046952e-01 -1.95681178e-02 5.76383468e+01] [ 3.76134656e-02 -7.14708494e-04 9.99292108e-01 7.97651679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:57.66, Z:7.98 [[ 8.43603681e-01 -5.36004381e-01 -3.21268209e-02 2.06756454e+02] [ 5.35647300e-01 8.44214913e-01 -1.95742414e-02 5.76647282e+01] [ 3.76138205e-02 -6.95742740e-04 9.99292108e-01 7.97809365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:57.69, Z:7.98 [[ 8.44190805e-01 -5.35079298e-01 -3.21252068e-02 2.06807199e+02] [ 5.34721446e-01 8.44801586e-01 -1.95768902e-02 5.76919817e+01] [ 3.76146143e-02 -6.51406370e-04 9.99292108e-01 7.98055581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.588623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:206.86, Y:57.72, Z:7.98 [[ 8.46128717e-01 -5.32009765e-01 -3.21216995e-02 2.06857988e+02] [ 5.31649479e-01 8.46738065e-01 -1.95826433e-02 5.77188405e+01] [ 3.76168231e-02 -5.08047963e-04 9.99292108e-01 7.98243075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.648623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.91, Y:57.75, Z:7.98 [[ 8.48276533e-01 -5.28578540e-01 -3.21193247e-02 2.06909236e+02] [ 5.28215642e-01 8.48884329e-01 -1.95865376e-02 5.77460916e+01] [ 3.76186148e-02 -3.51129455e-04 9.99292108e-01 7.98274678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70862385299998 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:206.96, Y:57.77, Z:7.99 [[ 8.50058300e-01 -5.25708528e-01 -3.21158896e-02 2.06959998e+02] [ 5.25343364e-01 8.50664738e-01 -1.95921685e-02 5.77731416e+01] [ 3.76196249e-02 -2.17384001e-04 9.99292108e-01 7.98543801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.01, Y:57.80, Z:7.99 [[ 8.50817377e-01 -5.24479243e-01 -3.21140845e-02 2.07011180e+02] [ 5.24113091e-01 8.51423219e-01 -1.95951269e-02 5.78014020e+01] [ 3.76199145e-02 -1.59537655e-04 9.99292108e-01 7.99117403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.06, Y:57.83, Z:7.99 [[ 8.51701683e-01 -5.23042195e-01 -3.21108314e-02 2.07062528e+02] [ 5.22674820e-01 8.52306784e-01 -1.96004563e-02 5.78288063e+01] [ 3.76201451e-02 -8.97813754e-05 9.99292108e-01 7.99349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:57.86, Z:7.99 [[ 8.52194208e-01 -5.22239567e-01 -3.21071227e-02 2.07113841e+02] [ 5.21871393e-01 8.52798823e-01 -1.96065296e-02 5.78568509e+01] [ 3.76202219e-02 -4.72179052e-05 9.99292108e-01 7.99397883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.16, Y:57.88, Z:8.00 [[ 8.53146765e-01 -5.20682214e-01 -3.21034195e-02 2.07164451e+02] [ 5.20312709e-01 8.53750568e-01 -1.96125912e-02 5.78848420e+01] [ 3.76202400e-02 2.86015549e-05 9.99292108e-01 7.99541508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.008623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:207.22, Y:57.91, Z:8.00 [[ 8.54480936e-01 -5.18490055e-01 -3.20997298e-02 2.07215050e+02] [ 5.18118774e-01 8.55083648e-01 -1.96186283e-02 5.79124765e+01] [ 3.76200177e-02 1.32271265e-04 9.99292108e-01 7.99941152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.068623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:207.26, Y:57.94, Z:8.00 [[ 8.55481212e-01 -5.16838222e-01 -3.20959338e-02 2.07264230e+02] [ 5.16465544e-01 8.56083061e-01 -1.96248365e-02 5.79414837e+01] [ 3.76196509e-02 2.12234938e-04 9.99292108e-01 8.00112129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.128623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:207.31, Y:57.97, Z:8.01 [[ 8.56343320e-01 -5.15408645e-01 -3.20943397e-02 2.07314068e+02] [ 5.15034865e-01 8.56944486e-01 -1.96274432e-02 5.79725412e+01] [ 3.76192213e-02 2.78125941e-04 9.99292108e-01 8.00575931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.188623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:58.00, Z:8.01 [[ 8.56124433e-01 -5.15772349e-01 -3.20911080e-02 2.07363982e+02] [ 5.15398627e-01 8.56725634e-01 -1.96327255e-02 5.80014352e+01] [ 3.76192919e-02 2.68342988e-04 9.99292108e-01 8.00961780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.248623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:58.03, Z:8.01 [[ 8.55956342e-01 -5.16051492e-01 -3.20873681e-02 2.07412888e+02] [ 5.15677736e-01 8.56557522e-01 -1.96388361e-02 5.80311297e+01] [ 3.76193272e-02 2.63244979e-04 9.99292108e-01 8.01192330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.308623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:207.46, Y:58.06, Z:8.01 [[ 8.55787277e-01 -5.16331909e-01 -3.20857535e-02 2.07462044e+02] [ 5.15958252e-01 8.56388519e-01 -1.96414738e-02 5.80612221e+01] [ 3.76193905e-02 2.54014073e-04 9.99292108e-01 8.01383558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.368623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:207.51, Y:58.09, Z:8.01 [[ 8.55883568e-01 -5.16172508e-01 -3.20820819e-02 2.07511692e+02] [ 5.15798514e-01 8.56484600e-01 -1.96474689e-02 5.80918099e+01] [ 3.76192924e-02 2.68055628e-04 9.99292108e-01 8.01455487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42862385299998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:207.56, Y:58.12, Z:8.02 [[ 8.56266004e-01 -5.15538072e-01 -3.20784490e-02 2.07559465e+02] [ 5.15163410e-01 8.56866620e-01 -1.96533986e-02 5.81240075e+01] [ 3.76190274e-02 3.02893892e-04 9.99292108e-01 8.01757465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48862385299998 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:58.16, Z:8.02 [[ 8.56667964e-01 -5.14870091e-01 -3.20747288e-02 2.07607738e+02] [ 5.14494734e-01 8.57268146e-01 -1.96594682e-02 5.81570077e+01] [ 3.76187155e-02 3.39357512e-04 9.99292108e-01 8.02030239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54862385299998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:207.66, Y:58.19, Z:8.02 [[ 8.56661663e-01 -5.14880815e-01 -3.20708947e-02 2.07655434e+02] [ 5.14505231e-01 8.57261703e-01 -1.96657208e-02 5.81876890e+01] [ 3.76186522e-02 3.46225984e-04 9.99292108e-01 8.02223429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60862385299998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:58.22, Z:8.02 [[ 8.57078534e-01 -5.14186747e-01 -3.20682994e-02 2.07702144e+02] [ 5.13810519e-01 8.57678170e-01 -1.96699521e-02 5.82218748e+01] [ 3.76183090e-02 3.81664199e-04 9.99292108e-01 8.02337637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66862385299999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:207.75, Y:58.26, Z:8.03 [[ 8.58439894e-01 -5.11910946e-01 -3.20644929e-02 2.07748754e+02] [ 5.11532897e-01 8.59038383e-01 -1.96761552e-02 5.82571038e+01] [ 3.76170694e-02 4.88753664e-04 9.99292108e-01 8.02656394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.728623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:58.29, Z:8.03 [[ 8.59375941e-01 -5.10338230e-01 -3.20606202e-02 2.07794638e+02] [ 5.09958851e-01 8.59973588e-01 -1.96824635e-02 5.82907501e+01] [ 3.76160001e-02 5.65038549e-04 9.99292108e-01 8.02788381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.788623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:207.84, Y:58.33, Z:8.03 [[ 8.59918361e-01 -5.09423828e-01 -3.20589469e-02 2.07839696e+02] [ 5.09043711e-01 8.60515539e-01 -1.96851885e-02 5.83282187e+01] [ 3.76153261e-02 6.08249750e-04 9.99292108e-01 8.02940831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.848623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:58.36, Z:8.03 [[ 8.58401981e-01 -5.11975100e-01 -3.20552013e-02 2.07884617e+02] [ 5.11596531e-01 8.59000141e-01 -1.96912860e-02 5.83645617e+01] [ 3.76168705e-02 5.03709144e-04 9.99292108e-01 8.02896695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.908623853 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:58.40, Z:8.03 [[ 8.56012449e-01 -5.15960517e-01 -3.20535871e-02 2.07932108e+02] [ 5.15584634e-01 8.56612301e-01 -1.96939132e-02 5.83987910e+01] [ 3.76187786e-02 3.31897874e-04 9.99292108e-01 8.03146815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.968623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:58.43, Z:8.03 [[ 8.51602949e-01 -5.23206674e-01 -3.20498653e-02 2.07977943e+02] [ 5.22835668e-01 8.52205829e-01 -1.96999681e-02 5.84345812e+01] [ 3.76202369e-02 1.97381940e-05 9.99292108e-01 8.03475015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.028623853 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:208.02, Y:58.47, Z:8.03 [[ 8.47169519e-01 -5.30355401e-01 -3.20461271e-02 2.08023862e+02] [ 5.29989252e-01 8.47775362e-01 -1.97060473e-02 5.84696487e+01] [ 3.76191256e-02 -2.89740284e-04 9.99292108e-01 8.03457468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.088623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:58.50, Z:8.04 [[ 8.43864648e-01 -5.35598359e-01 -3.20445493e-02 2.08071956e+02] [ 5.35235876e-01 8.44472692e-01 -1.97086126e-02 5.85015875e+01] [ 3.76166474e-02 -5.19990984e-04 9.99292108e-01 8.03651832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.148623853 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:208.12, Y:58.53, Z:8.04 [[ 8.38941458e-01 -5.43277650e-01 -3.20409868e-02 2.08119861e+02] [ 5.42920511e-01 8.39552655e-01 -1.97144026e-02 5.85338952e+01] [ 3.76104899e-02 -8.56479323e-04 9.99292108e-01 8.03924223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20862385299998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:58.56, Z:8.04 [[ 8.35320624e-01 -5.48828804e-01 -3.20374585e-02 2.08168687e+02] [ 5.48475506e-01 8.35934050e-01 -1.97201348e-02 5.85630150e+01] [ 3.76041804e-02 -1.09912592e-03 9.99292108e-01 8.04127829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26862385299998 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:208.22, Y:58.59, Z:8.04 [[ 8.33907920e-01 -5.50973053e-01 -3.20355440e-02 2.08218185e+02] [ 5.50621213e-01 8.34522183e-01 -1.97232443e-02 5.85933241e+01] [ 3.76013483e-02 -1.19208052e-03 9.99292108e-01 8.04310849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32862385299998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:58.62, Z:8.04 [[ 8.33557845e-01 -5.51502730e-01 -3.20321279e-02 2.08268032e+02] [ 5.51151068e-01 8.34172210e-01 -1.97287909e-02 5.86233132e+01] [ 3.76007929e-02 -1.20945307e-03 9.99292108e-01 8.04451145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38862385299998 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:58.65, Z:8.05 [[ 8.34787224e-01 -5.49640293e-01 -3.20287204e-02 2.08317634e+02] [ 5.49287047e-01 8.35400680e-01 -1.97343211e-02 5.86511525e+01] [ 3.76035929e-02 -1.11900214e-03 9.99292108e-01 8.04616137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.448623853 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:208.37, Y:58.68, Z:8.05 [[ 8.37646708e-01 -5.45272656e-01 -3.20269181e-02 2.08368435e+02] [ 5.44916099e-01 8.38258246e-01 -1.97372456e-02 5.86799194e+01] [ 3.76090085e-02 -9.19144470e-04 9.99292108e-01 8.05289978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.508623853 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:208.42, Y:58.71, Z:8.06 [[ 8.39815398e-01 -5.41926737e-01 -3.20235749e-02 2.08417791e+02] [ 5.41567537e-01 8.40425386e-01 -1.97426686e-02 5.87092258e+01] [ 3.76125052e-02 -7.62731479e-04 9.99292108e-01 8.05544036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.568623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:58.74, Z:8.06 [[ 8.43846294e-01 -5.35628629e-01 -3.20219190e-02 2.08467288e+02] [ 5.35264774e-01 8.44453517e-01 -1.97453539e-02 5.87383966e+01] [ 3.76171990e-02 -4.78161505e-04 9.99292108e-01 8.05590812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.628623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:208.52, Y:58.77, Z:8.06 [[ 8.46668903e-01 -5.31155786e-01 -3.20203148e-02 2.08516555e+02] [ 5.30788624e-01 8.47274132e-01 -1.97479551e-02 5.87681980e+01] [ 3.76192250e-02 -2.76039310e-04 9.99292108e-01 8.05858778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.688623853 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:208.57, Y:58.80, Z:8.06 [[ 8.50783284e-01 -5.24540504e-01 -3.20166083e-02 2.08565588e+02] [ 5.24168410e-01 8.51385494e-01 -1.97539625e-02 5.87980241e+01] [ 3.76202293e-02 2.42464163e-05 9.99292108e-01 8.06152184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.748623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:208.61, Y:58.83, Z:8.07 [[ 8.53037141e-01 -5.20867230e-01 -3.20150731e-02 2.08614020e+02] [ 5.20492449e-01 8.53637683e-01 -1.97564502e-02 5.88294749e+01] [ 3.76197603e-02 1.89381954e-04 9.99292108e-01 8.06603437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.808623853 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:58.86, Z:8.07 [[ 8.52592242e-01 -5.21595388e-01 -3.20112611e-02 2.08664701e+02] [ 5.21220888e-01 8.53192958e-01 -1.97626248e-02 5.88584561e+01] [ 3.76198766e-02 1.64522659e-04 9.99292108e-01 8.06826752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.868623853 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:208.71, Y:58.89, Z:8.07 [[ 8.51549078e-01 -5.23296946e-01 -3.20074141e-02 2.08713741e+02] [ 5.22923413e-01 8.52150396e-01 -1.97688535e-02 5.88873563e+01] [ 3.76201113e-02 9.67227579e-05 9.99292108e-01 8.06956547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92862385299998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:58.92, Z:8.07 [[ 8.50124450e-01 -5.25608268e-01 -3.20057541e-02 2.08762549e+02] [ 5.25236268e-01 8.50726718e-01 -1.97715407e-02 5.89165636e+01] [ 3.76202354e-02 -2.31266670e-06 9.99292108e-01 8.07109526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98862385299998 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:58.95, Z:8.07 [[ 8.49418758e-01 -5.26748052e-01 -3.20041206e-02 2.08812219e+02] [ 5.26376761e-01 8.50021463e-01 -1.97741844e-02 5.89454799e+01] [ 3.76202026e-02 -4.96622269e-05 9.99292108e-01 8.07121638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04862385299998 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:208.86, Y:58.97, Z:8.07 [[ 8.48173937e-01 -5.28750236e-01 -3.20025216e-02 2.08863526e+02] [ 5.28380270e-01 8.48777456e-01 -1.97767720e-02 5.89722373e+01] [ 3.76199917e-02 -1.35358445e-04 9.99292108e-01 8.07370891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10862385299998 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:208.91, Y:59.00, Z:8.08 [[ 8.47615493e-01 -5.29645214e-01 -3.19987909e-02 2.08912092e+02] [ 5.29275658e-01 8.48219263e-01 -1.97828064e-02 5.90028186e+01] [ 3.76198596e-02 -1.67967892e-04 9.99292108e-01 8.07583042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16862385299999 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:208.96, Y:59.03, Z:8.08 [[ 8.46695699e-01 -5.31114464e-01 -3.19971750e-02 2.08962693e+02] [ 5.30745856e-01 8.47300049e-01 -1.97854196e-02 5.90307660e+01] [ 3.76195305e-02 -2.30138354e-04 9.99292108e-01 8.07631969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.228623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:209.01, Y:59.06, Z:8.08 [[ 8.45549968e-01 -5.32936831e-01 -3.19935146e-02 2.09014374e+02] [ 5.32569302e-01 8.46154975e-01 -1.97913369e-02 5.90574618e+01] [ 3.76190039e-02 -3.04199459e-04 9.99292108e-01 8.07883250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.288623853 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:209.07, Y:59.09, Z:8.08 [[ 8.45205916e-01 -5.33482530e-01 -3.19898356e-02 2.09065058e+02] [ 5.33115166e-01 8.45811023e-01 -1.97972816e-02 5.90851392e+01] [ 3.76188595e-02 -3.21486969e-04 9.99292108e-01 8.08177269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.348623853 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:209.12, Y:59.11, Z:8.08 [[ 8.45416275e-01 -5.33149336e-01 -3.19860609e-02 2.09115987e+02] [ 5.32781503e-01 8.46021097e-01 -1.98033785e-02 5.91134818e+01] [ 3.76190404e-02 -2.99483159e-04 9.99292108e-01 8.08461156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.408623853 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:209.17, Y:59.14, Z:8.09 [[ 8.45928697e-01 -5.32336146e-01 -3.19823030e-02 2.09166739e+02] [ 5.31967502e-01 8.46533025e-01 -1.98094455e-02 5.91397972e+01] [ 3.76193596e-02 -2.56167391e-04 9.99292109e-01 8.08759411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.468623853 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:209.22, Y:59.17, Z:8.09 [[ 8.46487121e-01 -5.31447881e-01 -3.19797524e-02 2.09218242e+02] [ 5.31078448e-01 8.47090966e-01 -1.98135623e-02 5.91655310e+01] [ 3.76196351e-02 -2.11831938e-04 9.99292109e-01 8.08606750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.528623853 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:59.19, Z:8.09 [[ 8.47639600e-01 -5.29607879e-01 -3.19781559e-02 2.09270324e+02] [ 5.29237038e-01 8.48242582e-01 -1.98161387e-02 5.91919348e+01] [ 3.76200167e-02 -1.27080616e-04 9.99292109e-01 8.09183108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.588623853 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:59.22, Z:8.09 [[ 8.49333659e-01 -5.26887053e-01 -3.19745186e-02 2.09320763e+02] [ 5.26514059e-01 8.49935312e-01 -1.98220058e-02 5.92195048e+01] [ 3.76202307e-02 4.63156629e-07 9.99292109e-01 8.09402626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.648623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:209.37, Y:59.25, Z:8.10 [[ 8.50861942e-01 -5.24415592e-01 -3.19725197e-02 2.09371002e+02] [ 5.24040730e-01 8.51462432e-01 -1.98252296e-02 5.92481003e+01] [ 3.76200589e-02 1.13630773e-04 9.99292109e-01 8.09591092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70862385299998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:209.42, Y:59.28, Z:8.10 [[ 8.53273385e-01 -5.20482966e-01 -3.19689454e-02 2.09420056e+02] [ 5.20105120e-01 8.53872002e-01 -1.98309916e-02 5.92767837e+01] [ 3.76190807e-02 2.94045133e-04 9.99292109e-01 8.09656767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76862385299998 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:209.47, Y:59.31, Z:8.10 [[ 8.54227940e-01 -5.18914992e-01 -3.19665182e-02 2.09469763e+02] [ 5.18535901e-01 8.54825769e-01 -1.98349033e-02 5.93066046e+01] [ 3.76184322e-02 3.67741302e-04 9.99292109e-01 8.09872381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82862385299998 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:209.52, Y:59.34, Z:8.10 [[ 8.55362005e-01 -5.17043719e-01 -3.19630091e-02 2.09519789e+02] [ 5.16663109e-01 8.55958868e-01 -1.98405565e-02 5.93361473e+01] [ 3.76174562e-02 4.56750490e-04 9.99292109e-01 8.09909516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88862385299998 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:209.57, Y:59.37, Z:8.11 [[ 8.56376486e-01 -5.15361914e-01 -3.19595348e-02 2.09568934e+02] [ 5.14979924e-01 8.56972467e-01 -1.98461514e-02 5.93663855e+01] [ 3.76163919e-02 5.37258637e-04 9.99292109e-01 8.10750192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.948623853 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:59.40, Z:8.10 [[ 8.56744278e-01 -5.14750491e-01 -3.19558084e-02 2.09617599e+02] [ 5.14367851e-01 8.57339843e-01 -1.98521498e-02 5.93974065e+01] [ 3.76158916e-02 5.71175246e-04 9.99292109e-01 8.10413882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.008623853 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:209.67, Y:59.43, Z:8.11 [[ 8.56889880e-01 -5.14508146e-01 -3.19546618e-02 2.09666698e+02] [ 5.14125269e-01 8.57485292e-01 -1.98539951e-02 5.94273603e+01] [ 3.76156948e-02 5.83988379e-04 9.99292109e-01 8.10768567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.068623853 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:209.71, Y:59.46, Z:8.11 [[ 8.56434421e-01 -5.15266155e-01 -3.19510938e-02 2.09714157e+02] [ 5.14883590e-01 8.57030034e-01 -1.98597355e-02 5.94598801e+01] [ 3.76160965e-02 5.57467169e-04 9.99292109e-01 8.11196842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.128623853 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:209.76, Y:59.49, Z:8.11 [[ 8.55915807e-01 -5.16127407e-01 -3.19473037e-02 2.09762385e+02] [ 5.15745215e-01 8.56511659e-01 -1.98658305e-02 5.94897564e+01] [ 3.76165377e-02 5.26809310e-04 9.99292109e-01 8.11166019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.188623853 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:59.52, Z:8.11 [[ 8.55569955e-01 -5.16700617e-01 -3.19456635e-02 2.09811242e+02] [ 5.16318725e-01 8.56165999e-01 -1.98684677e-02 5.95204391e+01] [ 3.76168405e-02 5.04719723e-04 9.99292109e-01 8.11315453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.248623853 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:59.55, Z:8.12 [[ 8.54672389e-01 -5.18184145e-01 -3.19421101e-02 2.09859019e+02] [ 5.17803075e-01 8.55268959e-01 -1.98741789e-02 5.95526932e+01] [ 3.76175796e-02 4.46189131e-04 9.99292109e-01 8.11700333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.308623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:209.91, Y:59.59, Z:8.12 [[ 8.54138655e-01 -5.19063673e-01 -3.19383926e-02 2.09905960e+02] [ 5.18682994e-01 8.54735474e-01 -1.98801511e-02 5.95859984e+01] [ 3.76179415e-02 4.14504430e-04 9.99292109e-01 8.12005189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.368623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:209.95, Y:59.62, Z:8.12 [[ 8.54261702e-01 -5.18861374e-01 -3.19346078e-02 2.09952810e+02] [ 5.18480326e-01 8.54858286e-01 -1.98862291e-02 5.96192811e+01] [ 3.76177602e-02 4.30578100e-04 9.99292109e-01 8.12255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42862385299998 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:210.00, Y:59.65, Z:8.12 [[ 8.54825427e-01 -5.17932182e-01 -3.19334424e-02 2.09998217e+02] [ 5.17550416e-01 8.55421551e-01 -1.98881003e-02 5.96547598e+01] [ 3.76172420e-02 4.73687410e-04 9.99292109e-01 8.12411794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48862385299998 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:59.69, Z:8.12 [[ 8.54480009e-01 -5.18501949e-01 -3.19318647e-02 2.10045186e+02] [ 5.18120485e-01 8.55076327e-01 -1.98906330e-02 5.96915460e+01] [ 3.76175136e-02 4.51595032e-04 9.99292109e-01 8.12443769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54862385299998 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:210.09, Y:59.73, Z:8.13 [[ 8.53678745e-01 -5.19820317e-01 -3.19286466e-02 2.10091412e+02] [ 5.19439581e-01 8.54275529e-01 -1.98957975e-02 5.97262179e+01] [ 3.76181012e-02 3.99616608e-04 9.99292109e-01 8.12738451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60862385299998 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:59.76, Z:8.13 [[ 8.51788595e-01 -5.22912037e-01 -3.19247701e-02 2.10136930e+02] [ 5.22533235e-01 8.52386607e-01 -1.99020158e-02 5.97614511e+01] [ 3.76192501e-02 2.70556734e-04 9.99292109e-01 8.13029264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66862385299999 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:59.80, Z:8.13 [[ 8.49096338e-01 -5.27272518e-01 -3.19233354e-02 2.10182942e+02] [ 5.26896701e-01 8.49696231e-01 -1.99043168e-02 5.97966421e+01] [ 3.76201370e-02 8.03824247e-05 9.99292109e-01 8.13429883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.728623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:210.23, Y:59.83, Z:8.14 [[ 8.46176042e-01 -5.31946544e-01 -3.19214759e-02 2.10229302e+02] [ 5.31573927e-01 8.46777928e-01 -1.99072986e-02 5.98316281e+01] [ 3.76200199e-02 -1.23545149e-04 9.99292109e-01 8.13510581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.788623853 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:59.86, Z:8.14 [[ 8.44798021e-01 -5.34132533e-01 -3.19177300e-02 2.10276419e+02] [ 5.33761247e-01 8.45400728e-01 -1.99133025e-02 5.98648249e+01] [ 3.76196149e-02 -2.13728840e-04 9.99292109e-01 8.13583012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.848623853 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:210.32, Y:59.90, Z:8.15 [[ 8.43717439e-01 -5.35838021e-01 -3.19139209e-02 2.10323754e+02] [ 5.35467722e-01 8.44320754e-01 -1.99194053e-02 5.98986052e+01] [ 3.76191605e-02 -2.82524902e-04 9.99292109e-01 8.14617366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.908623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:210.37, Y:59.93, Z:8.14 [[ 8.42761798e-01 -5.37339990e-01 -3.19106215e-02 2.10369995e+02] [ 5.36970567e-01 8.43365649e-01 -1.99246896e-02 5.99331998e+01] [ 3.76186545e-02 -3.43297281e-04 9.99292109e-01 8.14093629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.968623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:59.97, Z:8.15 [[ 8.41924860e-01 -5.38650510e-01 -3.19085823e-02 2.10417158e+02] [ 5.38281903e-01 8.42529210e-01 -1.99279546e-02 5.99671574e+01] [ 3.76181156e-02 -3.97971998e-04 9.99292109e-01 8.14521977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.028623853 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:60.00, Z:8.15 [[ 8.41159013e-01 -5.39845746e-01 -3.19074375e-02 2.10465798e+02] [ 5.39477928e-01 8.41763844e-01 -1.99297876e-02 6.00001458e+01] [ 3.76175382e-02 -4.49237823e-04 9.99292109e-01 8.14896213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.088623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:210.51, Y:60.03, Z:8.15 [[ 8.40142510e-01 -5.41426532e-01 -3.19041378e-02 2.10513184e+02] [ 5.41059652e-01 8.40747909e-01 -1.99350684e-02 6.00327911e+01] [ 3.76167121e-02 -5.13743307e-04 9.99292109e-01 8.15058211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.148623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:210.56, Y:60.06, Z:8.15 [[ 8.39489616e-01 -5.42438521e-01 -3.19004062e-02 2.10560464e+02] [ 5.42072144e-01 8.40095319e-01 -1.99410379e-02 6.00640443e+01] [ 3.76161691e-02 -5.52027386e-04 9.99292109e-01 8.15056856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20862385299998 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:210.61, Y:60.10, Z:8.15 [[ 8.38469354e-01 -5.44014400e-01 -3.18978757e-02 2.10607837e+02] [ 5.43649007e-01 8.39075653e-01 -1.99450850e-02 6.00955998e+01] [ 3.76151443e-02 -6.17905927e-04 9.99292109e-01 8.15204105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26862385299998 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:60.13, Z:8.16 [[ 8.36961439e-01 -5.46331561e-01 -3.18963125e-02 2.10658087e+02] [ 5.45967751e-01 8.37568689e-01 -1.99475845e-02 6.01264419e+01] [ 3.76133476e-02 -7.18999016e-04 9.99292109e-01 8.15666341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32862385299998 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:60.16, Z:8.16 [[ 8.35934859e-01 -5.47901216e-01 -3.18930965e-02 2.10706213e+02] [ 5.47538350e-01 8.36542673e-01 -1.99527250e-02 6.01560910e+01] [ 3.76120585e-02 -7.83515080e-04 9.99292109e-01 8.15944160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38862385299998 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:60.19, Z:8.16 [[ 8.34516651e-01 -5.50058989e-01 -3.18915069e-02 2.10756636e+02] [ 5.49697598e-01 8.35125343e-01 -1.99552655e-02 6.01850285e+01] [ 3.76099788e-02 -8.77683333e-04 9.99292109e-01 8.16051976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.448623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:210.81, Y:60.21, Z:8.16 [[ 8.34062306e-01 -5.50747890e-01 -3.18877875e-02 2.10806696e+02] [ 5.50386774e-01 8.34671162e-01 -1.99612071e-02 6.02129955e+01] [ 3.76094094e-02 -9.01726068e-04 9.99292109e-01 8.16426275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.508623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:60.24, Z:8.17 [[ 8.34031673e-01 -5.50794372e-01 -3.18861790e-02 2.10856943e+02] [ 5.50433193e-01 8.34640490e-01 -1.99637762e-02 6.02411839e+01] [ 3.76094317e-02 -9.00789620e-04 9.99292109e-01 8.16617741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.568623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:210.91, Y:60.27, Z:8.17 [[ 8.34209890e-01 -5.50524625e-01 -3.18825528e-02 2.10907791e+02] [ 5.50163027e-01 8.34818459e-01 -1.99695657e-02 6.02687694e+01] [ 3.76098813e-02 -8.81792573e-04 9.99292109e-01 8.16816454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.628623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:60.30, Z:8.17 [[ 8.34393448e-01 -5.50246588e-01 -3.18789355e-02 2.10959683e+02] [ 5.49884567e-01 8.35001766e-01 -1.99753386e-02 6.02959913e+01] [ 3.76103293e-02 -8.62443059e-04 9.99292109e-01 8.16960264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.688623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:60.32, Z:8.17 [[ 8.35145174e-01 -5.49105188e-01 -3.18752550e-02 2.11011980e+02] [ 5.48742111e-01 8.35752862e-01 -1.99812099e-02 6.03214853e+01] [ 3.76116217e-02 -8.04083702e-04 9.99292109e-01 8.17204113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.748623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:211.06, Y:60.35, Z:8.17 [[ 8.37817487e-01 -5.45019322e-01 -3.18715604e-02 2.11062381e+02] [ 5.44653058e-01 8.38423259e-01 -1.99871014e-02 6.03481158e+01] [ 3.76152140e-02 -6.13399832e-04 9.99292109e-01 8.17168753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.808623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:60.37, Z:8.17 [[ 8.41719170e-01 -5.38974155e-01 -3.18700337e-02 2.11113052e+02] [ 5.38603448e-01 8.42322233e-01 -1.99895355e-02 6.03737760e+01] [ 3.76186810e-02 -3.39734791e-04 9.99292109e-01 8.17395300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.868623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:60.40, Z:8.18 [[ 8.44210825e-01 -5.35063082e-01 -3.18681922e-02 2.11163508e+02] [ 5.34689470e-01 8.44812093e-01 -1.99924709e-02 6.04031436e+01] [ 3.76198672e-02 -1.61726387e-04 9.99292109e-01 8.17757974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92862385299998 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:60.43, Z:8.18 [[ 8.47510011e-01 -5.29822075e-01 -3.18645764e-02 2.11213412e+02] [ 5.29444527e-01 8.48108816e-01 -1.99982322e-02 6.04306837e+01] [ 3.76201330e-02 7.81763560e-05 9.99292109e-01 8.18000838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98862385299998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:60.46, Z:8.18 [[ 8.50156968e-01 -5.25564372e-01 -3.18625315e-02 2.11263494e+02] [ 5.25183704e-01 8.50753794e-01 -2.00014898e-02 6.04601946e+01] [ 3.76192399e-02 2.70723609e-04 9.99292109e-01 8.18250195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04862385299998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:60.49, Z:8.18 [[ 8.51518568e-01 -5.23355652e-01 -3.18589053e-02 2.11312496e+02] [ 5.22973219e-01 8.52114265e-01 -2.00072640e-02 6.04907481e+01] [ 3.76183423e-02 3.75202528e-04 9.99292109e-01 8.18470292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10862385299998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:211.36, Y:60.52, Z:8.19 [[ 8.53011004e-01 -5.20919839e-01 -3.18551215e-02 2.11360978e+02] [ 5.20535481e-01 8.53605460e-01 -2.00132866e-02 6.05205714e+01] [ 3.76170237e-02 4.89832672e-04 9.99292109e-01 8.18511045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16862385299999 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:211.41, Y:60.55, Z:8.19 [[ 8.54010449e-01 -5.19279797e-01 -3.18534845e-02 2.11409269e+02] [ 5.18894201e-01 8.54604103e-01 -2.00158918e-02 6.05514325e+01] [ 3.76159668e-02 5.65192406e-04 9.99292109e-01 8.18503222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.228623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:211.46, Y:60.58, Z:8.19 [[ 8.52257754e-01 -5.22151498e-01 -3.18517434e-02 2.11457849e+02] [ 5.21767798e-01 8.52852635e-01 -2.00186620e-02 6.05836158e+01] [ 3.76176177e-02 4.41845857e-04 9.99292109e-01 8.19078245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.288623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:211.51, Y:60.61, Z:8.19 [[ 8.49909723e-01 -5.25964957e-01 -3.18485046e-02 2.11506364e+02] [ 5.25583734e-01 8.50506194e-01 -2.00238135e-02 6.06132667e+01] [ 3.76191746e-02 2.79377805e-04 9.99292109e-01 8.19315195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.348623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:211.56, Y:60.64, Z:8.19 [[ 8.45245292e-01 -5.33428694e-01 -3.18469014e-02 2.11556329e+02] [ 5.33052641e-01 8.45845037e-01 -2.00263629e-02 6.06428754e+01] [ 3.76201801e-02 -4.88859825e-05 9.99292109e-01 8.19419905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.408623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:60.67, Z:8.20 [[ 8.40222365e-01 -5.41306184e-01 -3.18432633e-02 2.11607663e+02] [ 5.40935535e-01 8.40825464e-01 -2.00321461e-02 6.06708230e+01] [ 3.76181512e-02 -3.93695481e-04 9.99292109e-01 8.19661218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.468623853 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:60.70, Z:8.20 [[ 8.37018372e-01 -5.46247640e-01 -3.18396247e-02 2.11658252e+02] [ 5.45880331e-01 8.37623511e-01 -2.00379278e-02 6.06995644e+01] [ 3.76152889e-02 -6.08511172e-04 9.99292109e-01 8.20169254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.528623853 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:211.71, Y:60.72, Z:8.20 [[ 8.33556513e-01 -5.51516118e-01 -3.18356925e-02 2.11711146e+02] [ 5.51152395e-01 8.34163814e-01 -2.00441731e-02 6.07232229e+01] [ 3.76108672e-02 -8.38367157e-04 9.99292109e-01 8.20496628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.588623853 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:60.75, Z:8.21 [[ 8.31913017e-01 -5.53992170e-01 -3.18340525e-02 2.11762404e+02] [ 5.53630155e-01 8.32521338e-01 -2.00467774e-02 6.07496625e+01] [ 3.76082857e-02 -9.47116402e-04 9.99292109e-01 8.20941825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.648623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:211.81, Y:60.78, Z:8.21 [[ 8.31759723e-01 -5.54222521e-01 -3.18301945e-02 2.11814617e+02] [ 5.53860440e-01 8.32368004e-01 -2.00529012e-02 6.07761774e+01] [ 3.76082050e-02 -9.50289994e-04 9.99292109e-01 8.21244318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70862385299998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:60.80, Z:8.21 [[ 8.32691443e-01 -5.52821891e-01 -3.18263460e-02 2.11867672e+02] [ 5.52458554e-01 8.33298975e-01 -2.00590075e-02 6.07986393e+01] [ 3.76099200e-02 -8.79773146e-04 9.99292109e-01 8.21285314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76862385299998 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:60.82, Z:8.21 [[ 8.35338044e-01 -5.48814691e-01 -3.18243154e-02 2.11921294e+02] [ 5.48448316e-01 8.35943749e-01 -2.00622286e-02 6.08223881e+01] [ 3.76137833e-02 -6.95249389e-04 9.99292109e-01 8.21370779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82862385299998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:211.97, Y:60.85, Z:8.22 [[ 8.39643922e-01 -5.42204332e-01 -3.18205336e-02 2.11974128e+02] [ 5.41832960e-01 8.40246577e-01 -2.00682250e-02 6.08454558e+01] [ 3.76181730e-02 -3.91250794e-04 9.99292109e-01 8.21520233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88862385299998 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:212.03, Y:60.87, Z:8.22 [[ 8.43435827e-01 -5.36286852e-01 -3.18185112e-02 2.12025665e+02] [ 5.35911131e-01 8.44035780e-01 -2.00714311e-02 6.08710846e+01] [ 3.76200065e-02 -1.22930191e-04 9.99292109e-01 8.22424001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.948623853 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:212.08, Y:60.90, Z:8.22 [[ 8.50242696e-01 -5.25428568e-01 -3.18147249e-02 2.12077039e+02] [ 5.25044962e-01 8.50837637e-01 -2.00774308e-02 6.08981197e+01] [ 3.76184211e-02 3.66527910e-04 9.99292109e-01 8.22127186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.008623853 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:60.93, Z:8.22 [[ 8.55325750e-01 -5.17113081e-01 -3.18107334e-02 2.12126598e+02] [ 5.16723456e-01 8.55916768e-01 -2.00837530e-02 6.09272957e+01] [ 3.76129115e-02 7.40799023e-04 9.99292109e-01 8.22057191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.068623853 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:212.17, Y:60.96, Z:8.22 [[ 8.61890251e-01 -5.06096215e-01 -3.18090639e-02 2.12174995e+02] [ 5.05698942e-01 8.62476154e-01 -2.00863968e-02 6.09581022e+01] [ 3.76002085e-02 1.22645965e-03 9.99292110e-01 8.22150387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.128623853 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:60.99, Z:8.22 [[ 8.66935753e-01 -4.97403967e-01 -3.18071199e-02 2.12222876e+02] [ 4.97000710e-01 8.67517554e-01 -2.00894747e-02 6.09908252e+01] [ 3.75858193e-02 1.60812266e-03 9.99292110e-01 8.22418740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.188623853 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:212.27, Y:61.03, Z:8.23 [[ 8.69658458e-01 -4.92628367e-01 -3.18034169e-02 2.12269844e+02] [ 4.92221703e-01 8.70237883e-01 -2.00953351e-02 6.10257139e+01] [ 3.75760704e-02 1.82174613e-03 9.99292110e-01 8.22928443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.248623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:61.06, Z:8.23 [[ 8.70155775e-01 -4.91749611e-01 -3.18001246e-02 2.12316502e+02] [ 4.91342171e-01 8.70734655e-01 -2.01005439e-02 6.10599047e+01] [ 3.75739051e-02 1.86586209e-03 9.99292110e-01 8.23307098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.308623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:61.10, Z:8.24 [[ 8.69480975e-01 -4.92941880e-01 -3.17983677e-02 2.12360722e+02] [ 4.92535133e-01 8.70060342e-01 -2.01033228e-02 6.10969922e+01] [ 3.75762684e-02 1.81764343e-03 9.99292110e-01 8.23564079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.368623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:212.40, Y:61.14, Z:8.24 [[ 8.66780474e-01 -4.97675170e-01 -3.17967624e-02 2.12404436e+02] [ 4.97271495e-01 8.67361986e-01 -2.01058615e-02 6.11363246e+01] [ 3.75854910e-02 1.61574462e-03 9.99292110e-01 8.23518526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42862385299998 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:212.45, Y:61.17, Z:8.24 [[ 8.62282030e-01 -5.05429420e-01 -3.17931084e-02 2.12448082e+02] [ 5.05030764e-01 8.62866994e-01 -2.01116379e-02 6.11748740e+01] [ 3.75982373e-02 1.28540616e-03 9.99292110e-01 8.23741099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48862385299998 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:212.49, Y:61.21, Z:8.24 [[ 8.58687192e-01 -5.11513183e-01 -3.17894660e-02 2.12493106e+02] [ 5.11118461e-01 8.59274816e-01 -2.01173937e-02 6.12107576e+01] [ 3.76061996e-02 1.02636536e-03 9.99292110e-01 8.24010810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54862385299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:61.25, Z:8.24 [[ 8.52601902e-01 -5.21593259e-01 -3.17878802e-02 2.12537968e+02] [ 5.21205393e-01 8.53194074e-01 -2.01198990e-02 6.12485134e+01] [ 3.76156347e-02 5.86249519e-04 9.99292110e-01 8.24365663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60862385299998 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:212.58, Y:61.28, Z:8.24 [[ 8.46432242e-01 -5.31547005e-01 -3.17842829e-02 2.12583129e+02] [ 5.31165890e-01 8.47028782e-01 -2.01255802e-02 6.12845026e+01] [ 3.76198943e-02 1.52213005e-04 9.99292110e-01 8.24471247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66862385299999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:61.32, Z:8.25 [[ 8.43084048e-01 -5.36841847e-01 -3.17823577e-02 2.12629933e+02] [ 5.36464364e-01 8.43682893e-01 -2.01286200e-02 6.13186397e+01] [ 3.76201171e-02 -7.99838586e-05 9.99292110e-01 8.24530328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.728623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:61.35, Z:8.25 [[ 8.38917993e-01 -5.43329282e-01 -3.17787948e-02 2.12675885e+02] [ 5.42956217e-01 8.39519600e-01 -2.01342436e-02 6.13538354e+01] [ 3.76184452e-02 -3.63514976e-04 9.99292110e-01 8.24836176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.788623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:212.72, Y:61.39, Z:8.25 [[ 8.35793706e-01 -5.48123369e-01 -3.17750533e-02 2.12721960e+02] [ 5.47753530e-01 8.36397301e-01 -2.01401465e-02 6.13880777e+01] [ 3.76158538e-02 -5.71889965e-04 9.99292110e-01 8.25055500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.848623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:212.77, Y:61.42, Z:8.25 [[ 8.34376059e-01 -5.50279081e-01 -3.17730305e-02 2.12769248e+02] [ 5.49910679e-01 8.34980533e-01 -2.01433371e-02 6.14202817e+01] [ 3.76143190e-02 -6.65210602e-04 9.99292110e-01 8.25216923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.908623853 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:61.45, Z:8.25 [[ 8.33838185e-01 -5.51093897e-01 -3.17710239e-02 2.12817727e+02] [ 5.50725965e-01 8.34442946e-01 -2.01465016e-02 6.14528249e+01] [ 3.76137208e-02 -6.98205466e-04 9.99292110e-01 8.25443867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.968623853 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:212.87, Y:61.48, Z:8.26 [[ 8.34992974e-01 -5.49342837e-01 -3.17676083e-02 2.12865862e+02] [ 5.48973433e-01 8.35596835e-01 -2.01518859e-02 6.14844018e+01] [ 3.76152072e-02 -6.12889870e-04 9.99292110e-01 8.25584338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.028623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:212.91, Y:61.52, Z:8.26 [[ 8.35664025e-01 -5.48321696e-01 -3.17640498e-02 2.12914720e+02] [ 5.47951340e-01 8.36267304e-01 -2.01574935e-02 6.15161268e+01] [ 3.76160273e-02 -5.60261496e-04 9.99292110e-01 8.25749364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.088623853 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:212.96, Y:61.55, Z:8.26 [[ 8.38274698e-01 -5.44322332e-01 -3.17605040e-02 2.12963255e+02] [ 5.43948887e-01 8.38876069e-01 -2.01630786e-02 6.15482556e+01] [ 3.76183408e-02 -3.73892155e-04 9.99292110e-01 8.25850415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.148623853 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:61.58, Z:8.26 [[ 8.40180461e-01 -5.41376289e-01 -3.17569967e-02 2.13011763e+02] [ 5.41000527e-01 8.40780386e-01 -2.01686013e-02 6.15802315e+01] [ 3.76194624e-02 -2.35287229e-04 9.99292110e-01 8.26317577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20862385299998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:61.61, Z:8.27 [[ 8.42756569e-01 -5.37357518e-01 -3.17531626e-02 2.13060337e+02] [ 5.36978667e-01 8.43354549e-01 -2.01746358e-02 6.16118959e+01] [ 3.76201663e-02 -4.84640733e-05 9.99292110e-01 8.26622546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26862385299998 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:213.11, Y:61.64, Z:8.27 [[ 8.45006222e-01 -5.33813136e-01 -3.17493447e-02 2.13107887e+02] [ 5.33431551e-01 8.45602461e-01 -2.01806423e-02 6.16436993e+01] [ 3.76200160e-02 1.16666193e-04 9.99292110e-01 8.26515040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32862385299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:61.68, Z:8.27 [[ 8.46465544e-01 -5.31496160e-01 -3.17476806e-02 2.13156262e+02] [ 5.31112844e-01 8.47060672e-01 -2.01832599e-02 6.16763737e+01] [ 3.76195368e-02 2.22833191e-04 9.99292110e-01 8.26667369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38862385299998 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:61.71, Z:8.27 [[ 8.48298218e-01 -5.28566397e-01 -3.17442449e-02 2.13203796e+02] [ 5.28180824e-01 8.48891887e-01 -2.01886621e-02 6.17100261e+01] [ 3.76184803e-02 3.59304704e-04 9.99292110e-01 8.26904041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.448623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:61.74, Z:8.27 [[ 8.49006731e-01 -5.27427833e-01 -3.17403767e-02 2.13251254e+02] [ 5.27041237e-01 8.49599733e-01 -2.01947418e-02 6.17414656e+01] [ 3.76178845e-02 4.16984349e-04 9.99292110e-01 8.27115725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.508623853 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:213.30, Y:61.77, Z:8.28 [[ 8.48335988e-01 -5.28506107e-01 -3.17387039e-02 2.13298746e+02] [ 5.28120167e-01 8.48929417e-01 -2.01973705e-02 6.17741396e+01] [ 3.76183531e-02 3.72306691e-04 9.99292110e-01 8.27516555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.568623853 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:213.35, Y:61.81, Z:8.28 [[ 8.46995524e-01 -5.30651938e-01 -3.17348988e-02 2.13346511e+02] [ 5.30267277e-01 8.47589783e-01 -2.02033474e-02 6.18062992e+01] [ 3.76191215e-02 2.84166390e-04 9.99292110e-01 8.27703562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.628623853 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:213.40, Y:61.84, Z:8.28 [[ 8.45929821e-01 -5.32349394e-01 -3.17310755e-02 2.13395188e+02] [ 5.31965700e-01 8.46524705e-01 -2.02093505e-02 6.18373051e+01] [ 3.76195748e-02 2.15848439e-04 9.99292110e-01 8.27874226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.688623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:61.87, Z:8.28 [[ 8.44355249e-01 -5.34843527e-01 -3.17271891e-02 2.13443106e+02] [ 5.34461361e-01 8.44951116e-01 -2.02154500e-02 6.18680448e+01] [ 3.76200264e-02 1.12064594e-04 9.99292110e-01 8.27974697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.748623853 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:61.90, Z:8.29 [[ 8.43001171e-01 -5.36975398e-01 -3.17245541e-02 2.13490441e+02] [ 5.36594583e-01 8.43597903e-01 -2.02195843e-02 6.18985139e+01] [ 3.76201866e-02 2.19093188e-05 9.99292110e-01 8.28803641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.808623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:61.93, Z:8.29 [[ 8.42034962e-01 -5.38489349e-01 -3.17229141e-02 2.13540504e+02] [ 5.38109510e-01 8.42632316e-01 -2.02221571e-02 6.19286562e+01] [ 3.76201687e-02 -4.26384887e-05 9.99292110e-01 8.28532636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.868623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:61.96, Z:8.29 [[ 8.41864141e-01 -5.38756597e-01 -3.17190424e-02 2.13589481e+02] [ 5.38376719e-01 8.42461469e-01 -2.02282281e-02 6.19598445e+01] [ 3.76201624e-02 -4.73740644e-05 9.99292110e-01 8.28745195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92862385299998 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:61.99, Z:8.29 [[ 8.42612829e-01 -5.37585125e-01 -3.17152115e-02 2.13638041e+02] [ 5.37204191e-01 8.43209484e-01 -2.02342327e-02 6.19908565e+01] [ 3.76201896e-02 1.20795193e-05 9.99292110e-01 8.28978677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98862385299998 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:62.02, Z:8.29 [[ 8.44631786e-01 -5.34407651e-01 -3.17113138e-02 2.13686386e+02] [ 5.34024243e-01 8.45226855e-01 -2.02403393e-02 6.20225607e+01] [ 3.76198462e-02 1.61023540e-04 9.99292110e-01 8.29037334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04862385299998 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:62.05, Z:8.29 [[ 8.46238026e-01 -5.31860735e-01 -3.17074399e-02 2.13734447e+02] [ 5.31475309e-01 8.46831789e-01 -2.02464061e-02 6.20543091e+01] [ 3.76191365e-02 2.81557296e-04 9.99292110e-01 8.29260781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10862385299998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:62.09, Z:8.30 [[ 8.48648571e-01 -5.28006141e-01 -3.17035889e-02 2.13782685e+02] [ 5.27617793e-01 8.49240427e-01 -2.02524347e-02 6.20870305e+01] [ 3.76173792e-02 4.59822163e-04 9.99292110e-01 8.29750076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16862385299999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:62.12, Z:8.30 [[ 8.49811361e-01 -5.26132825e-01 -3.17001683e-02 2.13830575e+02] [ 5.25742973e-01 8.50402228e-01 -2.02577872e-02 6.21194421e+01] [ 3.76161806e-02 5.49156995e-04 9.99292110e-01 8.30131164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.228623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:62.15, Z:8.30 [[ 8.51263809e-01 -5.23779799e-01 -3.16962066e-02 2.13877730e+02] [ 5.23388082e-01 8.51853442e-01 -2.02639841e-02 6.21520978e+01] [ 3.76143882e-02 6.60579527e-04 9.99292110e-01 8.30435599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.288623853 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:62.19, Z:8.30 [[ 8.52155076e-01 -5.22328676e-01 -3.16935278e-02 2.13923903e+02] [ 5.21935800e-01 8.52743937e-01 -2.02681729e-02 6.21857286e+01] [ 3.76131116e-02 7.29639642e-04 9.99292110e-01 8.30488238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.348623853 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:213.97, Y:62.22, Z:8.31 [[ 8.52592801e-01 -5.21614035e-01 -3.16909287e-02 2.13970533e+02] [ 5.21220514e-01 8.53181231e-01 -2.02722360e-02 6.22212609e+01] [ 3.76123883e-02 7.66000367e-04 9.99292110e-01 8.30611663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.408623853 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:62.26, Z:8.31 [[ 8.53170242e-01 -5.20669245e-01 -3.16871436e-02 2.14015033e+02] [ 5.20274854e-01 8.53758088e-01 -2.02781507e-02 6.22564305e+01] [ 3.76113646e-02 8.14690796e-04 9.99292110e-01 8.30878223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.468623853 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:62.29, Z:8.31 [[ 8.53011468e-01 -5.20929424e-01 -3.16855057e-02 2.14061555e+02] [ 5.20535116e-01 8.53599371e-01 -2.02807096e-02 6.22913512e+01] [ 3.76115461e-02 8.06259430e-04 9.99292110e-01 8.30924137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.528623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:62.33, Z:8.31 [[ 8.51573215e-01 -5.23277480e-01 -3.16818272e-02 2.14106908e+02] [ 5.22884580e-01 8.52162059e-01 -2.02864545e-02 6.23275493e+01] [ 3.76134959e-02 7.09462318e-04 9.99292110e-01 8.30954909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.588623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:214.15, Y:62.36, Z:8.31 [[ 8.48266189e-01 -5.28621768e-01 -3.16780514e-02 2.14152150e+02] [ 5.28232359e-01 8.48857347e-01 -2.02923488e-02 6.23639671e+01] [ 3.76171240e-02 4.79941592e-04 9.99292110e-01 8.31167110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.648623853 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:62.40, Z:8.31 [[ 8.45416610e-01 -5.33167429e-01 -3.16740775e-02 2.14198861e+02] [ 5.32780966e-01 8.46009699e-01 -2.02985498e-02 6.23961179e+01] [ 3.76191023e-02 2.85385539e-04 9.99292110e-01 8.31331290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70862385299998 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:62.43, Z:8.32 [[ 8.40341368e-01 -5.41131451e-01 -3.16723556e-02 2.14245594e+02] [ 5.40750508e-01 8.40938017e-01 -2.03012360e-02 6.24287236e+01] [ 3.76201252e-02 -6.68739256e-05 9.99292110e-01 8.31616001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76862385299998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:62.46, Z:8.32 [[ 8.35523570e-01 -5.48541092e-01 -3.16707320e-02 2.14293309e+02] [ 5.48165343e-01 8.36123504e-01 -2.03037687e-02 6.24615682e+01] [ 3.76180948e-02 -3.96520376e-04 9.99292110e-01 8.32185994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82862385299998 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:214.34, Y:62.49, Z:8.32 [[ 8.32571642e-01 -5.53011457e-01 -3.16668636e-02 2.14342174e+02] [ 5.52638700e-01 8.33173439e-01 -2.03098002e-02 6.24925878e+01] [ 3.76155419e-02 -5.90970634e-04 9.99292110e-01 8.32334246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88862385299998 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:214.39, Y:62.52, Z:8.32 [[ 8.29179454e-01 -5.58085017e-01 -3.16630116e-02 2.14391923e+02] [ 5.57715713e-01 8.29783376e-01 -2.03158037e-02 6.25214871e+01] [ 3.76113863e-02 -8.13512047e-04 9.99292110e-01 8.32383229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.948623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:214.44, Y:62.55, Z:8.32 [[ 8.28221793e-01 -5.59505336e-01 -3.16613512e-02 2.14440945e+02] [ 5.59136968e-01 8.28826287e-01 -2.03183911e-02 6.25521587e+01] [ 3.76100084e-02 -8.74897591e-04 9.99292110e-01 8.32466961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.008623853 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:214.49, Y:62.58, Z:8.33 [[ 8.28231723e-01 -5.59490849e-01 -3.16575810e-02 2.14489685e+02] [ 5.59122246e-01 8.28836074e-01 -2.03242637e-02 6.25822715e+01] [ 3.76101847e-02 -8.67257841e-04 9.99292110e-01 8.33179661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.068623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:214.54, Y:62.61, Z:8.33 [[ 8.29470302e-01 -5.57653164e-01 -3.16538505e-02 2.14538859e+02] [ 5.57283001e-01 8.30073698e-01 -2.03300720e-02 6.26118921e+01] [ 3.76121577e-02 -7.76961850e-04 9.99292110e-01 8.32840398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.128623853 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:62.64, Z:8.34 [[ 8.31463983e-01 -5.54676337e-01 -3.16513252e-02 2.14588294e+02] [ 5.54303864e-01 8.32065956e-01 -2.03340028e-02 6.26424417e+01] [ 3.76147803e-02 -6.37460874e-04 9.99292110e-01 8.33767804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.188623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:214.64, Y:62.67, Z:8.33 [[ 8.32739848e-01 -5.52759232e-01 -3.16476848e-02 2.14637547e+02] [ 5.52385158e-01 8.33340828e-01 -2.03396671e-02 6.26735106e+01] [ 3.76162466e-02 -5.44060089e-04 9.99292110e-01 8.33063061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.248623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:214.69, Y:62.70, Z:8.33 [[ 8.34775500e-01 -5.49680377e-01 -3.16440656e-02 2.14687051e+02] [ 5.49303873e-01 8.35374960e-01 -2.03452962e-02 6.27020546e+01] [ 3.76180702e-02 -3.98453030e-04 9.99292110e-01 8.33287870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.308623853 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:214.74, Y:62.73, Z:8.34 [[ 8.36508263e-01 -5.47039975e-01 -3.16416078e-02 2.14735966e+02] [ 5.46661434e-01 8.37106439e-01 -2.03491180e-02 6.27314096e+01] [ 3.76191746e-02 -2.75041332e-04 9.99292110e-01 8.34397555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.368623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:214.79, Y:62.76, Z:8.34 [[ 8.37243882e-01 -5.45913558e-01 -3.16396701e-02 2.14786192e+02] [ 5.45534098e-01 8.37841476e-01 -2.03521304e-02 6.27609900e+01] [ 3.76195318e-02 -2.20822194e-04 9.99292110e-01 8.33749395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42862385299998 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:62.79, Z:8.34 [[ 8.36999321e-01 -5.46288652e-01 -3.16361234e-02 2.14835659e+02] [ 5.45909252e-01 8.37596953e-01 -2.03576420e-02 6.27914587e+01] [ 3.76194694e-02 -2.31119938e-04 9.99292110e-01 8.34485523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48862385299998 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:62.82, Z:8.34 [[ 8.36236855e-01 -5.47455304e-01 -3.16324549e-02 2.14885866e+02] [ 5.47076522e-01 8.36834878e-01 -2.03633407e-02 6.28205947e+01] [ 3.76191604e-02 -2.76797433e-04 9.99292111e-01 8.34303980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54862385299998 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:62.85, Z:8.35 [[ 8.34597557e-01 -5.49951414e-01 -3.16284775e-02 2.14935304e+02] [ 5.49574186e-01 8.35196562e-01 -2.03695164e-02 6.28475275e+01] [ 3.76182401e-02 -3.81846164e-04 9.99292111e-01 8.35347645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60862385299998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:214.99, Y:62.88, Z:8.35 [[ 8.33227778e-01 -5.52024653e-01 -3.16267629e-02 2.14985405e+02] [ 5.51648815e-01 8.33827655e-01 -2.03721784e-02 6.28757319e+01] [ 3.76172142e-02 -4.72201347e-04 9.99292111e-01 8.34903065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66862385299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:62.90, Z:8.35 [[ 8.31400223e-01 -5.54773417e-01 -3.16247596e-02 2.15037110e+02] [ 5.54399444e-01 8.32001264e-01 -2.03752877e-02 6.29029237e+01] [ 3.76155079e-02 -5.92730376e-04 9.99292111e-01 8.35251335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.728623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:62.93, Z:8.35 [[ 8.29654659e-01 -5.57380701e-01 -3.16212158e-02 2.15089347e+02] [ 5.57008407e-01 8.30256742e-01 -2.03807859e-02 6.29295653e+01] [ 3.76135844e-02 -7.04269108e-04 9.99292111e-01 8.35385486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.788623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:215.14, Y:62.96, Z:8.35 [[ 8.28983611e-01 -5.58378451e-01 -3.16177022e-02 2.15141052e+02] [ 5.58006674e-01 8.29586013e-01 -2.03862353e-02 6.29566278e+01] [ 3.76128380e-02 -7.43033837e-04 9.99292111e-01 8.35445737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.848623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:215.19, Y:62.98, Z:8.36 [[ 8.29165549e-01 -5.58108442e-01 -3.16142178e-02 2.15193430e+02] [ 5.57736263e-01 8.29767704e-01 -2.03916373e-02 6.29819540e+01] [ 3.76132019e-02 -7.24352520e-04 9.99292111e-01 8.35534542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.908623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:63.01, Z:8.35 [[ 8.30394053e-01 -5.56279136e-01 -3.16107428e-02 2.15245635e+02] [ 5.55905425e-01 8.30995259e-01 -2.03970228e-02 6.30061659e+01] [ 3.76148156e-02 -6.35016988e-04 9.99292111e-01 8.35458421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.968623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:63.03, Z:8.36 [[ 8.33683585e-01 -5.51337093e-01 -3.16083865e-02 2.15297836e+02] [ 5.50959680e-01 8.34282472e-01 -2.04006737e-02 6.30317440e+01] [ 3.76179709e-02 -4.07239752e-04 9.99292111e-01 8.35853847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.028623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:63.06, Z:8.36 [[ 8.37090060e-01 -5.46151418e-01 -3.16047466e-02 2.15347207e+02] [ 5.45770082e-01 8.37686457e-01 -2.04063110e-02 6.30610337e+01] [ 3.76198039e-02 -1.67005062e-04 9.99292111e-01 8.36206237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.088623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:63.09, Z:8.37 [[ 8.43253286e-01 -5.36586585e-01 -3.16027315e-02 2.15396324e+02] [ 5.36198367e-01 8.43845227e-01 -2.04094313e-02 6.30907517e+01] [ 3.76192411e-02 2.64987006e-04 9.99292111e-01 8.36649102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.148623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:215.44, Y:63.12, Z:8.37 [[ 8.48838172e-01 -5.27707566e-01 -3.15987690e-02 2.15444653e+02] [ 5.27312929e-01 8.49425853e-01 -2.04155644e-02 6.31225178e+01] [ 3.76142591e-02 6.67070973e-04 9.99292111e-01 8.36799466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20862385299998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:215.49, Y:63.16, Z:8.37 [[ 8.51504671e-01 -5.23394270e-01 -3.15948242e-02 2.15491168e+02] [ 5.22996430e-01 8.52090188e-01 -2.04216674e-02 6.31551709e+01] [ 3.76102234e-02 8.65164949e-04 9.99292111e-01 8.36852423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:63.19, Z:8.37 [[ 8.53085197e-01 -5.20814286e-01 -3.15931320e-02 2.15538471e+02] [ 5.20414578e-01 8.53669441e-01 -2.04242850e-02 6.31895986e+01] [ 3.76073507e-02 9.82128698e-04 9.99292111e-01 8.36984979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32862385299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:63.22, Z:8.37 [[ 8.52055585e-01 -5.22497271e-01 -3.15892745e-02 2.15585913e+02] [ 5.22098497e-01 8.52640466e-01 -2.04302495e-02 6.32223732e+01] [ 3.76090433e-02 9.14995445e-04 9.99292111e-01 8.37237759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:63.26, Z:8.37 [[ 8.49258745e-01 -5.27031255e-01 -3.15854447e-02 2.15633405e+02] [ 5.26635384e-01 8.49845595e-01 -2.04361687e-02 6.32559818e+01] [ 3.76132507e-02 7.21582173e-04 9.99292111e-01 8.37251755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.448623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:215.68, Y:63.29, Z:8.37 [[ 8.46758836e-01 -5.31038675e-01 -3.15816404e-02 2.15680373e+02] [ 5.30645362e-01 8.47347404e-01 -2.04420461e-02 6.32874501e+01] [ 3.76161381e-02 5.50832134e-04 9.99292111e-01 8.37372974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.508623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:215.73, Y:63.32, Z:8.38 [[ 8.42453926e-01 -5.37842120e-01 -3.15790525e-02 2.15728965e+02] [ 5.37453411e-01 8.43045545e-01 -2.04460431e-02 6.33195251e+01] [ 3.76193227e-02 2.52579810e-04 9.99292111e-01 8.37723338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.568623853 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:63.35, Z:8.38 [[ 8.38294074e-01 -5.44303279e-01 -3.15750922e-02 2.15776947e+02] [ 5.43918900e-01 8.38888515e-01 -2.04521572e-02 6.33508878e+01] [ 3.76201584e-02 -2.93672672e-05 9.99292111e-01 8.37990671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.628623853 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:215.83, Y:63.38, Z:8.38 [[ 8.35219278e-01 -5.49009965e-01 -3.15723976e-02 2.15825580e+02] [ 5.48628779e-01 8.35815771e-01 -2.04563161e-02 6.33821511e+01] [ 3.76194292e-02 -2.36016345e-04 9.99292111e-01 8.38253731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.688623853 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:63.41, Z:8.38 [[ 8.33607577e-01 -5.51454297e-01 -3.15684376e-02 2.15874251e+02] [ 5.51074628e-01 8.34205037e-01 -2.04624253e-02 6.34118671e+01] [ 3.76186421e-02 -3.38932252e-04 9.99292111e-01 8.38297297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.748623853 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:63.44, Z:8.38 [[ 8.32186843e-01 -5.53596062e-01 -3.15667349e-02 2.15923920e+02] [ 5.53217831e-01 8.32785214e-01 -2.04650518e-02 6.34426038e+01] [ 3.76176821e-02 -4.32533760e-04 9.99292111e-01 8.38343500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.808623853 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:63.47, Z:8.39 [[ 8.32053849e-01 -5.53796159e-01 -3.15627451e-02 2.15971979e+02] [ 5.53417839e-01 8.32652163e-01 -2.04712033e-02 6.34735627e+01] [ 3.76176617e-02 -4.34242727e-04 9.99292111e-01 8.38510269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.868623853 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:63.51, Z:8.39 [[ 8.32772063e-01 -5.52715654e-01 -3.15610192e-02 2.16020166e+02] [ 5.52336456e-01 8.33369822e-01 -2.04738638e-02 6.35056893e+01] [ 3.76182260e-02 -3.82239700e-04 9.99292111e-01 8.39114653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92862385299998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:63.54, Z:8.39 [[ 8.34285622e-01 -5.50428607e-01 -3.15570820e-02 2.16070223e+02] [ 5.50047541e-01 8.34882192e-01 -2.04799306e-02 6.35351444e+01] [ 3.76191854e-02 -2.71783742e-04 9.99292111e-01 8.39170209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98862385299998 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:63.57, Z:8.40 [[ 8.35109057e-01 -5.49178589e-01 -3.15553515e-02 2.16118578e+02] [ 5.48796530e-01 8.35704991e-01 -2.04825965e-02 6.35663192e+01] [ 3.76195682e-02 -2.12265541e-04 9.99292111e-01 8.39514063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04862385299998 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:63.60, Z:8.39 [[ 8.35308395e-01 -5.48875574e-01 -3.15513835e-02 2.16167329e+02] [ 5.48493067e-01 8.35904042e-01 -2.04887070e-02 6.35963831e+01] [ 3.76196798e-02 -1.91326117e-04 9.99292111e-01 8.39498054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10862385299998 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:63.63, Z:8.39 [[ 8.35001382e-01 -5.49342613e-01 -3.15497133e-02 2.16217431e+02] [ 5.48960343e-01 8.35597181e-01 -2.04912786e-02 6.36262280e+01] [ 3.76195840e-02 -2.09295500e-04 9.99292111e-01 8.39288982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16862385299999 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:63.66, Z:8.40 [[ 8.33804681e-01 -5.51157368e-01 -3.15485178e-02 2.16267086e+02] [ 5.50776325e-01 8.34401266e-01 -2.04931189e-02 6.36553510e+01] [ 3.76190567e-02 -2.88918213e-04 9.99292111e-01 8.39556211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.228623853 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:216.32, Y:63.68, Z:8.40 [[ 8.33243087e-01 -5.52006241e-01 -3.15446831e-02 2.16316536e+02] [ 5.51625583e-01 8.33839917e-01 -2.04990199e-02 6.36849990e+01] [ 3.76188029e-02 -3.20187558e-04 9.99292111e-01 8.39945080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.288623853 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:216.37, Y:63.71, Z:8.40 [[ 8.32892816e-01 -5.52534825e-01 -3.15408508e-02 2.16366661e+02] [ 5.52154321e-01 8.33489744e-01 -2.05049149e-02 6.37136207e+01] [ 3.76186552e-02 -3.37020693e-04 9.99292111e-01 8.40291066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.348623853 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:216.42, Y:63.74, Z:8.41 [[ 8.31766098e-01 -5.54229721e-01 -3.15368798e-02 2.16417452e+02] [ 5.53850203e-01 8.32363653e-01 -2.05110206e-02 6.37411770e+01] [ 3.76179697e-02 -4.06335697e-04 9.99292111e-01 8.40553721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.408623853 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:216.47, Y:63.77, Z:8.41 [[ 8.29506993e-01 -5.57605438e-01 -3.15328945e-02 2.16469754e+02] [ 5.57228118e-01 8.30105940e-01 -2.05171455e-02 6.37673850e+01] [ 3.76161149e-02 -5.51899773e-04 9.99292111e-01 8.40794887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.468623853 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:63.80, Z:8.41 [[ 8.28336402e-01 -5.59343132e-01 -3.15288272e-02 2.16519457e+02] [ 5.58966831e-01 8.28935988e-01 -2.05233939e-02 6.37955689e+01] [ 3.76149989e-02 -6.23294345e-04 9.99292111e-01 8.41035041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.528623853 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:216.57, Y:63.82, Z:8.43 [[ 8.27410476e-01 -5.60712027e-01 -3.15265958e-02 2.16570143e+02] [ 5.60336588e-01 8.28010603e-01 -2.05268210e-02 6.38221450e+01] [ 3.76139910e-02 -6.81398385e-04 9.99292111e-01 8.42603367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.588623853 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:216.62, Y:63.85, Z:8.42 [[ 8.28197136e-01 -5.59549668e-01 -3.15225835e-02 2.16622359e+02] [ 5.59173151e-01 8.28796587e-01 -2.05329808e-02 6.38465020e+01] [ 3.76150322e-02 -6.21226494e-04 9.99292111e-01 8.41705587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.648623853 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:216.67, Y:63.87, Z:8.42 [[ 8.30337509e-01 -5.56368662e-01 -3.15203648e-02 2.16674658e+02] [ 5.55989719e-01 8.30935430e-01 -2.05363861e-02 6.38730827e+01] [ 3.76171896e-02 -4.72867111e-04 9.99292111e-01 8.41839133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70862385299998 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:216.72, Y:63.90, Z:8.42 [[ 8.32202678e-01 -5.53575130e-01 -3.15163122e-02 2.16724604e+02] [ 5.53193945e-01 8.32799172e-01 -2.05426037e-02 6.39031094e+01] [ 3.76186332e-02 -3.39023250e-04 9.99292111e-01 8.41979043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76862385299998 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:216.78, Y:63.93, Z:8.42 [[ 8.34873690e-01 -5.49538806e-01 -3.15122735e-02 2.16776179e+02] [ 5.49154503e-01 8.35468179e-01 -2.05487972e-02 6.39298095e+01] [ 3.76198632e-02 -1.49456790e-04 9.99292111e-01 8.42046327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82862385299998 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:216.83, Y:63.96, Z:8.42 [[ 8.36616530e-01 -5.46882081e-01 -3.15082667e-02 2.16826090e+02] [ 5.46495659e-01 8.37209645e-01 -2.05549390e-02 6.39569490e+01] [ 3.76201526e-02 -2.25292029e-05 9.99292111e-01 8.42359351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88862385299998 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:216.88, Y:63.99, Z:8.43 [[ 8.37599383e-01 -5.45375693e-01 -3.15059941e-02 2.16876592e+02] [ 5.44988073e-01 8.38191715e-01 -2.05584218e-02 6.39850126e+01] [ 3.76201268e-02 4.93303618e-05 9.99292111e-01 8.42806085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.948623853 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:216.93, Y:64.02, Z:8.43 [[ 8.38293761e-01 -5.44307996e-01 -3.15019967e-02 2.16925600e+02] [ 5.43919392e-01 8.38885448e-01 -2.05645454e-02 6.40155713e+01] [ 3.76200131e-02 1.04583223e-04 9.99292111e-01 8.43006721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.008623853 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:216.97, Y:64.04, Z:8.43 [[ 8.39810603e-01 -5.41964967e-01 -3.14980397e-02 2.16974223e+02] [ 5.41574485e-01 8.40401052e-01 -2.05706043e-02 6.40447228e+01] [ 3.76195326e-02 2.16876966e-04 9.99292111e-01 8.43072086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.068623853 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:217.02, Y:64.08, Z:8.43 [[ 8.40573335e-01 -5.40781354e-01 -3.14959701e-02 2.17022719e+02] [ 5.40389921e-01 8.41163155e-01 -2.05737726e-02 6.40752661e+01] [ 3.76191622e-02 2.73659866e-04 9.99292111e-01 8.43204875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.128623853 meters Centerline goodness : 0.998639 with order 1 Centerline is valid? [True, True] Translation: X:217.07, Y:64.11, Z:8.44 [[ 8.40471913e-01 -5.40939088e-01 -3.14939136e-02 2.17070206e+02] [ 5.40547649e-01 8.41061728e-01 -2.05769202e-02 6.41079155e+01] [ 3.76191858e-02 2.70362533e-04 9.99292111e-01 8.43941988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.188623853 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:217.12, Y:64.14, Z:8.44 [[ 8.39005242e-01 -5.43211356e-01 -3.14901208e-02 2.17119324e+02] [ 5.42821296e-01 8.39595970e-01 -2.05827229e-02 6.41385363e+01] [ 3.76197473e-02 1.75504246e-04 9.99292111e-01 8.43626593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.248623853 meters Centerline goodness : 0.998542 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:64.17, Z:8.45 [[ 8.37609049e-01 -5.45361987e-01 -3.14862596e-02 2.17167878e+02] [ 5.44973222e-01 8.38200630e-01 -2.05886278e-02 6.41687735e+01] [ 3.76200576e-02 8.60526314e-05 9.99292111e-01 8.44951006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.308623853 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:64.20, Z:8.44 [[ 8.35489254e-01 -5.48604208e-01 -3.14822164e-02 2.17217896e+02] [ 5.48217506e-01 8.36082185e-01 -2.05948085e-02 6.41984584e+01] [ 3.76201189e-02 -5.23609351e-05 9.99292111e-01 8.44325767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.368623853 meters Centerline goodness : 0.998591 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:64.23, Z:8.45 [[ 8.34001838e-01 -5.50862881e-01 -3.14804592e-02 2.17266357e+02] [ 5.50477684e-01 8.34595748e-01 -2.05974941e-02 6.42289531e+01] [ 3.76198524e-02 -1.50942299e-04 9.99292111e-01 8.44928148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42862385299998 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:217.32, Y:64.26, Z:8.45 [[ 8.33029620e-01 -5.52332187e-01 -3.14770836e-02 2.17316180e+02] [ 5.51947842e-01 8.33624082e-01 -2.06026514e-02 6.42588148e+01] [ 3.76195625e-02 -2.11089500e-04 9.99292111e-01 8.44968273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48862385299998 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:217.37, Y:64.29, Z:8.45 [[ 8.32701810e-01 -5.52826483e-01 -3.14733978e-02 2.17365747e+02] [ 5.52442278e-01 8.33296363e-01 -2.06082806e-02 6.42884340e+01] [ 3.76194711e-02 -2.26683030e-04 9.99292111e-01 8.45153163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54862385299998 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:217.41, Y:64.32, Z:8.46 [[ 8.33034010e-01 -5.52325985e-01 -3.14697365e-02 2.17414403e+02] [ 5.51941212e-01 8.33628195e-01 -2.06138700e-02 6.43196191e+01] [ 3.76196357e-02 -1.97389692e-04 9.99292111e-01 8.45501875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60862385299998 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:64.35, Z:8.45 [[ 8.34678557e-01 -5.49837804e-01 -3.14657918e-02 2.17463883e+02] [ 5.49451033e-01 8.35271443e-01 -2.06198896e-02 6.43508189e+01] [ 3.76200721e-02 -7.79320955e-05 9.99292111e-01 8.45229466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66862385299999 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:64.38, Z:8.46 [[ 8.37059485e-01 -5.46206497e-01 -3.14623751e-02 2.17511296e+02] [ 5.45816958e-01 8.37650556e-01 -2.06251015e-02 6.43837718e+01] [ 3.76200404e-02 9.17390348e-05 9.99292112e-01 8.45512573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.728623853 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:64.42, Z:8.46 [[ 8.37723478e-01 -5.45187801e-01 -3.14584879e-02 2.17559395e+02] [ 5.44797320e-01 8.38313927e-01 -2.06310287e-02 6.44166399e+01] [ 3.76198737e-02 1.44597229e-04 9.99292112e-01 8.46297919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.788623853 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:64.45, Z:8.46 [[ 8.38652440e-01 -5.43757930e-01 -3.14547098e-02 2.17605571e+02] [ 5.43366226e-01 8.39242079e-01 -2.06367874e-02 6.44499302e+01] [ 3.76195328e-02 2.15665190e-04 9.99292112e-01 8.45565829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.848623853 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:217.65, Y:64.48, Z:8.46 [[ 8.38831264e-01 -5.43482183e-01 -3.14519794e-02 2.17651681e+02] [ 5.43090130e-01 8.39420671e-01 -2.06409478e-02 6.44846635e+01] [ 3.76194290e-02 2.33012768e-04 9.99292112e-01 8.46155955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.908623853 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:64.52, Z:8.46 [[ 8.38463397e-01 -5.44049771e-01 -3.14480413e-02 2.17698364e+02] [ 5.43657891e-01 8.39052919e-01 -2.06469461e-02 6.45192715e+01] [ 3.76195371e-02 2.14732754e-04 9.99292112e-01 8.46459610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.968623853 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:64.55, Z:8.47 [[ 8.37850119e-01 -5.44993995e-01 -3.14439814e-02 2.17743664e+02] [ 5.44602548e-01 8.38439928e-01 -2.06531272e-02 6.45540866e+01] [ 3.76197198e-02 1.79752692e-04 9.99292112e-01 8.46525990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.028623853 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:64.59, Z:8.47 [[ 8.36789081e-01 -5.46621852e-01 -3.14417721e-02 2.17789464e+02] [ 5.46231426e-01 8.37379566e-01 -2.06564901e-02 6.45891066e+01] [ 3.76199863e-02 1.10641327e-04 9.99292112e-01 8.46867615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.088623853 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:64.62, Z:8.47 [[ 8.35063760e-01 -5.49254196e-01 -3.14379444e-02 2.17835466e+02] [ 5.48865412e-01 8.35655328e-01 -2.06623139e-02 6.46243515e+01] [ 3.76201484e-02 -8.50762709e-07 9.99292112e-01 8.47055179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.148623853 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:217.88, Y:64.66, Z:8.47 [[ 8.33873128e-01 -5.51060349e-01 -3.14340172e-02 2.17882893e+02] [ 5.50672622e-01 8.34465389e-01 -2.06682868e-02 6.46586425e+01] [ 3.76200727e-02 -7.51236688e-05 9.99292112e-01 8.47235804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20862385299998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:217.93, Y:64.69, Z:8.47 [[ 8.32056450e-01 -5.53799785e-01 -3.14302665e-02 2.17928553e+02] [ 5.53413792e-01 8.32649843e-01 -2.06739888e-02 6.46938791e+01] [ 3.76196571e-02 -1.92017248e-04 9.99292112e-01 8.47163430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26862385299998 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:217.97, Y:64.73, Z:8.48 [[ 8.30374226e-01 -5.56319074e-01 -3.14282082e-02 2.17974301e+02] [ 5.55934763e-01 8.30968710e-01 -2.06771175e-02 6.47289501e+01] [ 3.76189324e-02 -3.02288021e-04 9.99292112e-01 8.47605039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32862385299998 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:218.02, Y:64.76, Z:8.49 [[ 8.29361534e-01 -5.57827893e-01 -3.14243093e-02 2.18019031e+02] [ 5.57444439e-01 8.29956571e-01 -2.06830412e-02 6.47649712e+01] [ 3.76183892e-02 -3.63587696e-04 9.99292112e-01 8.48739974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38862385299998 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:218.07, Y:64.80, Z:8.48 [[ 8.28803588e-01 -5.58656756e-01 -3.14203936e-02 2.18066047e+02] [ 5.58273671e-01 8.29398863e-01 -2.06889879e-02 6.47988555e+01] [ 3.76180816e-02 -3.94071075e-04 9.99292112e-01 8.48237707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.448623853 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:218.11, Y:64.83, Z:8.48 [[ 8.28179544e-01 -5.59581565e-01 -3.14183779e-02 2.18111293e+02] [ 5.59199029e-01 8.28775172e-01 -2.06920485e-02 6.48348225e+01] [ 3.76176604e-02 -4.32395138e-04 9.99292112e-01 8.48460652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.508623853 meters Centerline goodness : 0.998700 with order 1 Centerline is valid? [True, True] Translation: X:218.16, Y:64.87, Z:8.49 [[ 8.27025398e-01 -5.61286129e-01 -3.14145247e-02 2.18158233e+02] [ 5.60904599e-01 8.27621670e-01 -2.06978967e-02 6.48682289e+01] [ 3.76167837e-02 -5.02865154e-04 9.99292112e-01 8.48826004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.568623853 meters Centerline goodness : 0.998649 with order 1 Centerline is valid? [True, True] Translation: X:218.20, Y:64.90, Z:8.49 [[ 8.25634985e-01 -5.63329609e-01 -3.14105685e-02 2.18204512e+02] [ 5.62949326e-01 8.26232053e-01 -2.07038987e-02 6.49035635e+01] [ 3.76155377e-02 -5.88695255e-04 9.99292112e-01 8.49039317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.628623853 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:218.25, Y:64.94, Z:8.49 [[ 8.24452973e-01 -5.65058337e-01 -3.14065489e-02 2.18252539e+02] [ 5.64679073e-01 8.25050690e-01 -2.07099945e-02 6.49364911e+01] [ 3.76143499e-02 -6.60204336e-04 9.99292112e-01 8.49198579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.688623853 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:218.30, Y:64.97, Z:8.49 [[ 8.22794983e-01 -5.67470083e-01 -3.14025539e-02 2.18299211e+02] [ 5.67092341e-01 8.23393662e-01 -2.07160503e-02 6.49687657e+01] [ 3.76124027e-02 -7.63085545e-04 9.99292112e-01 8.49331121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.748623853 meters Centerline goodness : 0.998318 with order 1 Centerline is valid? [True, True] Translation: X:218.35, Y:65.00, Z:8.50 [[ 8.22010086e-01 -5.68606602e-01 -3.13998381e-02 2.18347189e+02] [ 5.68229531e-01 8.22609187e-01 -2.07201660e-02 6.50012765e+01] [ 3.76114185e-02 -8.10129814e-04 9.99292112e-01 8.49611144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.808623853 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:218.39, Y:65.03, Z:8.50 [[ 8.21703807e-01 -5.69049340e-01 -3.13958855e-02 2.18394853e+02] [ 5.68672362e-01 8.22302968e-01 -2.07261533e-02 6.50332072e+01] [ 3.76111337e-02 -8.23213254e-04 9.99292112e-01 8.50467390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.868623853 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:218.44, Y:65.07, Z:8.50 [[ 8.21047627e-01 -5.69995763e-01 -3.13946589e-02 2.18444422e+02] [ 5.69619405e-01 8.21647177e-01 -2.07280112e-02 6.50652667e+01] [ 3.76102114e-02 -8.64322478e-04 9.99292112e-01 8.49947459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92862385299998 meters Centerline goodness : 0.998341 with order 1 Centerline is valid? [True, True] Translation: X:218.49, Y:65.10, Z:8.50 [[ 8.19832451e-01 -5.71742372e-01 -3.13912869e-02 2.18493137e+02] [ 5.71367096e-01 8.20432678e-01 -2.07331165e-02 6.50960362e+01] [ 3.76084388e-02 -9.38266739e-04 9.99292112e-01 8.50220038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98862385299998 meters Centerline goodness : 0.998397 with order 1 Centerline is valid? [True, True] Translation: X:218.54, Y:65.12, Z:8.50 [[ 8.17746684e-01 -5.74721836e-01 -3.13874417e-02 2.18544229e+02] [ 5.74348523e-01 8.18348135e-01 -2.07389361e-02 6.51239921e+01] [ 3.76049738e-02 -1.06813450e-03 9.99292112e-01 8.50362942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04862385299998 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:65.15, Z:8.51 [[ 8.16752594e-01 -5.76133900e-01 -3.13835845e-02 2.18594599e+02] [ 5.75761403e-01 8.17354551e-01 -2.07447715e-02 6.51536806e+01] [ 3.76032817e-02 -1.12611068e-03 9.99292112e-01 8.50533511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10862385299998 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:218.65, Y:65.18, Z:8.51 [[ 8.16864930e-01 -5.75974825e-01 -3.13797171e-02 2.18645428e+02] [ 5.75601987e-01 8.17466675e-01 -2.07506198e-02 6.51818180e+01] [ 3.76037076e-02 -1.11177395e-03 9.99292112e-01 8.50929605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16862385299999 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:65.21, Z:8.51 [[ 8.17149668e-01 -5.75570997e-01 -3.13758905e-02 2.18696372e+02] [ 5.75197640e-01 8.17751091e-01 -2.07564043e-02 6.52077661e+01] [ 3.76044530e-02 -1.08624927e-03 9.99292112e-01 8.51182970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.228623853 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:65.23, Z:8.52 [[ 8.17693390e-01 -5.74798476e-01 -3.13724763e-02 2.18748396e+02] [ 5.74424352e-01 8.18294336e-01 -2.07615634e-02 6.52332719e+01] [ 3.76056347e-02 -1.04452121e-03 9.99292112e-01 8.51745958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.288623853 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:65.26, Z:8.52 [[ 8.19060807e-01 -5.72848509e-01 -3.13684586e-02 2.18797633e+02] [ 5.72472722e-01 8.19660715e-01 -2.07676319e-02 6.52612502e+01] [ 3.76082002e-02 -9.47633588e-04 9.99292112e-01 8.51965174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.348623853 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:218.85, Y:65.29, Z:8.52 [[ 8.22266230e-01 -5.68237985e-01 -3.13662086e-02 2.18850008e+02] [ 5.67858705e-01 8.22863935e-01 -2.07710297e-02 6.52878096e+01] [ 3.76130099e-02 -7.32258277e-04 9.99292112e-01 8.52020633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.408623853 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:65.31, Z:8.52 [[ 8.26587098e-01 -5.61934317e-01 -3.13622778e-02 2.18901424e+02] [ 5.61550252e-01 8.27181741e-01 -2.07769630e-02 6.53142339e+01] [ 3.76175921e-02 -4.37525424e-04 9.99292112e-01 8.51905667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.468623853 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:65.34, Z:8.52 [[ 8.29699376e-01 -5.57328880e-01 -3.13602420e-02 2.18951322e+02] [ 5.56941398e-01 8.30291798e-01 -2.07800354e-02 6.53439544e+01] [ 3.76194656e-02 -2.24634634e-04 9.99292112e-01 8.52175786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.528623853 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:219.00, Y:65.37, Z:8.53 [[ 8.34133618e-01 -5.50670398e-01 -3.13563397e-02 2.19001063e+02] [ 5.50277965e-01 8.34722772e-01 -2.07859222e-02 6.53726082e+01] [ 3.76200428e-02 8.35336460e-05 9.99292112e-01 8.52505488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.588623853 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:219.05, Y:65.40, Z:8.53 [[ 8.38063902e-01 -5.44670371e-01 -3.13541376e-02 2.19051390e+02] [ 5.44273597e-01 8.38650141e-01 -2.07892434e-02 6.54030060e+01] [ 3.76184368e-02 3.57485241e-04 9.99292112e-01 8.53003314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.648623853 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:219.10, Y:65.43, Z:8.53 [[ 8.40554256e-01 -5.40819443e-01 -3.13508059e-02 2.19099428e+02] [ 5.40419796e-01 8.41138540e-01 -2.07942664e-02 6.54337978e+01] [ 3.76163147e-02 5.36112994e-04 9.99292112e-01 8.53183480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70862385299998 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:219.15, Y:65.47, Z:8.53 [[ 8.42513992e-01 -5.37761499e-01 -3.13487541e-02 2.19147509e+02] [ 5.37359616e-01 8.43096740e-01 -2.07973592e-02 6.54660985e+01] [ 3.76140514e-02 6.76511677e-04 9.99292112e-01 8.53445357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76862385299998 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:219.19, Y:65.50, Z:8.54 [[ 8.44436792e-01 -5.34737322e-01 -3.13448501e-02 2.19194522e+02] [ 5.34333135e-01 8.45017944e-01 -2.08032415e-02 6.54996935e+01] [ 3.76112304e-02 8.18430506e-04 9.99292112e-01 8.53679752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82862385299998 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:219.24, Y:65.53, Z:8.54 [[ 8.44965562e-01 -5.33901622e-01 -3.13409781e-02 2.19240804e+02] [ 5.33496644e-01 8.45546163e-01 -2.08090731e-02 6.55322840e+01] [ 3.76102417e-02 8.62643536e-04 9.99292112e-01 8.53925338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88862385299998 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:219.29, Y:65.57, Z:8.54 [[ 8.44670038e-01 -5.34369165e-01 -3.13388497e-02 2.19287411e+02] [ 5.33964389e-01 8.45250780e-01 -2.08122781e-02 6.55670454e+01] [ 3.76106268e-02 8.45677958e-04 9.99292112e-01 8.54399015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.948623853 meters Centerline goodness : 0.998536 with order 1 Centerline is valid? [True, True] Translation: X:219.33, Y:65.60, Z:8.55 [[ 8.43351458e-01 -5.36447851e-01 -3.13372182e-02 2.19333221e+02] [ 5.36044415e-01 8.43933132e-01 -2.08147344e-02 6.56023743e+01] [ 3.76125362e-02 7.55995811e-04 9.99292112e-01 8.54697493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.008623853 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:219.38, Y:65.64, Z:8.55 [[ 8.41512884e-01 -5.39327619e-01 -3.13334688e-02 2.19377857e+02] [ 5.38925964e-01 8.42095789e-01 -2.08203770e-02 6.56379625e+01] [ 3.76147865e-02 6.34195678e-04 9.99292112e-01 8.54573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.068623853 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:219.42, Y:65.68, Z:8.55 [[ 8.39054218e-01 -5.43144859e-01 -3.13317839e-02 2.19422352e+02] [ 5.42745762e-01 8.39638877e-01 -2.08229122e-02 6.56750746e+01] [ 3.76172416e-02 4.66359389e-04 9.99292112e-01 8.54520995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.128623853 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:65.71, Z:8.55 [[ 8.37369415e-01 -5.45738961e-01 -3.13281001e-02 2.19467976e+02] [ 5.45341468e-01 8.37955165e-01 -2.08284530e-02 6.57105889e+01] [ 3.76184416e-02 3.56597409e-04 9.99292112e-01 8.55498478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.188623853 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:65.75, Z:8.55 [[ 8.34839472e-01 -5.49601526e-01 -3.13243983e-02 2.19515387e+02] [ 5.49206534e-01 8.35426913e-01 -2.08340188e-02 6.57463473e+01] [ 3.76196539e-02 1.89497007e-04 9.99292112e-01 8.55186670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.248623853 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:219.56, Y:65.78, Z:8.55 [[ 8.31783721e-01 -5.54215517e-01 -3.13209547e-02 2.19561465e+02] [ 5.53823589e-01 8.32373210e-01 -2.08391945e-02 6.57822373e+01] [ 3.76201285e-02 -1.25807854e-05 9.99292112e-01 8.55493290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.308623853 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:219.61, Y:65.82, Z:8.55 [[ 8.29445353e-01 -5.57709300e-01 -3.13168150e-02 2.19607788e+02] [ 5.57319620e-01 8.30036331e-01 -2.08454137e-02 6.58165151e+01] [ 3.76197753e-02 -1.63343892e-04 9.99292112e-01 8.55408858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.368623853 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:219.66, Y:65.85, Z:8.55 [[ 8.28831321e-01 -5.58621656e-01 -3.13127224e-02 2.19655066e+02] [ 5.58232394e-01 8.29422574e-01 -2.08515596e-02 6.58499413e+01] [ 3.76196115e-02 -1.97350279e-04 9.99292112e-01 8.55456814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42862385299998 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:65.89, Z:8.56 [[ 8.30145331e-01 -5.56667296e-01 -3.13089540e-02 2.19701234e+02] [ 5.56276429e-01 8.30735524e-01 -2.08572164e-02 6.58852329e+01] [ 3.76199905e-02 -1.01912332e-04 9.99292112e-01 8.55585723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48862385299998 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:219.75, Y:65.92, Z:8.56 [[ 8.33651405e-01 -5.51403056e-01 -3.13050266e-02 2.19745449e+02] [ 5.51008241e-01 8.34238964e-01 -2.08631093e-02 6.59211806e+01] [ 3.76198552e-02 1.43232781e-04 9.99292112e-01 8.55709847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54862385299998 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:219.79, Y:65.96, Z:8.57 [[ 8.37341720e-01 -5.45782902e-01 -3.13028321e-02 2.19790712e+02] [ 5.45384021e-01 8.37926526e-01 -2.08664015e-02 6.59593634e+01] [ 3.76179985e-02 4.00244073e-04 9.99292112e-01 8.56518373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60862385299998 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:219.83, Y:66.00, Z:8.57 [[ 8.39631952e-01 -5.42253203e-01 -3.12993401e-02 2.19834668e+02] [ 5.41851668e-01 8.40214940e-01 -2.08716381e-02 6.59968190e+01] [ 3.76158858e-02 5.64894646e-04 9.99292112e-01 8.56843036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66862385299999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:219.88, Y:66.03, Z:8.57 [[ 8.40190074e-01 -5.41388153e-01 -3.12970899e-02 2.19879848e+02] [ 5.40985892e-01 8.40772560e-01 -2.08750118e-02 6.60330201e+01] [ 3.76152185e-02 6.07693612e-04 9.99292112e-01 8.56932714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.728623853 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:219.92, Y:66.07, Z:8.58 [[ 8.40054955e-01 -5.41598007e-01 -3.12932994e-02 2.19923621e+02] [ 5.41195680e-01 8.40637397e-01 -2.08806924e-02 6.60721820e+01] [ 3.76152592e-02 6.05130688e-04 9.99292112e-01 8.57986748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.788623853 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:219.97, Y:66.11, Z:8.58 [[ 8.38993641e-01 -5.43240849e-01 -3.12897858e-02 2.19966756e+02] [ 5.42839466e-01 8.39576733e-01 -2.08859563e-02 6.61110219e+01] [ 3.76162807e-02 5.37853928e-04 9.99292113e-01 8.58196814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.848623853 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:220.01, Y:66.15, Z:8.57 [[ 8.37198931e-01 -5.46002811e-01 -3.12870656e-02 2.20011501e+02] [ 5.45603200e-01 8.37783239e-01 -2.08900303e-02 6.61494383e+01] [ 3.76177944e-02 4.18787871e-04 9.99292113e-01 8.57449461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.908623853 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:220.06, Y:66.18, Z:8.57 [[ 8.35388665e-01 -5.48768754e-01 -3.12831095e-02 2.20056693e+02] [ 5.48370855e-01 8.35974141e-01 -2.08959530e-02 6.61848662e+01] [ 3.76189166e-02 3.01496771e-04 9.99292113e-01 8.57487874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.968623853 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:66.22, Z:8.58 [[ 8.31807804e-01 -5.54181659e-01 -3.12804320e-02 2.20099641e+02] [ 5.53787420e-01 8.32395750e-01 -2.08999602e-02 6.62226139e+01] [ 3.76200733e-02 6.20402667e-05 9.99292113e-01 8.57847875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.028623853 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:220.14, Y:66.26, Z:8.58 [[ 8.27052121e-01 -5.61254360e-01 -3.12782957e-02 2.20144324e+02] [ 5.60865028e-01 8.27643328e-01 -2.09031569e-02 6.62591753e+01] [ 3.76192607e-02 -2.54901949e-04 9.99292113e-01 8.58162699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.088623853 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:220.19, Y:66.29, Z:8.58 [[ 8.22662837e-01 -5.67668704e-01 -3.12745963e-02 2.20189668e+02] [ 5.67283770e-01 8.23256917e-01 -2.09086904e-02 6.62941765e+01] [ 3.76162369e-02 -5.40768392e-04 9.99292113e-01 8.58198505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.148623853 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:220.24, Y:66.33, Z:8.58 [[ 8.20658240e-01 -5.70562976e-01 -3.12720914e-02 2.20236908e+02] [ 5.70179995e-01 8.21253580e-01 -2.09124362e-02 6.63286631e+01] [ 3.76141788e-02 -6.68757879e-04 9.99292113e-01 8.58449332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20862385299998 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:66.37, Z:8.59 [[ 8.18607069e-01 -5.73502173e-01 -3.12685798e-02 2.20282848e+02] [ 5.73121129e-01 8.19203651e-01 -2.09176854e-02 6.63658047e+01] [ 3.76116728e-02 -7.97318583e-04 9.99292113e-01 8.58844461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26862385299998 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:220.33, Y:66.40, Z:8.59 [[ 8.17136792e-01 -5.75595293e-01 -3.12653310e-02 2.20328992e+02] [ 5.75215592e-01 8.17734230e-01 -2.09225402e-02 6.64001787e+01] [ 3.76096471e-02 -8.87728473e-04 9.99292113e-01 8.59057016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32862385299998 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:220.38, Y:66.43, Z:8.59 [[ 8.16142645e-01 -5.77004240e-01 -3.12616519e-02 2.20376688e+02] [ 5.76625359e-01 8.16740603e-01 -2.09280360e-02 6.64322288e+01] [ 3.76082259e-02 -9.45998626e-04 9.99292113e-01 8.59303690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38862385299998 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:220.42, Y:66.46, Z:8.59 [[ 8.15108843e-01 -5.78463933e-01 -3.12578518e-02 2.20424029e+02] [ 5.78085906e-01 8.15707341e-01 -2.09337102e-02 6.64635748e+01] [ 3.76066555e-02 -1.00647131e-03 9.99292113e-01 8.59301145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.448623853 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:220.47, Y:66.49, Z:8.60 [[ 8.14623548e-01 -5.79147257e-01 -3.12558859e-02 2.20472749e+02] [ 5.78769619e-01 8.15222292e-01 -2.09366451e-02 6.64946789e+01] [ 3.76058955e-02 -1.03447308e-03 9.99292113e-01 8.59681340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.508623853 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:66.52, Z:8.60 [[ 8.14253476e-01 -5.79667644e-01 -3.12521757e-02 2.20521838e+02] [ 5.79290177e-01 8.14852328e-01 -2.09421818e-02 6.65246198e+01] [ 3.76054133e-02 -1.05183405e-03 9.99292113e-01 8.60015282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.568623853 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:220.57, Y:66.56, Z:8.60 [[ 8.14127389e-01 -5.79844920e-01 -3.12484122e-02 2.20570474e+02] [ 5.79467368e-01 8.14726186e-01 -2.09477960e-02 6.65556560e+01] [ 3.76053728e-02 -1.05326076e-03 9.99292113e-01 8.60159521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.628623853 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:66.58, Z:8.60 [[ 8.14821488e-01 -5.78869339e-01 -3.12446785e-02 2.20621536e+02] [ 5.78490857e-01 8.15419699e-01 -2.09533634e-02 6.65844018e+01] [ 3.76067860e-02 -1.00151007e-03 9.99292113e-01 8.60123434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.688623853 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:66.61, Z:8.60 [[ 8.16924634e-01 -5.75897687e-01 -3.12409583e-02 2.20672699e+02] [ 5.75516816e-01 8.17521326e-01 -2.09589087e-02 6.66141192e+01] [ 3.76103367e-02 -8.57848071e-04 9.99292113e-01 8.60139288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.748623853 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:66.64, Z:8.60 [[ 8.20037117e-01 -5.71457210e-01 -3.12375579e-02 2.20721952e+02] [ 5.71072915e-01 8.20631609e-01 -2.09639755e-02 6.66446244e+01] [ 3.76145424e-02 -6.47685228e-04 9.99292113e-01 8.60376122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.808623853 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:220.77, Y:66.68, Z:8.61 [[ 8.23116489e-01 -5.67012965e-01 -3.12336944e-02 2.20770840e+02] [ 5.66625241e-01 8.23708751e-01 -2.09697301e-02 6.66754991e+01] [ 3.76175762e-02 -4.37269071e-04 9.99292113e-01 8.61468201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.868623853 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:220.82, Y:66.71, Z:8.62 [[ 8.25185160e-01 -5.63998364e-01 -3.12297281e-02 2.20820181e+02] [ 5.63608253e-01 8.25775853e-01 -2.09756354e-02 6.67079616e+01] [ 3.76189794e-02 -2.92549443e-04 9.99292113e-01 8.62000767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92862385299998 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:66.74, Z:8.61 [[ 8.27730376e-01 -5.60256507e-01 -3.12261099e-02 2.20868855e+02] [ 5.59863523e-01 8.28319161e-01 -2.09810203e-02 6.67400730e+01] [ 3.76199383e-02 -1.15732123e-04 9.99292113e-01 8.61448088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98862385299998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:220.92, Y:66.77, Z:8.62 [[ 8.28965507e-01 -5.58427433e-01 -3.12248321e-02 2.20916228e+02] [ 5.58033077e-01 8.29553375e-01 -2.09829219e-02 6.67710713e+01] [ 3.76201040e-02 -3.03706458e-05 9.99292113e-01 8.61739777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04862385299998 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:220.96, Y:66.80, Z:8.62 [[ 8.28360748e-01 -5.59324256e-01 -3.12225435e-02 2.20964493e+02] [ 5.58930409e-01 8.28948956e-01 -2.09863267e-02 6.68039013e+01] [ 3.76200564e-02 -6.69797528e-05 9.99292113e-01 8.61974610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10862385299998 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:66.83, Z:8.62 [[ 8.25954975e-01 -5.62871017e-01 -3.12185488e-02 2.21013260e+02] [ 5.62479471e-01 8.26544717e-01 -2.09922674e-02 6.68339531e+01] [ 3.76194655e-02 -2.21125083e-04 9.99292113e-01 8.61939958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16862385299999 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:66.86, Z:8.62 [[ 8.24048306e-01 -5.65658836e-01 -3.12165106e-02 2.21063845e+02] [ 5.65269170e-01 8.24639292e-01 -2.09952979e-02 6.68648305e+01] [ 3.76185370e-02 -3.44591407e-04 9.99292113e-01 8.61994947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.228623853 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:221.11, Y:66.89, Z:8.62 [[ 8.21074952e-01 -5.69966364e-01 -3.12132719e-02 2.21114580e+02] [ 5.69579615e-01 8.21667851e-01 -2.10001116e-02 6.68938552e+01] [ 3.76162993e-02 -5.35777771e-04 9.99292113e-01 8.62234670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.288623853 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:221.17, Y:66.92, Z:8.62 [[ 8.18389403e-01 -5.73815970e-01 -3.12092696e-02 2.21165030e+02] [ 5.73431783e-01 8.18983965e-01 -2.10060580e-02 6.69207252e+01] [ 3.76135029e-02 -7.05251880e-04 9.99292113e-01 8.62364316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.348623853 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:66.95, Z:8.63 [[ 8.16159053e-01 -5.76983981e-01 -3.12071447e-02 2.21217050e+02] [ 5.76601982e-01 8.16755023e-01 -2.10092143e-02 6.69482927e+01] [ 3.76105723e-02 -8.47240999e-04 9.99292113e-01 8.62951857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.408623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:66.98, Z:8.63 [[ 8.14619573e-01 -5.79155664e-01 -3.12036747e-02 2.21267841e+02] [ 5.78775055e-01 8.15216432e-01 -2.10143668e-02 6.69770147e+01] [ 3.76083379e-02 -9.41194051e-04 9.99292113e-01 8.63144235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.468623853 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:221.32, Y:67.00, Z:8.63 [[ 8.13388330e-01 -5.80883815e-01 -3.11996521e-02 2.21320213e+02] [ 5.80504247e-01 8.13985851e-01 -2.10203375e-02 6.70028488e+01] [ 3.76064492e-02 -1.01383332e-03 9.99292113e-01 8.63130614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.528623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:67.03, Z:8.63 [[ 8.13427286e-01 -5.80829335e-01 -3.11983024e-02 2.21373087e+02] [ 5.80449649e-01 8.14024733e-01 -2.10223405e-02 6.70287902e+01] [ 3.76065818e-02 -1.00889827e-03 9.99292113e-01 8.63473180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.588623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:67.05, Z:8.64 [[ 8.14663978e-01 -5.79093706e-01 -3.11942768e-02 2.21425312e+02] [ 5.78712519e-01 8.15260468e-01 -2.10283122e-02 6.70538611e+01] [ 3.76088239e-02 -9.21510069e-04 9.99292113e-01 8.63637865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.648623853 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:221.48, Y:67.08, Z:8.64 [[ 8.16731700e-01 -5.76173917e-01 -3.11920924e-02 2.21477375e+02] [ 5.75790474e-01 8.17326742e-01 -2.10315519e-02 6.70803087e+01] [ 3.76119629e-02 -7.82974535e-04 9.99292113e-01 8.64080921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70862385299998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:67.11, Z:8.64 [[ 8.18268322e-01 -5.73989776e-01 -3.11879825e-02 2.21527428e+02] [ 5.73604512e-01 8.18862187e-01 -2.10376448e-02 6.71079392e+01] [ 3.76140526e-02 -6.75129183e-04 9.99292113e-01 8.64399876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76862385299998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:221.58, Y:67.13, Z:8.65 [[ 8.20833696e-01 -5.70315262e-01 -3.11856692e-02 2.21578813e+02] [ 5.69927209e-01 8.21425742e-01 -2.10410734e-02 6.71346280e+01] [ 3.76167568e-02 -5.02339407e-04 9.99292113e-01 8.64762080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82862385299998 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:221.63, Y:67.16, Z:8.65 [[ 8.23660134e-01 -5.66225827e-01 -3.11816736e-02 2.21630136e+02] [ 5.65834610e-01 8.24250094e-01 -2.10469929e-02 6.71626269e+01] [ 3.76188484e-02 -3.08101134e-04 9.99292113e-01 8.64998428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88862385299998 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:221.68, Y:67.19, Z:8.65 [[ 8.25711715e-01 -5.63230081e-01 -3.11775422e-02 2.21680160e+02] [ 5.62836493e-01 8.26300096e-01 -2.10531112e-02 6.71898498e+01] [ 3.76197516e-02 -1.64057913e-04 9.99292113e-01 8.65468769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.948623853 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:221.73, Y:67.22, Z:8.65 [[ 8.26468189e-01 -5.62119581e-01 -3.11754513e-02 2.21730794e+02] [ 5.61725085e-01 8.27055962e-01 -2.10562069e-02 6.72185999e+01] [ 3.76199491e-02 -1.09747876e-04 9.99292113e-01 8.65174405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.008623853 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:221.78, Y:67.25, Z:8.65 [[ 8.27441492e-01 -5.60686116e-01 -3.11714126e-02 2.21781880e+02] [ 5.60290377e-01 8.28028428e-01 -2.10621841e-02 6.72456332e+01] [ 3.76200900e-02 -3.73175194e-05 9.99292113e-01 8.65461304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.068623853 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:221.83, Y:67.27, Z:8.66 [[ 8.27827903e-01 -5.60115668e-01 -3.11673272e-02 2.21833324e+02] [ 5.59719297e-01 8.28414413e-01 -2.10682278e-02 6.72730096e+01] [ 3.76201076e-02 -4.08758832e-06 9.99292113e-01 8.65842938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.128623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:221.88, Y:67.30, Z:8.66 [[ 8.28540478e-01 -5.59061294e-01 -3.11632275e-02 2.21884787e+02] [ 5.58663948e-01 8.29126328e-01 -2.10742902e-02 6.73024634e+01] [ 3.76200723e-02 5.11306950e-05 9.99292113e-01 8.66241370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.188623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:221.94, Y:67.33, Z:8.66 [[ 8.29444432e-01 -5.57719473e-01 -3.11596625e-02 2.21935949e+02] [ 5.57320982e-01 8.30029503e-01 -2.10795599e-02 6.73317720e+01] [ 3.76199202e-02 1.18389857e-04 9.99292113e-01 8.66285144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.248623853 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:221.99, Y:67.36, Z:8.66 [[ 8.29987473e-01 -5.56911203e-01 -3.11561496e-02 2.21985914e+02] [ 5.56511947e-01 8.30572023e-01 -2.10847508e-02 6.73610643e+01] [ 3.76197602e-02 1.61309556e-04 9.99292113e-01 8.66481004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.308623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:222.04, Y:67.39, Z:8.67 [[ 8.31698449e-01 -5.54352992e-01 -3.11520543e-02 2.22035596e+02] [ 5.53951712e-01 8.32281610e-01 -2.10907997e-02 6.73896551e+01] [ 3.76190299e-02 2.84451588e-04 9.99292113e-01 8.66819056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:222.08, Y:67.42, Z:8.67 [[ 8.34050266e-01 -5.50808356e-01 -3.11497739e-02 2.22083411e+02] [ 5.50404472e-01 8.34631627e-01 -2.10941672e-02 6.74207734e+01] [ 3.76174301e-02 4.48620955e-04 9.99292113e-01 8.66974672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:222.13, Y:67.45, Z:8.67 [[ 8.34648645e-01 -5.49901326e-01 -3.11475765e-02 2.22131651e+02] [ 5.49496689e-01 8.35229482e-01 -2.10974115e-02 6.74526496e+01] [ 3.76168687e-02 4.93435741e-04 9.99292113e-01 8.67132685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48862385299998 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:222.18, Y:67.49, Z:8.67 [[ 8.36086362e-01 -5.47713125e-01 -3.11436583e-02 2.22180485e+02] [ 5.47306753e-01 8.36665987e-01 -2.11031938e-02 6.74861439e+01] [ 3.76153359e-02 5.98958063e-04 9.99292113e-01 8.67075381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54862385299998 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:222.23, Y:67.52, Z:8.67 [[ 8.36657751e-01 -5.46840097e-01 -3.11402660e-02 2.22227661e+02] [ 5.46432933e-01 8.37236820e-01 -2.11081984e-02 6.75194405e+01] [ 3.76145865e-02 6.44270914e-04 9.99292113e-01 8.67448963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60862385299998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:67.55, Z:8.68 [[ 8.36002118e-01 -5.47842117e-01 -3.11363787e-02 2.22274778e+02] [ 5.47435434e-01 8.36581525e-01 -2.11139309e-02 6.75540362e+01] [ 3.76152198e-02 6.06133974e-04 9.99292113e-01 8.68243562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66862385299999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:222.32, Y:67.59, Z:8.69 [[ 8.35003479e-01 -5.49363213e-01 -3.11327891e-02 2.22323207e+02] [ 5.48957388e-01 8.35583487e-01 -2.11192226e-02 6.75868085e+01] [ 3.76161684e-02 5.44049734e-04 9.99292113e-01 8.68655839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.728623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:222.37, Y:67.62, Z:8.69 [[ 8.32614913e-01 -5.52976836e-01 -3.11291810e-02 2.22369126e+02] [ 5.52573330e-01 8.33196537e-01 -2.11245394e-02 6.76208654e+01] [ 3.76181068e-02 3.87451367e-04 9.99292113e-01 8.68885233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.788623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.42, Y:67.65, Z:8.69 [[ 8.29624703e-01 -5.57453110e-01 -3.11268588e-02 2.22416891e+02] [ 5.57052614e-01 8.30208404e-01 -2.11279607e-02 6.76548298e+01] [ 3.76196271e-02 1.88980074e-04 9.99292113e-01 8.68835944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.848623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:67.69, Z:8.69 [[ 8.27532374e-01 -5.60554639e-01 -3.11234129e-02 2.22464462e+02] [ 5.60156140e-01 8.28117439e-01 -2.11330355e-02 6.76874577e+01] [ 3.76200621e-02 5.43001776e-05 9.99292113e-01 8.68952385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.908623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:67.72, Z:8.69 [[ 8.24594840e-01 -5.64867183e-01 -3.11193639e-02 2.22512954e+02] [ 5.64471519e-01 8.25181827e-01 -2.11389962e-02 6.77209284e+01] [ 3.76198588e-02 -1.34887349e-04 9.99292113e-01 8.69026417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.968623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:222.56, Y:67.75, Z:8.69 [[ 8.23699907e-01 -5.66171590e-01 -3.11158287e-02 2.22560072e+02] [ 5.65776658e-01 8.24287387e-01 -2.11441986e-02 6.77528252e+01] [ 3.76196296e-02 -1.88135209e-04 9.99292113e-01 8.69165124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.028623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:222.61, Y:67.79, Z:8.70 [[ 8.23051038e-01 -5.67114645e-01 -3.11121891e-02 2.22607486e+02] [ 5.66720185e-01 8.23638834e-01 -2.11495527e-02 6.77863005e+01] [ 3.76194282e-02 -2.24744288e-04 9.99292114e-01 8.69560196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.088623853 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:222.66, Y:67.82, Z:8.70 [[ 8.22631632e-01 -5.67723044e-01 -3.11085672e-02 2.22655704e+02] [ 5.67328817e-01 8.23219585e-01 -2.11548788e-02 6.78177438e+01] [ 3.76192939e-02 -2.46114175e-04 9.99292114e-01 8.69640809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.148623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.70, Y:67.85, Z:8.70 [[ 8.22710558e-01 -5.67608864e-01 -3.11049197e-02 2.22703784e+02] [ 5.67214352e-01 8.23298320e-01 -2.11602404e-02 6.78509370e+01] [ 3.76193681e-02 -2.34403720e-04 9.99292114e-01 8.69787889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:67.88, Z:8.70 [[ 8.23609494e-01 -5.66303904e-01 -3.11012923e-02 2.22752940e+02] [ 5.65908260e-01 8.24196493e-01 -2.11655706e-02 6.78823193e+01] [ 3.76197213e-02 -1.68313365e-04 9.99292114e-01 8.70444797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26862385299998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:67.91, Z:8.71 [[ 8.24790937e-01 -5.64582023e-01 -3.10974248e-02 2.22800322e+02] [ 5.64184939e-01 8.25376964e-01 -2.11712514e-02 6.79140906e+01] [ 3.76200060e-02 -8.28424260e-05 9.99292114e-01 8.71124070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.85, Y:67.94, Z:8.71 [[ 8.26828481e-01 -5.61594005e-01 -3.10939858e-02 2.22848758e+02] [ 5.61194614e-01 8.27412938e-01 -2.11763011e-02 6.79448575e+01] [ 3.76200499e-02 5.93915230e-05 9.99292114e-01 8.70811720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:222.90, Y:67.98, Z:8.71 [[ 8.29564336e-01 -5.57544989e-01 -3.10901638e-02 2.22896708e+02] [ 5.57142535e-01 8.30146687e-01 -2.11819108e-02 6.79771629e+01] [ 3.76192647e-02 2.50105076e-04 9.99292114e-01 8.71008515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.448623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:222.94, Y:68.01, Z:8.72 [[ 8.32718912e-01 -5.52822608e-01 -3.10866243e-02 2.22943837e+02] [ 5.52416658e-01 8.33298832e-01 -2.11871041e-02 6.80109312e+01] [ 3.76171579e-02 4.70133203e-04 9.99292114e-01 8.71544867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.508623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:68.05, Z:8.72 [[ 8.35958942e-01 -5.47911050e-01 -3.10826132e-02 2.22989283e+02] [ 5.47501475e-01 8.36536307e-01 -2.11929870e-02 6.80451908e+01] [ 3.76136062e-02 6.98690361e-04 9.99292114e-01 8.71610642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.568623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.03, Y:68.08, Z:8.72 [[ 8.38479356e-01 -5.44046295e-01 -3.10805026e-02 2.23034367e+02] [ 5.43633944e-01 8.39054743e-01 -2.11960819e-02 6.80827812e+01] [ 3.76098929e-02 8.76060921e-04 9.99292114e-01 8.72082643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:223.08, Y:68.12, Z:8.72 [[ 8.39228246e-01 -5.42890571e-01 -3.10769926e-02 2.23079856e+02] [ 5.42477237e-01 8.39802927e-01 -2.12012269e-02 6.81193828e+01] [ 3.76084955e-02 9.34107430e-04 9.99292114e-01 8.72294353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.688623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:223.13, Y:68.15, Z:8.72 [[ 8.38359524e-01 -5.44231364e-01 -3.10729788e-02 2.23125563e+02] [ 5.43818732e-01 8.38934709e-01 -2.12071079e-02 6.81541036e+01] [ 3.76097737e-02 8.81112965e-04 9.99292114e-01 8.72213140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.748623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:223.17, Y:68.19, Z:8.72 [[ 8.35752329e-01 -5.48226855e-01 -3.10702637e-02 2.23171557e+02] [ 5.47816824e-01 8.36329371e-01 -2.12110850e-02 6.81897235e+01] [ 3.76134605e-02 7.06400492e-04 9.99292114e-01 8.72362258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.808623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:223.22, Y:68.23, Z:8.73 [[ 8.32315958e-01 -5.53430238e-01 -3.10663547e-02 2.23217845e+02] [ 5.53023602e-01 8.32895397e-01 -2.12168087e-02 6.82252624e+01] [ 3.76170473e-02 4.78661104e-04 9.99292114e-01 8.73089453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.868623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:68.26, Z:8.73 [[ 8.29133592e-01 -5.58186867e-01 -3.10629556e-02 2.23265165e+02] [ 5.57783369e-01 8.29715222e-01 -2.12217842e-02 6.82594867e+01] [ 3.76191283e-02 2.69294128e-04 9.99292114e-01 8.72625632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:223.31, Y:68.29, Z:8.73 [[ 8.27104456e-01 -5.61189413e-01 -3.10590203e-02 2.23310624e+02] [ 5.60787810e-01 8.27687395e-01 -2.12275420e-02 6.82940581e+01] [ 3.76198314e-02 1.39874541e-04 9.99292114e-01 8.72858593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98862385299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:223.36, Y:68.33, Z:8.73 [[ 8.24702283e-01 -5.64713824e-01 -3.10554463e-02 2.23357888e+02] [ 5.64314516e-01 8.25286797e-01 -2.12327694e-02 6.83267492e+01] [ 3.76200882e-02 -1.43257735e-05 9.99292114e-01 8.73092633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04862385299998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:223.41, Y:68.36, Z:8.74 [[ 8.23019702e-01 -5.67163442e-01 -3.10515607e-02 2.23405110e+02] [ 5.66765659e-01 8.23605255e-01 -2.12384504e-02 6.83585374e+01] [ 3.76199012e-02 -1.19295103e-04 9.99292114e-01 8.73566176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:68.39, Z:8.73 [[ 8.22821381e-01 -5.67451284e-01 -3.10485978e-02 2.23453663e+02] [ 5.67053543e-01 8.23406961e-01 -2.12427809e-02 6.83901598e+01] [ 3.76198749e-02 -1.27203084e-04 9.99292114e-01 8.73343552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:68.42, Z:8.74 [[ 8.24432103e-01 -5.65108770e-01 -3.10448907e-02 2.23500861e+02] [ 5.64709160e-01 8.25016411e-01 -2.12481973e-02 6.84224486e+01] [ 3.76200869e-02 -1.36381406e-05 9.99292114e-01 8.73644803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:68.46, Z:8.74 [[ 8.26267501e-01 -5.62421899e-01 -3.10422941e-02 2.23547980e+02] [ 5.62020247e-01 8.26850407e-01 -2.12519901e-02 6.84555967e+01] [ 3.76199181e-02 1.13430983e-04 9.99292114e-01 8.74047167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.288623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:223.59, Y:68.49, Z:8.75 [[ 8.28917464e-01 -5.58509146e-01 -3.10382504e-02 2.23594874e+02] [ 5.58104521e-01 8.29498309e-01 -2.12578941e-02 6.84902935e+01] [ 3.76189045e-02 2.98451762e-04 9.99292114e-01 8.74777049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.348623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:223.64, Y:68.52, Z:8.75 [[ 8.29963796e-01 -5.56953269e-01 -3.10347094e-02 2.23642521e+02] [ 5.56547363e-01 8.30543747e-01 -2.12630625e-02 6.85240712e+01] [ 3.76182160e-02 3.75286376e-04 9.99292114e-01 8.74888461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.69, Y:68.56, Z:8.75 [[ 8.30544384e-01 -5.56087333e-01 -3.10306883e-02 2.23691717e+02] [ 5.55680603e-01 8.31123757e-01 -2.12689292e-02 6.85568562e+01] [ 3.76177243e-02 4.21638138e-04 9.99292114e-01 8.74507684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.468623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:223.74, Y:68.59, Z:8.75 [[ 8.30749846e-01 -5.55780544e-01 -3.10270817e-02 2.23739418e+02] [ 5.55373404e-01 8.31328931e-01 -2.12741891e-02 6.85894307e+01] [ 3.76174911e-02 4.41913291e-04 9.99292114e-01 8.74813316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.528623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:223.78, Y:68.62, Z:8.75 [[ 8.31484478e-01 -5.54681117e-01 -3.10229266e-02 2.23784966e+02] [ 5.54272985e-01 8.32062864e-01 -2.12802466e-02 6.86241466e+01] [ 3.76167761e-02 4.99024601e-04 9.99292114e-01 8.74827501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.588623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:223.83, Y:68.66, Z:8.76 [[ 8.31210589e-01 -5.55091589e-01 -3.10207012e-02 2.23832300e+02] [ 5.54683621e-01 8.31789092e-01 -2.12834901e-02 6.86594297e+01] [ 3.76169672e-02 4.84387509e-04 9.99292114e-01 8.75566102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.648623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:223.88, Y:68.69, Z:8.75 [[ 8.29844202e-01 -5.57132424e-01 -3.10171491e-02 2.23881596e+02] [ 5.56725686e-01 8.30423569e-01 -2.12886654e-02 6.86926213e+01] [ 3.76179774e-02 3.98231933e-04 9.99292114e-01 8.75313553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70862385299998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:223.93, Y:68.73, Z:8.76 [[ 8.27919178e-01 -5.59989276e-01 -3.10136377e-02 2.23928830e+02] [ 5.59584345e-01 8.28499810e-01 -2.12937796e-02 6.87264548e+01] [ 3.76190812e-02 2.74782345e-04 9.99292114e-01 8.76335486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:223.98, Y:68.76, Z:8.76 [[ 8.27221080e-01 -5.61020220e-01 -3.10096442e-02 2.23976598e+02] [ 5.60615795e-01 8.27802064e-01 -2.12995937e-02 6.87598014e+01] [ 3.76193502e-02 2.34976592e-04 9.99292114e-01 8.75885967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:68.79, Z:8.76 [[ 8.27369935e-01 -5.60800896e-01 -3.10055899e-02 2.24024311e+02] [ 5.60396096e-01 8.27950658e-01 -2.13054940e-02 6.87923800e+01] [ 3.76192386e-02 2.52113632e-04 9.99292114e-01 8.76137506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.07, Y:68.83, Z:8.76 [[ 8.27828973e-01 -5.60123293e-01 -3.10014402e-02 2.24070215e+02] [ 5.59717791e-01 8.28409206e-01 -2.13115304e-02 6.88256789e+01] [ 3.76189630e-02 2.90244699e-04 9.99292114e-01 8.76309077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.948623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:224.12, Y:68.86, Z:8.76 [[ 8.27968460e-01 -5.59917211e-01 -3.09991164e-02 2.24117529e+02] [ 5.59511439e-01 8.28548505e-01 -2.13149100e-02 6.88592425e+01] [ 3.76188565e-02 3.03712987e-04 9.99292114e-01 8.76499569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.008623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:224.16, Y:68.89, Z:8.77 [[ 8.28231472e-01 -5.59528310e-01 -3.09951344e-02 2.24164967e+02] [ 5.59122049e-01 8.28811174e-01 -2.13206988e-02 6.88922900e+01] [ 3.76186483e-02 3.28410682e-04 9.99292114e-01 8.76816734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.068623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:68.93, Z:8.77 [[ 8.28255922e-01 -5.59492350e-01 -3.09909389e-02 2.24210903e+02] [ 5.59085836e-01 8.28835446e-01 -2.13267955e-02 6.89256999e+01] [ 3.76185676e-02 3.37449701e-04 9.99292114e-01 8.77045802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.128623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.26, Y:68.96, Z:8.77 [[ 8.27912534e-01 -5.60000483e-01 -3.09886265e-02 2.24257530e+02] [ 5.59594198e-01 8.28492220e-01 -2.13301550e-02 6.89577756e+01] [ 3.76187330e-02 3.18447127e-04 9.99292114e-01 8.77169364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.31, Y:68.99, Z:8.77 [[ 8.26431286e-01 -5.62184286e-01 -3.09864150e-02 2.24306202e+02] [ 5.61779413e-01 8.27011958e-01 -2.13333672e-02 6.89890094e+01] [ 3.76194195e-02 2.23032060e-04 9.99292114e-01 8.77344087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.248623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:224.35, Y:69.02, Z:8.78 [[ 8.24409124e-01 -5.65145720e-01 -3.09824238e-02 2.24354637e+02] [ 5.64742715e-01 8.24991094e-01 -2.13391620e-02 6.90215061e+01] [ 3.76199598e-02 9.51017686e-05 9.99292114e-01 8.77527440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.308623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:69.05, Z:8.78 [[ 8.22647636e-01 -5.67706974e-01 -3.09783672e-02 2.24403389e+02] [ 5.67305559e-01 8.23230704e-01 -2.13450493e-02 6.90527332e+01] [ 3.76200764e-02 -1.47455855e-05 9.99292114e-01 8.77907312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.368623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:69.08, Z:8.78 [[ 8.21011176e-01 -5.70071261e-01 -3.09742884e-02 2.24453341e+02] [ 5.69671302e-01 8.21595244e-01 -2.13509665e-02 6.90823077e+01] [ 3.76199005e-02 -1.15781080e-04 9.99292114e-01 8.78041886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42862385299998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:224.50, Y:69.11, Z:8.78 [[ 8.20028631e-01 -5.71483939e-01 -3.09701699e-02 2.24501411e+02] [ 5.71084760e-01 8.20613233e-01 -2.13569389e-02 6.91128906e+01] [ 3.76196788e-02 -1.73290674e-04 9.99292114e-01 8.78125478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:69.14, Z:8.79 [[ 8.18876215e-01 -5.73134161e-01 -3.09673697e-02 2.24551662e+02] [ 5.72736007e-01 8.19461514e-01 -2.13609985e-02 6.91418479e+01] [ 3.76192856e-02 -2.44114108e-04 9.99292114e-01 8.78517377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:69.17, Z:8.79 [[ 8.18872516e-01 -5.73139674e-01 -3.09631489e-02 2.24601054e+02] [ 5.72741293e-01 8.19457661e-01 -2.13671148e-02 6.91699741e+01] [ 3.76193308e-02 -2.36930894e-04 9.99292114e-01 8.78836658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:69.20, Z:8.79 [[ 8.19798295e-01 -5.71814817e-01 -3.09607954e-02 2.24652013e+02] [ 5.71415361e-01 8.20382707e-01 -2.13705244e-02 6.91985952e+01] [ 3.76196837e-02 -1.71954637e-04 9.99292114e-01 8.79284380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.70, Y:69.23, Z:8.80 [[ 8.20994517e-01 -5.70096205e-01 -3.09567430e-02 2.24701294e+02] [ 5.69695304e-01 8.21577939e-01 -2.13763930e-02 6.92295686e+01] [ 3.76199777e-02 -8.60096548e-05 9.99292114e-01 8.79566137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.75, Y:69.26, Z:8.79 [[ 8.24105856e-01 -5.65589489e-01 -3.09526673e-02 2.24752077e+02] [ 5.65185177e-01 8.24686919e-01 -2.13822929e-02 6.92585425e+01] [ 3.76198600e-02 1.27284041e-04 9.99292114e-01 8.79443678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.788623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:224.80, Y:69.29, Z:8.80 [[ 8.26010854e-01 -5.62803917e-01 -3.09486718e-02 2.24801102e+02] [ 5.62397428e-01 8.26590396e-01 -2.13880745e-02 6.92904178e+01] [ 3.76191670e-02 2.61328277e-04 9.99292114e-01 8.79653247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.85, Y:69.32, Z:8.80 [[ 8.28503412e-01 -5.59128368e-01 -3.09445392e-02 2.24848981e+02] [ 5.58719085e-01 8.29080984e-01 -2.13940519e-02 6.93226556e+01] [ 3.76175503e-02 4.35740387e-04 9.99292114e-01 8.79963082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:224.90, Y:69.36, Z:8.80 [[ 8.29999561e-01 -5.56905219e-01 -3.09403567e-02 2.24896930e+02] [ 5.56494164e-01 8.30575874e-01 -2.14000990e-02 6.93552936e+01] [ 3.76161406e-02 5.43944825e-04 9.99292114e-01 8.80078944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:224.94, Y:69.39, Z:8.80 [[ 8.30969493e-01 -5.55457156e-01 -3.09362301e-02 2.24943373e+02] [ 5.55044874e-01 8.31544928e-01 -2.14060628e-02 6.93888254e+01] [ 3.76150160e-02 6.16789188e-04 9.99292115e-01 8.80370124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.028623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:69.42, Z:8.81 [[ 8.30670856e-01 -5.55903744e-01 -3.09347029e-02 2.24991551e+02] [ 5.55491690e-01 8.31246455e-01 -2.14082696e-02 6.94207344e+01] [ 3.76152993e-02 5.99255272e-04 9.99292115e-01 8.80719228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.088623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:225.04, Y:69.45, Z:8.81 [[ 8.29747189e-01 -5.57281705e-01 -3.09306383e-02 2.25039592e+02] [ 5.56870388e-01 8.30323314e-01 -2.14141405e-02 6.94539051e+01] [ 3.76161388e-02 5.43966394e-04 9.99292115e-01 8.80855822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:225.09, Y:69.49, Z:8.81 [[ 8.27402528e-01 -5.60757168e-01 -3.09266084e-02 2.25086724e+02] [ 5.60348054e-01 8.27980219e-01 -2.14199590e-02 6.94871663e+01] [ 3.76180155e-02 3.93263378e-04 9.99292115e-01 8.81129510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:225.13, Y:69.52, Z:8.81 [[ 8.25276257e-01 -5.63881985e-01 -3.09225990e-02 2.25134706e+02] [ 5.63474842e-01 8.25855339e-01 -2.14257455e-02 6.95200822e+01] [ 3.76191854e-02 2.58052466e-04 9.99292115e-01 8.81270023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.18, Y:69.55, Z:8.82 [[ 8.24562895e-01 -5.64924839e-01 -3.09185820e-02 2.25182648e+02] [ 5.64518211e-01 8.25142338e-01 -2.14315407e-02 6.95522659e+01] [ 3.76194407e-02 2.17550594e-04 9.99292115e-01 8.81547731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.23, Y:69.58, Z:8.81 [[ 8.22710487e-01 -5.67619369e-01 -3.09144894e-02 2.25230504e+02] [ 5.67214417e-01 8.23291104e-01 -2.14374426e-02 6.95840174e+01] [ 3.76199317e-02 1.01664743e-04 9.99292115e-01 8.81458031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:69.62, Z:8.82 [[ 8.20981016e-01 -5.70118085e-01 -3.09118008e-02 2.25278656e+02] [ 5.69714754e-01 8.21562760e-01 -2.14413187e-02 6.96160673e+01] [ 3.76200679e-02 -7.99337219e-06 9.99292115e-01 8.81834748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.33, Y:69.65, Z:8.82 [[ 8.20219752e-01 -5.71212981e-01 -3.09077512e-02 2.25326619e+02] [ 5.70810206e-01 8.20801881e-01 -2.14471545e-02 6.96463580e+01] [ 3.76200334e-02 -5.10800924e-05 9.99292115e-01 8.82358577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.508623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:225.37, Y:69.68, Z:8.83 [[ 8.20697192e-01 -5.70526995e-01 -3.09041758e-02 2.25374991e+02] [ 5.70123540e-01 8.21278849e-01 -2.14523053e-02 6.96787702e+01] [ 3.76200652e-02 -1.33513336e-05 9.99292115e-01 8.82527030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.568623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:225.42, Y:69.71, Z:8.83 [[ 8.21736358e-01 -5.69029472e-01 -3.09001381e-02 2.25423229e+02] [ 5.68624738e-01 8.22317126e-01 -2.14581198e-02 6.97103635e+01] [ 3.76200153e-02 6.23342723e-05 9.99292115e-01 8.82570207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.628623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:69.74, Z:8.83 [[ 8.22219438e-01 -5.68331440e-01 -3.08961215e-02 2.25471238e+02] [ 5.67925996e-01 8.22799711e-01 -2.14639013e-02 6.97420254e+01] [ 3.76199298e-02 1.01326288e-04 9.99292115e-01 8.82640385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.688623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.52, Y:69.77, Z:8.83 [[ 8.23371531e-01 -5.66661243e-01 -3.08926829e-02 2.25518719e+02] [ 5.66254437e-01 8.23950849e-01 -2.14688493e-02 6.97731877e+01] [ 3.76196172e-02 1.83720532e-04 9.99292115e-01 8.82892698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.748623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:225.57, Y:69.81, Z:8.84 [[ 8.25417453e-01 -5.63677116e-01 -3.08891266e-02 2.25565664e+02] [ 5.63268023e-01 8.25995159e-01 -2.14739649e-02 6.98065249e+01] [ 3.76186516e-02 3.26128083e-04 9.99292115e-01 8.83563123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.61, Y:69.84, Z:8.84 [[ 8.28185652e-01 -5.59602205e-01 -3.08852570e-02 2.25613394e+02] [ 5.59190062e-01 8.28761186e-01 -2.14795289e-02 6.98406967e+01] [ 3.76164940e-02 5.18308863e-04 9.99292115e-01 8.83777663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.66, Y:69.88, Z:8.84 [[ 8.30766305e-01 -5.55764039e-01 -3.08816885e-02 2.25659027e+02] [ 5.55349048e-01 8.31339789e-01 -2.14846583e-02 6.98754164e+01] [ 3.76135769e-02 6.98613873e-04 9.99292115e-01 8.83922132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:69.91, Z:8.84 [[ 8.31782736e-01 -5.54241772e-01 -3.08794256e-02 2.25704791e+02] [ 5.53825610e-01 8.32355371e-01 -2.14879102e-02 6.99115710e+01] [ 3.76121532e-02 7.71455940e-04 9.99292115e-01 8.84074318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:69.95, Z:8.84 [[ 8.32678296e-01 -5.52895615e-01 -3.08754637e-02 2.25750487e+02] [ 5.52478317e-01 8.33250103e-01 -2.14936015e-02 6.99498559e+01] [ 3.76107013e-02 8.39231229e-04 9.99292115e-01 8.84064926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.79, Y:69.99, Z:8.84 [[ 8.33068329e-01 -5.52307944e-01 -3.08722330e-02 2.25794986e+02] [ 5.51890070e-01 8.33639716e-01 -2.14982408e-02 6.99865290e+01] [ 3.76099688e-02 8.71424671e-04 9.99292115e-01 8.84181959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:225.84, Y:70.03, Z:8.85 [[ 8.32509920e-01 -5.53149417e-01 -3.08699780e-02 2.25838935e+02] [ 5.52732001e-01 8.33081642e-01 -2.15014784e-02 7.00253398e+01] [ 3.76107422e-02 8.37369396e-04 9.99292115e-01 8.84665246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16862385299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:70.06, Z:8.85 [[ 8.31327398e-01 -5.54925265e-01 -3.08659654e-02 2.25880874e+02] [ 5.54508856e-01 8.31899854e-01 -2.15072370e-02 7.00641268e+01] [ 3.76123013e-02 7.64104224e-04 9.99292115e-01 8.84684090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:70.10, Z:8.85 [[ 8.28872399e-01 -5.58585685e-01 -3.08638889e-02 2.25925215e+02] [ 5.58171694e-01 8.29446605e-01 -2.15102166e-02 7.01025469e+01] [ 3.76152469e-02 6.01875693e-04 9.99292115e-01 8.84853296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.288623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:225.97, Y:70.14, Z:8.86 [[ 8.26871890e-01 -5.61543005e-01 -3.08598633e-02 2.25968996e+02] [ 5.61130853e-01 8.27447417e-01 -2.15159904e-02 7.01385385e+01] [ 3.76170681e-02 4.74546282e-04 9.99292115e-01 8.85791736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.01, Y:70.18, Z:8.85 [[ 8.23534257e-01 -5.66426626e-01 -3.08578220e-02 2.26013583e+02] [ 5.66017777e-01 8.24112136e-01 -2.15189175e-02 7.01755256e+01] [ 3.76191934e-02 2.55489868e-04 9.99292115e-01 8.85013814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.408623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:70.21, Z:8.86 [[ 8.20909235e-01 -5.70224551e-01 -3.08543219e-02 2.26058359e+02] [ 5.69818187e-01 8.21488864e-01 -2.15239348e-02 7.02132036e+01] [ 3.76199580e-02 8.78431167e-05 9.99292115e-01 8.85668691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.10, Y:70.25, Z:8.86 [[ 8.19290247e-01 -5.72548473e-01 -3.08502441e-02 2.26103323e+02] [ 5.72143534e-01 8.19870871e-01 -2.15297780e-02 7.02500644e+01] [ 3.76200580e-02 -1.16305563e-05 9.99292115e-01 8.85985576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.528623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.15, Y:70.29, Z:8.86 [[ 8.18813053e-01 -5.73230928e-01 -3.08461974e-02 2.26148527e+02] [ 5.72826254e-01 8.19393863e-01 -2.15355742e-02 7.02871015e+01] [ 3.76200420e-02 -3.59024653e-05 9.99292115e-01 8.86199642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.588623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:226.19, Y:70.32, Z:8.86 [[ 8.19151936e-01 -5.72746783e-01 -3.08419959e-02 2.26192665e+02] [ 5.72341539e-01 8.19732348e-01 -2.15415898e-02 7.03226074e+01] [ 3.76200579e-02 -6.32043531e-06 9.99292115e-01 8.86423402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.648623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:70.36, Z:8.87 [[ 8.20144680e-01 -5.71324446e-01 -3.08395987e-02 2.26237392e+02] [ 5.70918066e-01 8.20724298e-01 -2.15450211e-02 7.03601421e+01] [ 3.76200052e-02 6.31503591e-05 9.99292115e-01 8.86667763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.28, Y:70.40, Z:8.87 [[ 8.20801469e-01 -5.70380681e-01 -3.08354783e-02 2.26280833e+02] [ 5.69973414e-01 8.21380463e-01 -2.15509167e-02 7.03978466e+01] [ 3.76198860e-02 1.13621224e-04 9.99292115e-01 8.86879187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.33, Y:70.43, Z:8.87 [[ 8.20428151e-01 -5.70917646e-01 -3.08332696e-02 2.26325263e+02] [ 5.70510639e-01 8.21007328e-01 -2.15540762e-02 7.04344942e+01] [ 3.76199427e-02 9.28625079e-05 9.99292115e-01 8.87270453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:70.47, Z:8.87 [[ 8.19119789e-01 -5.72793354e-01 -3.08308980e-02 2.26370041e+02] [ 5.72387545e-01 8.19699807e-01 -2.15574680e-02 7.04713908e+01] [ 3.76200555e-02 1.09266431e-05 9.99292115e-01 8.87389996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:70.51, Z:8.87 [[ 8.17273035e-01 -5.75425490e-01 -3.08267939e-02 2.26416095e+02] [ 5.75021328e-01 8.17854201e-01 -2.15633352e-02 7.05075209e+01] [ 3.76199156e-02 -1.02931585e-04 9.99292115e-01 8.87484977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.948623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:70.54, Z:8.88 [[ 8.15036164e-01 -5.78589675e-01 -3.08227110e-02 2.26462301e+02] [ 5.78187548e-01 8.15618741e-01 -2.15691698e-02 7.05424330e+01] [ 3.76192796e-02 -2.41654281e-04 9.99292115e-01 8.87797546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.008623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.51, Y:70.58, Z:8.88 [[ 8.13764942e-01 -5.80376455e-01 -3.08186533e-02 2.26508617e+02] [ 5.79975388e-01 8.14348249e-01 -2.15749660e-02 7.05769876e+01] [ 3.76187186e-02 -3.17109423e-04 9.99292115e-01 8.88230419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.068623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:226.55, Y:70.61, Z:8.89 [[ 8.12370757e-01 -5.82326556e-01 -3.08145377e-02 2.26554527e+02] [ 5.81926666e-01 8.12954871e-01 -2.15808425e-02 7.06123140e+01] [ 3.76179262e-02 -4.00155837e-04 9.99292115e-01 8.88654201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.128623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:70.65, Z:8.89 [[ 8.10792172e-01 -5.84522566e-01 -3.08127310e-02 2.26601617e+02] [ 5.84124160e-01 8.11377299e-01 -2.15834217e-02 7.06468751e+01] [ 3.76167475e-02 -4.98791308e-04 9.99292115e-01 8.88714800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.188623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.65, Y:70.68, Z:8.89 [[ 8.09771274e-01 -5.85936278e-01 -3.08084896e-02 2.26648397e+02] [ 5.85538663e-01 8.10356939e-01 -2.15894743e-02 7.06797057e+01] [ 3.76159295e-02 -5.57025744e-04 9.99292115e-01 8.88647655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.248623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.70, Y:70.71, Z:8.89 [[ 8.09178491e-01 -5.86754791e-01 -3.08056092e-02 2.26696160e+02] [ 5.86357613e-01 8.09764452e-01 -2.15935834e-02 7.07134197e+01] [ 3.76154258e-02 -5.90040219e-04 9.99292115e-01 8.88705572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:70.75, Z:8.89 [[ 8.08881109e-01 -5.87164896e-01 -3.08015644e-02 2.26743829e+02] [ 5.86767796e-01 8.09467122e-01 -2.15993515e-02 7.07467299e+01] [ 3.76152347e-02 -6.02058648e-04 9.99292115e-01 8.88998010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:70.78, Z:8.89 [[ 8.10148252e-01 -5.85415521e-01 -3.07973692e-02 2.26790428e+02] [ 5.85016927e-01 8.10733251e-01 -2.16053316e-02 7.07812862e+01] [ 3.76165477e-02 -5.13460708e-04 9.99292115e-01 8.89351733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.84, Y:70.82, Z:8.90 [[ 8.12600746e-01 -5.82006711e-01 -3.07931249e-02 2.26836243e+02] [ 5.81605434e-01 8.13183908e-01 -2.16113791e-02 7.08150853e+01] [ 3.76184413e-02 -3.48026046e-04 9.99292115e-01 8.89523387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48862385299998 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:226.88, Y:70.85, Z:8.90 [[ 8.14440567e-01 -5.79429450e-01 -3.07908239e-02 2.26882785e+02] [ 5.79026204e-01 8.15022369e-01 -2.16146570e-02 7.08490880e+01] [ 3.76193790e-02 -2.24840327e-04 9.99292115e-01 8.90358744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54862385299998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.93, Y:70.88, Z:8.90 [[ 8.14991390e-01 -5.78654658e-01 -3.07866812e-02 2.26929528e+02] [ 5.78250636e-01 8.15572654e-01 -2.16205560e-02 7.08830744e+01] [ 3.76196107e-02 -1.81850972e-04 9.99292115e-01 8.89919031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60862385299998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:70.92, Z:8.90 [[ 8.14635162e-01 -5.79156275e-01 -3.07825128e-02 2.26976638e+02] [ 5.78752386e-01 8.15216518e-01 -2.16264892e-02 7.09160153e+01] [ 3.76195298e-02 -1.97754192e-04 9.99292115e-01 8.90094983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66862385299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.02, Y:70.95, Z:8.90 [[ 8.14508726e-01 -5.79334302e-01 -3.07782834e-02 2.27024499e+02] [ 5.78930313e-01 8.15090012e-01 -2.16325066e-02 7.09506682e+01] [ 3.76195245e-02 -1.98615860e-04 9.99292115e-01 8.90474982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.728623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.07, Y:70.98, Z:8.91 [[ 8.14566220e-01 -5.79253659e-01 -3.07745377e-02 2.27069845e+02] [ 5.78849412e-01 8.15147326e-01 -2.16378340e-02 7.09848474e+01] [ 3.76195766e-02 -1.88374354e-04 9.99292115e-01 8.90669149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:71.02, Z:8.91 [[ 8.14240212e-01 -5.79711954e-01 -3.07721810e-02 2.27115417e+02] [ 5.79307907e-01 8.14821458e-01 -2.16411850e-02 7.10203787e+01] [ 3.76194871e-02 -2.05444675e-04 9.99292115e-01 8.90786681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:71.06, Z:8.91 [[ 8.12985044e-01 -5.81471107e-01 -3.07680111e-02 2.27161213e+02] [ 5.81068093e-01 8.13567006e-01 -2.16471120e-02 7.10556835e+01] [ 3.76190088e-02 -2.79531248e-04 9.99292115e-01 8.91056046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.21, Y:71.09, Z:8.91 [[ 8.10215534e-01 -5.85324162e-01 -3.07638207e-02 2.27206924e+02] [ 5.84923690e-01 8.10799249e-01 -2.16530655e-02 7.10898350e+01] [ 3.76173451e-02 -4.50837503e-04 9.99292115e-01 8.91385235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.25, Y:71.12, Z:8.92 [[ 8.06977460e-01 -5.89780564e-01 -3.07614393e-02 2.27253950e+02] [ 5.89383185e-01 8.07563285e-01 -2.16564480e-02 7.11240468e+01] [ 3.76143611e-02 -6.54009693e-04 9.99292116e-01 8.91778392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:71.16, Z:8.92 [[ 8.05154793e-01 -5.92266616e-01 -3.07573719e-02 2.27300600e+02] [ 5.91870826e-01 8.05741692e-01 -2.16622233e-02 7.11576732e+01] [ 3.76123085e-02 -7.62948162e-04 9.99292116e-01 8.91915382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:71.19, Z:8.92 [[ 8.03588239e-01 -5.94390589e-01 -3.07533643e-02 2.27348417e+02] [ 5.93996132e-01 8.04176036e-01 -2.16679112e-02 7.11906568e+01] [ 3.76103211e-02 -8.55300861e-04 9.99292116e-01 8.91939888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.148623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:71.22, Z:8.92 [[ 8.02646820e-01 -5.95661448e-01 -3.07493380e-02 2.27395968e+02] [ 5.95267704e-01 8.03235093e-01 -2.16736236e-02 7.12241706e+01] [ 3.76090894e-02 -9.07822802e-04 9.99292116e-01 8.92057937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20862385299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:227.44, Y:71.26, Z:8.93 [[ 8.02075017e-01 -5.96431383e-01 -3.07452976e-02 2.27443415e+02] [ 5.96037983e-01 8.02663521e-01 -2.16793536e-02 7.12564657e+01] [ 3.76083757e-02 -9.36897249e-04 9.99292116e-01 8.93183882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26862385299998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:227.49, Y:71.29, Z:8.93 [[ 8.03783583e-01 -5.94127031e-01 -3.07412198e-02 2.27491815e+02] [ 5.93731724e-01 8.04370807e-01 -2.16851343e-02 7.12896899e+01] [ 3.76110643e-02 -8.21882474e-04 9.99292116e-01 8.92720310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32862385299998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:227.54, Y:71.32, Z:8.93 [[ 8.05500420e-01 -5.91797510e-01 -3.07372697e-02 2.27538983e+02] [ 5.91400291e-01 8.06086353e-01 -2.16907319e-02 7.13234091e+01] [ 3.76134148e-02 -7.06136517e-04 9.99292116e-01 8.92956618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38862385299998 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:71.36, Z:8.94 [[ 8.08133877e-01 -5.88196494e-01 -3.07330691e-02 2.27585999e+02] [ 5.87796437e-01 8.08717876e-01 -2.16966820e-02 7.13571683e+01] [ 3.76162946e-02 -5.30964824e-04 9.99292116e-01 8.93651703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.63, Y:71.39, Z:8.93 [[ 8.10075816e-01 -5.85519347e-01 -3.07289069e-02 2.27632567e+02] [ 5.85117137e-01 8.10658334e-01 -2.17025753e-02 7.13902513e+01] [ 3.76179222e-02 -3.99278654e-04 9.99292116e-01 8.93113926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.508623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:227.68, Y:71.42, Z:8.93 [[ 8.11409209e-01 -5.83670286e-01 -3.07260828e-02 2.27678554e+02] [ 5.83266597e-01 8.11990703e-01 -2.17065729e-02 7.14244407e+01] [ 3.76187752e-02 -3.08584580e-04 9.99292116e-01 8.93394982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.568623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:227.73, Y:71.46, Z:8.94 [[ 8.12020298e-01 -5.82819967e-01 -3.07233015e-02 2.27725759e+02] [ 5.82415520e-01 8.12601265e-01 -2.17105088e-02 7.14578894e+01] [ 3.76191117e-02 -2.64353797e-04 9.99292116e-01 8.93708815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.628623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:71.49, Z:8.94 [[ 8.11679005e-01 -5.83295403e-01 -3.07191494e-02 2.27771355e+02] [ 5.82891073e-01 8.12260054e-01 -2.17163821e-02 7.14924904e+01] [ 3.76190038e-02 -2.79186559e-04 9.99292116e-01 8.93970607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.688623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:71.53, Z:8.94 [[ 8.11301091e-01 -5.83821045e-01 -3.07168800e-02 2.27817141e+02] [ 5.83416971e-01 8.11882318e-01 -2.17195917e-02 7.15276725e+01] [ 3.76188464e-02 -2.99620689e-04 9.99292116e-01 8.94146905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.748623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:71.56, Z:8.94 [[ 8.10545647e-01 -5.84869624e-01 -3.07128109e-02 2.27863837e+02] [ 5.84466083e-01 8.11127245e-01 -2.17253440e-02 7.15625340e+01] [ 3.76184915e-02 -3.41213264e-04 9.99292116e-01 8.94366309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.808623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:71.60, Z:8.95 [[ 8.09272845e-01 -5.86629732e-01 -3.07086185e-02 2.27909221e+02] [ 5.86227232e-01 8.09855163e-01 -2.17312684e-02 7.15970528e+01] [ 3.76177414e-02 -4.15702965e-04 9.99292116e-01 8.94709649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:71.63, Z:8.95 [[ 8.06684711e-01 -5.90183784e-01 -3.07063120e-02 2.27954650e+02] [ 5.89783725e-01 8.07268709e-01 -2.17345270e-02 7.16310271e+01] [ 3.76156102e-02 -5.77172453e-04 9.99292116e-01 8.95035051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92862385299998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.00, Y:71.66, Z:8.95 [[ 8.03298378e-01 -5.94784843e-01 -3.07035272e-02 2.28003131e+02] [ 5.94387979e-01 8.03884550e-01 -2.17384603e-02 7.16638339e+01] [ 3.76117979e-02 -7.87337537e-04 9.99292116e-01 8.95035538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98862385299998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:228.05, Y:71.70, Z:8.96 [[ 8.00053448e-01 -5.99142725e-01 -3.06997638e-02 2.28050334e+02] [ 5.98748849e-01 8.00641633e-01 -2.17437738e-02 7.16967585e+01] [ 3.76071329e-02 -9.85266976e-04 9.99292116e-01 8.95954421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.048623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:71.73, Z:8.95 [[ 7.99487193e-01 -5.99898322e-01 -3.06957931e-02 2.28098076e+02] [ 5.99504787e-01 8.00075606e-01 -2.17493778e-02 7.17299827e+01] [ 3.76063705e-02 -1.01392588e-03 9.99292116e-01 8.95416626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.108623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:71.76, Z:8.97 [[ 7.99259160e-01 -6.00202307e-01 -3.06918025e-02 2.28145854e+02] [ 5.99808779e-01 7.99847578e-01 -2.17550078e-02 7.17620257e+01] [ 3.76061697e-02 -1.02132334e-03 9.99292116e-01 8.96639058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.168623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:71.79, Z:8.96 [[ 8.00865687e-01 -5.98057207e-01 -3.06876074e-02 2.28194499e+02] [ 5.97661877e-01 8.01452895e-01 -2.17609237e-02 7.17943942e+01] [ 3.76089491e-02 -9.13235973e-04 9.99292116e-01 8.95900731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.228623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.24, Y:71.83, Z:8.96 [[ 8.03679424e-01 -5.94270908e-01 -3.06834137e-02 2.28241046e+02] [ 5.93872585e-01 8.04264607e-01 -2.17668353e-02 7.18270776e+01] [ 3.76129806e-02 -7.28480558e-04 9.99292116e-01 8.95991119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.288623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:71.86, Z:8.96 [[ 8.05737539e-01 -5.91477542e-01 -3.06811986e-02 2.28288342e+02] [ 5.91077071e-01 8.06321254e-01 -2.17699572e-02 7.18609326e+01] [ 3.76153433e-02 -5.94081292e-04 9.99292116e-01 8.96137557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.348623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:71.89, Z:8.96 [[ 8.08187850e-01 -5.88125254e-01 -3.06770870e-02 2.28335925e+02] [ 5.87722143e-01 8.08769744e-01 -2.17757495e-02 7.18943537e+01] [ 3.76175680e-02 -4.30707162e-04 9.99292116e-01 8.96336651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.408623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:71.93, Z:8.96 [[ 8.09307040e-01 -5.86584429e-01 -3.06728346e-02 2.28382789e+02] [ 5.86179982e-01 8.09888007e-01 -2.17817376e-02 7.19272931e+01] [ 3.76183890e-02 -3.51688074e-04 9.99292116e-01 8.96429933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.468623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:228.43, Y:71.96, Z:8.97 [[ 8.09413297e-01 -5.86437920e-01 -3.06705220e-02 2.28430538e+02] [ 5.86033245e-01 8.09994105e-01 -2.17849935e-02 7.19597068e+01] [ 3.76184883e-02 -3.40882133e-04 9.99292116e-01 8.96930922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:71.99, Z:8.97 [[ 8.09844553e-01 -5.85842452e-01 -3.06662728e-02 2.28477603e+02] [ 5.85437124e-01 8.10424905e-01 -2.17909733e-02 7.19915265e+01] [ 3.76187885e-02 -3.05873540e-04 9.99292116e-01 8.97211481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.588623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:72.02, Z:8.97 [[ 8.10092195e-01 -5.85500093e-01 -3.06639420e-02 2.28524919e+02] [ 5.85094395e-01 8.10672289e-01 -2.17942528e-02 7.20248135e+01] [ 3.76189450e-02 -2.85946525e-04 9.99292116e-01 8.97286044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.648623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:72.06, Z:8.97 [[ 8.09648043e-01 -5.86114350e-01 -3.06596621e-02 2.28571687e+02] [ 5.85708864e-01 8.10228285e-01 -2.18002720e-02 7.20574858e+01] [ 3.76187777e-02 -3.07088309e-04 9.99292116e-01 8.97440991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.708623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:72.09, Z:8.98 [[ 8.08393516e-01 -5.87843590e-01 -3.06567706e-02 2.28619388e+02] [ 5.87439191e-01 8.08974516e-01 -2.18043373e-02 7.20911152e+01] [ 3.76180861e-02 -3.82503605e-04 9.99292116e-01 8.97798654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.768623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:228.67, Y:72.12, Z:8.98 [[ 8.06682740e-01 -5.90189274e-01 -3.06525159e-02 2.28666500e+02] [ 5.89786338e-01 8.07264756e-01 -2.18103170e-02 7.21235339e+01] [ 3.76169109e-02 -4.84428855e-04 9.99292116e-01 8.98075483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:72.15, Z:8.98 [[ 8.04609973e-01 -5.93012106e-01 -3.06501623e-02 2.28715063e+02] [ 5.92611086e-01 8.05193310e-01 -2.18136240e-02 7.21549273e+01] [ 3.76150488e-02 -6.12166588e-04 9.99292116e-01 8.98036111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.888623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.76, Y:72.19, Z:8.98 [[ 8.03678366e-01 -5.94274274e-01 -3.06458957e-02 2.28762490e+02] [ 5.93873941e-01 8.04262175e-01 -2.18196165e-02 7.21871039e+01] [ 3.76141715e-02 -6.63845083e-04 9.99292116e-01 8.98157862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.948623853 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:72.22, Z:8.99 [[ 8.04130608e-01 -5.93662308e-01 -3.06435938e-02 2.28809333e+02] [ 5.93261407e-01 8.04714027e-01 -2.18228489e-02 7.22209817e+01] [ 3.76147326e-02 -6.31240854e-04 9.99292116e-01 8.99414101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.008623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:228.86, Y:72.25, Z:8.99 [[ 8.04659447e-01 -5.92945528e-01 -3.06394549e-02 2.28857592e+02] [ 5.92543886e-01 8.05242356e-01 -2.18286583e-02 7.22545760e+01] [ 3.76153922e-02 -5.90585585e-04 9.99292116e-01 8.99017659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06862385299996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:72.29, Z:9.00 [[ 8.05351483e-01 -5.92005455e-01 -3.06354374e-02 2.28905102e+02] [ 5.91602919e-01 8.05933775e-01 -2.18342953e-02 7.22879469e+01] [ 3.76161556e-02 -5.39732076e-04 9.99292116e-01 8.99553311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12862385299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.95, Y:72.32, Z:9.00 [[ 8.05109157e-01 -5.92335194e-01 -3.06310787e-02 2.28951985e+02] [ 5.91932664e-01 8.05691454e-01 -2.18404084e-02 7.23205319e+01] [ 3.76160408e-02 -5.47623215e-04 9.99292116e-01 8.99595126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.00, Y:72.35, Z:9.00 [[ 8.03795539e-01 -5.94116697e-01 -3.06281175e-02 2.29000646e+02] [ 5.93715300e-01 8.04378616e-01 -2.18445602e-02 7.23516509e+01] [ 3.76148207e-02 -6.25821866e-04 9.99292116e-01 8.99703115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24862385299997 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:72.38, Z:9.01 [[ 8.02247313e-01 -5.96205862e-01 -3.06238397e-02 2.29048118e+02] [ 5.95805753e-01 8.02831276e-01 -2.18505556e-02 7.23819702e+01] [ 3.76132056e-02 -7.16310399e-04 9.99292116e-01 9.00609145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.308623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:72.41, Z:9.00 [[ 8.01341832e-01 -5.97422455e-01 -3.06215539e-02 2.29097393e+02] [ 5.97023111e-01 8.01926317e-01 -2.18537585e-02 7.24131057e+01] [ 3.76121560e-02 -7.69444510e-04 9.99292116e-01 9.00003025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.368623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:229.15, Y:72.44, Z:9.00 [[ 8.02043602e-01 -5.96480208e-01 -3.06173405e-02 2.29147816e+02] [ 5.96079952e-01 8.02627464e-01 -2.18596598e-02 7.24425767e+01] [ 3.76131728e-02 -7.17982570e-04 9.99292116e-01 9.00140597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.428623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:229.19, Y:72.47, Z:9.01 [[ 8.03414324e-01 -5.94632879e-01 -3.06131215e-02 2.29194869e+02] [ 5.94231056e-01 8.03997108e-01 -2.18655668e-02 7.24744420e+01] [ 3.76148461e-02 -6.24157937e-04 9.99292116e-01 9.01231941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.488623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:72.50, Z:9.00 [[ 8.05918881e-01 -5.91234154e-01 -3.06093593e-02 2.29243889e+02] [ 5.90829672e-01 8.06499823e-01 -2.18708321e-02 7.25049050e+01] [ 3.76172258e-02 -4.58801199e-04 9.99292116e-01 9.00483464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.548623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.29, Y:72.54, Z:9.01 [[ 8.08930093e-01 -5.87107655e-01 -3.06056522e-02 2.29292087e+02] [ 5.86700013e-01 8.09508823e-01 -2.18760185e-02 7.25366045e+01] [ 3.76191234e-02 -2.60166908e-04 9.99292116e-01 9.00651344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.608623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:72.57, Z:9.01 [[ 8.12723504e-01 -5.81845383e-01 -3.06015662e-02 2.29338469e+02] [ 5.81433779e-01 8.13299422e-01 -2.18817329e-02 7.25699929e+01] [ 3.76200213e-02 -8.98566218e-06 9.99292116e-01 9.00835614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.668623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:229.38, Y:72.60, Z:9.02 [[ 8.16136606e-01 -5.77048359e-01 -3.05979110e-02 2.29384449e+02] [ 5.76633179e-01 8.16709950e-01 -2.18868428e-02 7.26044924e+01] [ 3.76193851e-02 2.18882874e-04 9.99292116e-01 9.01550877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.728623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:72.64, Z:9.01 [[ 8.17224193e-01 -5.75507283e-01 -3.05938932e-02 2.29430301e+02] [ 5.75090811e-01 8.17796600e-01 -2.18924575e-02 7.26385882e+01] [ 3.76188506e-02 2.96779020e-04 9.99292116e-01 9.01133137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:229.48, Y:72.67, Z:9.02 [[ 8.15830908e-01 -5.77480878e-01 -3.05902717e-02 2.29475408e+02] [ 5.77065601e-01 8.16404183e-01 -2.18975167e-02 7.26747095e+01] [ 3.76194229e-02 2.12077420e-04 9.99292116e-01 9.01709355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:72.71, Z:9.02 [[ 8.13864585e-01 -5.80249011e-01 -3.05863192e-02 2.29521269e+02] [ 5.79835477e-01 8.14439118e-01 -2.19030361e-02 7.27085722e+01] [ 3.76199099e-02 9.10724259e-05 9.99292116e-01 9.01763804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:229.57, Y:72.74, Z:9.02 [[ 8.09112135e-01 -5.86857948e-01 -3.05827102e-02 2.29567713e+02] [ 5.86448916e-01 8.09689882e-01 -2.19080741e-02 7.27427840e+01] [ 3.76194384e-02 -2.09108684e-04 9.99292117e-01 9.01663512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.968623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:229.61, Y:72.78, Z:9.02 [[ 8.07777420e-01 -5.88693969e-01 -3.05785911e-02 2.29614445e+02] [ 5.88286033e-01 8.08355941e-01 -2.19138219e-02 7.27767154e+01] [ 3.76189206e-02 -2.87467578e-04 9.99292117e-01 9.01831740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.028623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:72.81, Z:9.02 [[ 8.03419500e-01 -5.94627874e-01 -3.05744746e-02 2.29662149e+02] [ 5.94223991e-01 8.04000859e-01 -2.19195638e-02 7.28101096e+01] [ 3.76158875e-02 -5.57481401e-04 9.99292117e-01 9.02193543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.71, Y:72.84, Z:9.03 [[ 7.98810188e-01 -6.00805905e-01 -3.05703748e-02 2.29710322e+02] [ 6.00406299e-01 7.99394495e-01 -2.19252802e-02 7.28403408e+01] [ 3.76106271e-02 -8.40508381e-04 9.99292117e-01 9.02699260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.148623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:229.76, Y:72.87, Z:9.03 [[ 7.95594943e-01 -6.05057323e-01 -3.05666767e-02 2.29759391e+02] [ 6.04660641e-01 7.96181239e-01 -2.19304346e-02 7.28710307e+01] [ 3.76057846e-02 -1.03472346e-03 9.99292117e-01 9.03008441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.208623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.81, Y:72.90, Z:9.03 [[ 7.94235110e-01 -6.06841421e-01 -3.05627100e-02 2.29808028e+02] [ 6.06445844e-01 7.94822151e-01 -2.19359613e-02 7.29009032e+01] [ 3.76035688e-02 -1.11231778e-03 9.99292117e-01 9.03148494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:72.93, Z:9.03 [[ 7.94298494e-01 -6.06758632e-01 -3.05591910e-02 2.29856974e+02] [ 6.06362805e-01 7.94885367e-01 -2.19408625e-02 7.29322190e+01] [ 3.76038615e-02 -1.10236272e-03 9.99292117e-01 9.03373807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.91, Y:72.96, Z:9.04 [[ 7.96081985e-01 -6.04416954e-01 -3.05551562e-02 2.29905507e+02] [ 6.04019186e-01 7.96667544e-01 -2.19464800e-02 7.29626832e+01] [ 3.76071259e-02 -9.84703238e-04 9.99292117e-01 9.03516255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.388623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:72.99, Z:9.04 [[ 7.99871280e-01 -5.99393475e-01 -3.05515634e-02 2.29954614e+02] [ 5.98991837e-01 8.00454191e-01 -2.19514804e-02 7.29933367e+01] [ 3.76127011e-02 -7.41778334e-04 9.99292117e-01 9.03813578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.00, Y:73.02, Z:9.04 [[ 8.05218813e-01 -5.92190445e-01 -3.05473319e-02 2.30002404e+02] [ 5.91783368e-01 8.05797940e-01 -2.19573673e-02 7.30240466e+01] [ 3.76179202e-02 -3.96917726e-04 9.99292117e-01 9.04106412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.508623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:230.05, Y:73.06, Z:9.05 [[ 8.10492123e-01 -5.84952657e-01 -3.05435445e-02 2.30049076e+02] [ 5.84540209e-01 8.11067436e-01 -2.19626345e-02 7.30582331e+01] [ 3.76199757e-02 -5.33875874e-05 9.99292117e-01 9.04879225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56862385299996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:230.09, Y:73.09, Z:9.05 [[ 8.13950313e-01 -5.80131221e-01 -3.05393846e-02 2.30094721e+02] [ 5.79715149e-01 8.14523011e-01 -2.19684174e-02 7.30919653e+01] [ 3.76195963e-02 1.77056366e-04 9.99292117e-01 9.05090333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62862385299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.14, Y:73.13, Z:9.04 [[ 8.14581969e-01 -5.79244151e-01 -3.05356944e-02 2.30142035e+02] [ 5.78827263e-01 8.15154073e-01 -2.19735454e-02 7.31254453e+01] [ 3.76193434e-02 2.24361431e-04 9.99292117e-01 9.04373995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68862385299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:230.19, Y:73.16, Z:9.05 [[ 8.13381861e-01 -5.80928374e-01 -3.05314897e-02 2.30188552e+02] [ 5.80512452e-01 8.13954667e-01 -2.19793862e-02 7.31577168e+01] [ 3.76196976e-02 1.53724171e-04 9.99292117e-01 9.04600970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74862385299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:230.24, Y:73.19, Z:9.05 [[ 8.11498746e-01 -5.83556205e-01 -3.05277150e-02 2.30236577e+02] [ 5.83141940e-01 8.12072752e-01 -2.19846278e-02 7.31909583e+01] [ 3.76199914e-02 3.85069471e-05 9.99292117e-01 9.04896569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.808623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:73.22, Z:9.05 [[ 8.10475593e-01 -5.84976607e-01 -3.05234632e-02 2.30282443e+02] [ 5.84563125e-01 8.11050164e-01 -2.19905293e-02 7.32246156e+01] [ 3.76200051e-02 -2.01037819e-05 9.99292117e-01 9.04883448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.868623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:230.33, Y:73.26, Z:9.06 [[ 8.08965716e-01 -5.87063046e-01 -3.05196698e-02 2.30329670e+02] [ 5.86650848e-01 8.09541208e-01 -2.19957928e-02 7.32581167e+01] [ 3.76198475e-02 -1.10547881e-04 9.99292117e-01 9.05656125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.38, Y:73.29, Z:9.05 [[ 8.07223558e-01 -5.89456471e-01 -3.05155064e-02 2.30377968e+02] [ 5.89045761e-01 8.07800113e-01 -2.20015673e-02 7.32912926e+01] [ 3.76193957e-02 -2.14846186e-04 9.99292117e-01 9.05283222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.988623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.43, Y:73.32, Z:9.06 [[ 8.05354109e-01 -5.92008291e-01 -3.05113419e-02 2.30425568e+02] [ 5.91599189e-01 8.05931806e-01 -2.20073411e-02 7.33237008e+01] [ 3.76185892e-02 -3.26782547e-04 9.99292117e-01 9.05503890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.048623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:73.36, Z:9.06 [[ 8.04736083e-01 -5.92848335e-01 -3.05071980e-02 2.30472710e+02] [ 5.92439618e-01 8.05314052e-01 -2.20130839e-02 7.33566341e+01] [ 3.76182954e-02 -3.58949869e-04 9.99292117e-01 9.05798866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.108623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:73.39, Z:9.06 [[ 8.05186077e-01 -5.92237235e-01 -3.05030917e-02 2.30518836e+02] [ 5.91827864e-01 8.05763584e-01 -2.20187725e-02 7.33912888e+01] [ 3.76186174e-02 -3.23370552e-04 9.99292117e-01 9.05834775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:73.43, Z:9.06 [[ 8.06377010e-01 -5.90614886e-01 -3.04987384e-02 2.30564239e+02] [ 5.90204126e-01 8.06953529e-01 -2.20248007e-02 7.34260494e+01] [ 3.76192397e-02 -2.40188302e-04 9.99292117e-01 9.05808936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.228623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.61, Y:73.46, Z:9.06 [[ 8.06671405e-01 -5.90212932e-01 -3.04949011e-02 2.30612134e+02] [ 5.89801683e-01 8.07247576e-01 -2.20301125e-02 7.34595345e+01] [ 3.76193922e-02 -2.14882168e-04 9.99292117e-01 9.05978308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.66, Y:73.49, Z:9.06 [[ 8.06205794e-01 -5.90849000e-01 -3.04906103e-02 2.30657577e+02] [ 5.90437981e-01 8.06782129e-01 -2.20360495e-02 7.34932981e+01] [ 3.76192573e-02 -2.37223627e-04 9.99292117e-01 9.05873361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.70, Y:73.53, Z:9.06 [[ 8.06034196e-01 -5.91083261e-01 -3.04869363e-02 2.30703194e+02] [ 5.90672217e-01 8.06610514e-01 -2.20411313e-02 7.35268095e+01] [ 3.76192271e-02 -2.41880663e-04 9.99292117e-01 9.06034695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.408623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:230.75, Y:73.56, Z:9.08 [[ 8.06951136e-01 -5.89831026e-01 -3.04831930e-02 2.30750305e+02] [ 5.89418893e-01 8.07526674e-01 -2.20463071e-02 7.35605523e+01] [ 3.76195874e-02 -1.77077283e-04 9.99292117e-01 9.07647688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.80, Y:73.59, Z:9.07 [[ 8.09324718e-01 -5.86570122e-01 -3.04793980e-02 2.30795702e+02] [ 5.86155472e-01 8.09898446e-01 -2.20515526e-02 7.35949159e+01] [ 3.76199989e-02 -1.87993378e-05 9.99292117e-01 9.07129017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.528623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.84, Y:73.63, Z:9.07 [[ 8.11481737e-01 -5.83582535e-01 -3.04764768e-02 2.30840735e+02] [ 5.83165622e-01 8.12053821e-01 -2.20555890e-02 7.36310291e+01] [ 3.76197960e-02 1.24874059e-04 9.99292117e-01 9.07176216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.588623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.89, Y:73.67, Z:9.07 [[ 8.11952938e-01 -5.82926981e-01 -3.04723219e-02 2.30885926e+02] [ 5.82509390e-01 8.12524528e-01 -2.20613280e-02 7.36655429e+01] [ 3.76196523e-02 1.62346476e-04 9.99292117e-01 9.07223244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.648623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.93, Y:73.70, Z:9.07 [[ 8.10261292e-01 -5.85276216e-01 -3.04694997e-02 2.30930475e+02] [ 5.84860135e-01 8.10833983e-01 -2.20652251e-02 7.37022850e+01] [ 3.76199573e-02 5.82020530e-05 9.99292117e-01 9.07493402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.708623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:73.74, Z:9.08 [[ 8.07771717e-01 -5.88707670e-01 -3.04652581e-02 2.30975967e+02] [ 5.88293802e-01 8.08346009e-01 -2.20710800e-02 7.37372370e+01] [ 3.76198838e-02 -9.41282927e-05 9.99292117e-01 9.07570606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.768623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.02, Y:73.77, Z:9.08 [[ 8.05487776e-01 -5.91828979e-01 -3.04614856e-02 2.31021069e+02] [ 5.91417139e-01 8.06063524e-01 -2.20762853e-02 7.37727818e+01] [ 3.76192778e-02 -2.33266744e-04 9.99292117e-01 9.08043936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.828623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.07, Y:73.81, Z:9.08 [[ 8.05226078e-01 -5.92185208e-01 -3.04572272e-02 2.31065894e+02] [ 5.91773401e-01 8.05801849e-01 -2.20821587e-02 7.38076704e+01] [ 3.76192178e-02 -2.42646854e-04 9.99292117e-01 9.08253578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.11, Y:73.84, Z:9.08 [[ 8.05166493e-01 -5.92266369e-01 -3.04543251e-02 2.31111343e+02] [ 5.91854469e-01 8.05742198e-01 -2.20861604e-02 7.38422804e+01] [ 3.76192249e-02 -2.41492059e-04 9.99292117e-01 9.08339319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.948623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:73.88, Z:9.08 [[ 8.04762219e-01 -5.92815768e-01 -3.04505636e-02 2.31157368e+02] [ 5.92404064e-01 8.05338064e-01 -2.20913453e-02 7.38782123e+01] [ 3.76190958e-02 -2.60757501e-04 9.99292117e-01 9.08399225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.008623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.20, Y:73.91, Z:9.09 [[ 8.04077057e-01 -5.93744971e-01 -3.04466093e-02 2.31203069e+02] [ 5.93333727e-01 8.04653230e-01 -2.20967938e-02 7.39133671e+01] [ 3.76188227e-02 -2.97475262e-04 9.99292117e-01 9.08743875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06862385299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:73.95, Z:9.09 [[ 8.03467896e-01 -5.94569254e-01 -3.04424247e-02 2.31248551e+02] [ 5.94158382e-01 8.04044336e-01 -2.21025574e-02 7.39484205e+01] [ 3.76185602e-02 -3.28926573e-04 9.99292117e-01 9.09022163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.29, Y:73.98, Z:9.10 [[ 8.03164145e-01 -5.94979700e-01 -3.04386674e-02 2.31294089e+02] [ 5.94568927e-01 8.03740654e-01 -2.21077306e-02 7.39842948e+01] [ 3.76184454e-02 -3.41749241e-04 9.99292117e-01 9.09540692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18862385299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:74.02, Z:9.10 [[ 8.01781197e-01 -5.96842229e-01 -3.04346235e-02 2.31340649e+02] [ 5.96432583e-01 8.02358508e-01 -2.21132963e-02 7.40193783e+01] [ 3.76176281e-02 -4.22175937e-04 9.99292117e-01 9.10048765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:74.05, Z:9.10 [[ 7.99846348e-01 -5.99432905e-01 -3.04304378e-02 2.31389086e+02] [ 5.99024911e-01 8.00424827e-01 -2.21190547e-02 7.40520768e+01] [ 3.76161671e-02 -5.36745157e-04 9.99292117e-01 9.09791873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.308623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.44, Y:74.08, Z:9.10 [[ 7.98247521e-01 -6.01560588e-01 -3.04262254e-02 2.31436760e+02] [ 6.01153914e-01 7.98826929e-01 -2.21248476e-02 7.40839346e+01] [ 3.76147245e-02 -6.29739803e-04 9.99292117e-01 9.10048708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.48, Y:74.12, Z:9.11 [[ 7.97540020e-01 -6.02498456e-01 -3.04224775e-02 2.31484573e+02] [ 6.02092268e-01 7.98119768e-01 -2.21299999e-02 7.41163596e+01] [ 3.76140715e-02 -6.67577913e-04 9.99292117e-01 9.10529522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:74.15, Z:9.11 [[ 7.96810543e-01 -6.03463086e-01 -3.04181457e-02 2.31533609e+02] [ 6.03057372e-01 7.97390623e-01 -2.21359525e-02 7.41463815e+01] [ 3.76133744e-02 -7.05726705e-04 9.99292117e-01 9.10623533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.58, Y:74.18, Z:9.11 [[ 7.95915915e-01 -6.04642726e-01 -3.04143082e-02 2.31583505e+02] [ 6.04237670e-01 7.96496456e-01 -2.21412238e-02 7.41764071e+01] [ 3.76124186e-02 -7.54918308e-04 9.99292117e-01 9.10910034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.548623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.63, Y:74.21, Z:9.11 [[ 7.96612383e-01 -6.03725061e-01 -3.04099016e-02 2.31633221e+02] [ 6.03319106e-01 7.97192295e-01 -2.21472744e-02 7.42059292e+01] [ 3.76134039e-02 -7.04081624e-04 9.99292118e-01 9.10594725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:74.24, Z:9.11 [[ 7.98339884e-01 -6.01438977e-01 -3.04070230e-02 2.31683002e+02] [ 6.01031210e-01 7.98918524e-01 -2.21512259e-02 7.42353321e+01] [ 3.76153446e-02 -5.91362736e-04 9.99292118e-01 9.10835301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.668623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:74.26, Z:9.11 [[ 8.00948784e-01 -5.97960468e-01 -3.04027104e-02 2.31731599e+02] [ 5.97549964e-01 8.01525484e-01 -2.21571435e-02 7.42644331e+01] [ 3.76176430e-02 -4.20401375e-04 9.99292118e-01 9.11234114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.728623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:74.30, Z:9.12 [[ 8.02673831e-01 -5.95643041e-01 -3.03988201e-02 2.31779584e+02] [ 5.95230670e-01 8.03249198e-01 -2.21624795e-02 7.42967458e+01] [ 3.76187546e-02 -3.05067750e-04 9.99292118e-01 9.11558850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.788623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.83, Y:74.32, Z:9.12 [[ 8.06124771e-01 -5.90964491e-01 -3.03944624e-02 2.31829338e+02] [ 5.90548555e-01 8.06697567e-01 -2.21684543e-02 7.43246767e+01] [ 3.76199081e-02 -7.88656835e-05 9.99292118e-01 9.11873724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.88, Y:74.36, Z:9.12 [[ 8.07458585e-01 -5.89140844e-01 -3.03924424e-02 2.31878284e+02] [ 5.88723509e-01 8.08030362e-01 -2.21712232e-02 7.43567334e+01] [ 3.76199894e-02 9.59910461e-06 9.99292118e-01 9.12152984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.93, Y:74.39, Z:9.12 [[ 8.08509551e-01 -5.87697942e-01 -3.03880665e-02 2.31926888e+02] [ 5.87279362e-01 8.09080418e-01 -2.21772192e-02 7.43871013e+01] [ 3.76198956e-02 8.42092318e-05 9.99292118e-01 9.11893639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.968623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:74.42, Z:9.13 [[ 8.08612195e-01 -5.87556886e-01 -3.03845780e-02 2.31975144e+02] [ 5.87138027e-01 8.09182857e-01 -2.21819977e-02 7.44191982e+01] [ 3.76198652e-02 9.66926644e-05 9.99292118e-01 9.12511000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.028623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:232.02, Y:74.45, Z:9.13 [[ 8.08087727e-01 -5.88278212e-01 -3.03804424e-02 2.32024054e+02] [ 5.87859649e-01 8.08658606e-01 -2.21876605e-02 7.44491865e+01] [ 3.76199234e-02 7.01399571e-05 9.99292118e-01 9.12785966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.088623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.07, Y:74.48, Z:9.13 [[ 8.07252047e-01 -5.89424629e-01 -3.03766099e-02 2.32074724e+02] [ 5.89006680e-01 8.07823375e-01 -2.21929061e-02 7.44791676e+01] [ 3.76199810e-02 2.32427279e-05 9.99292118e-01 9.12822307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.148623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:232.12, Y:74.51, Z:9.13 [[ 8.07669389e-01 -5.88852829e-01 -3.03727458e-02 2.32123671e+02] [ 5.88434276e-01 8.08240275e-01 -2.21981933e-02 7.45106724e+01] [ 3.76199453e-02 5.64364979e-05 9.99292118e-01 9.12912482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.17, Y:74.54, Z:9.13 [[ 8.08854666e-01 -5.87223874e-01 -3.03685952e-02 2.32173451e+02] [ 5.86803958e-01 8.09424550e-01 -2.22038701e-02 7.45410272e+01] [ 3.76197291e-02 1.39292069e-04 9.99292118e-01 9.13176342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.268623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:232.22, Y:74.57, Z:9.14 [[ 8.10418268e-01 -5.85064301e-01 -3.03643751e-02 2.32222257e+02] [ 5.84642651e-01 8.10986870e-01 -2.22096397e-02 7.45724381e+01] [ 3.76191768e-02 2.46789054e-04 9.99292118e-01 9.13838095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.328623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:74.61, Z:9.14 [[ 8.11278713e-01 -5.83870796e-01 -3.03602192e-02 2.32269162e+02] [ 5.83448097e-01 8.11846536e-01 -2.22153193e-02 7.46056079e+01] [ 3.76187149e-02 3.09203598e-04 9.99292118e-01 9.14093745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.388623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:232.32, Y:74.64, Z:9.14 [[ 8.11528232e-01 -5.83524137e-01 -3.03563971e-02 2.32317690e+02] [ 5.83101000e-01 8.12095728e-01 -2.22205409e-02 7.46369523e+01] [ 3.76185223e-02 3.31750784e-04 9.99292118e-01 9.14231002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.448623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:74.67, Z:9.14 [[ 8.10840245e-01 -5.84479975e-01 -3.03522011e-02 2.32365893e+02] [ 5.84057293e-01 8.11408080e-01 -2.22262709e-02 7.46675185e+01] [ 3.76188315e-02 2.94530526e-04 9.99292118e-01 9.14185567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.508623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:232.41, Y:74.70, Z:9.14 [[ 8.10281214e-01 -5.85254914e-01 -3.03486542e-02 2.32414975e+02] [ 5.84832593e-01 8.10849318e-01 -2.22311129e-02 7.46997857e+01] [ 3.76190536e-02 2.64571061e-04 9.99292118e-01 9.14284132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56862385299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:232.46, Y:74.73, Z:9.15 [[ 8.10357411e-01 -5.85149533e-01 -3.03461988e-02 2.32463560e+02] [ 5.84727012e-01 8.10925366e-01 -2.22344640e-02 7.47322017e+01] [ 3.76189886e-02 2.73620508e-04 9.99292118e-01 9.14702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62862385299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:74.76, Z:9.15 [[ 8.10601152e-01 -5.84812055e-01 -3.03419178e-02 2.32510767e+02] [ 5.84389080e-01 8.11168769e-01 -2.22403045e-02 7.47640516e+01] [ 3.76188143e-02 2.96531019e-04 9.99292118e-01 9.15108092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68862385299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:74.80, Z:9.15 [[ 8.09855156e-01 -5.85844880e-01 -3.03381199e-02 2.32558721e+02] [ 5.85422435e-01 8.10423168e-01 -2.22454840e-02 7.47969708e+01] [ 3.76191182e-02 2.55003892e-04 9.99292118e-01 9.15449451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74862385299997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:232.61, Y:74.83, Z:9.16 [[ 8.08025098e-01 -5.88366631e-01 -3.03339531e-02 2.32607676e+02] [ 5.87945745e-01 8.08594265e-01 -2.22511645e-02 7.48290577e+01] [ 3.76197032e-02 1.44780741e-04 9.99292118e-01 9.15698004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.808623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:232.65, Y:74.86, Z:9.16 [[ 8.07187866e-01 -5.89514931e-01 -3.03297800e-02 2.32654146e+02] [ 5.89094641e-01 8.07757474e-01 -2.22568512e-02 7.48615290e+01] [ 3.76198526e-02 9.83493402e-05 9.99292118e-01 9.15948120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.868623853 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:232.70, Y:74.89, Z:9.17 [[ 8.04438020e-01 -5.93262003e-01 -3.03260389e-02 2.32702260e+02] [ 5.92844174e-01 8.05009435e-01 -2.22619476e-02 7.48930466e+01] [ 3.76199150e-02 -7.02584340e-05 9.99292118e-01 9.17198590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.928623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:74.92, Z:9.17 [[ 8.01820052e-01 -5.96795766e-01 -3.03218978e-02 2.32752928e+02] [ 5.96380242e-01 8.02393146e-01 -2.22675864e-02 7.49206056e+01] [ 3.76192843e-02 -2.28783453e-04 9.99292118e-01 9.16606698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.988623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:74.95, Z:9.17 [[ 7.99537809e-01 -5.99850065e-01 -3.03181688e-02 2.32803331e+02] [ 5.99436538e-01 8.00112345e-01 -2.22726625e-02 7.49491655e+01] [ 3.76181992e-02 -3.65982358e-04 9.99292118e-01 9.16728608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.048623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:74.98, Z:9.17 [[ 7.98335856e-01 -6.01449013e-01 -3.03141182e-02 2.32853522e+02] [ 6.01036427e-01 7.98911069e-01 -2.22781741e-02 7.49779296e+01] [ 3.76174704e-02 -4.34424113e-04 9.99292118e-01 9.17429924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.108623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:75.01, Z:9.17 [[ 7.99074670e-01 -6.00467293e-01 -3.03100852e-02 2.32905088e+02] [ 6.00053792e-01 7.99649226e-01 -2.22836599e-02 7.50064668e+01] [ 3.76180451e-02 -3.81373359e-04 9.99292118e-01 9.17282441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.168623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:232.95, Y:75.04, Z:9.18 [[ 8.00423523e-01 -5.98668301e-01 -3.03059148e-02 2.32954001e+02] [ 5.98253294e-01 8.00996992e-01 -2.22893302e-02 7.50370548e+01] [ 3.76188620e-02 -2.89709140e-04 9.99292118e-01 9.17655637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.228623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:233.00, Y:75.06, Z:9.18 [[ 8.05717561e-01 -5.91524325e-01 -3.03015632e-02 2.33004711e+02] [ 5.91104011e-01 8.06287151e-01 -2.22952444e-02 7.50648463e+01] [ 3.76199405e-02 5.22943505e-05 9.99292118e-01 9.17708373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.288623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:75.10, Z:9.18 [[ 8.09036829e-01 -5.86976536e-01 -3.02978029e-02 2.33051850e+02] [ 5.86552829e-01 8.09603899e-01 -2.23003533e-02 7.50972297e+01] [ 3.76190035e-02 2.70545178e-04 9.99292118e-01 9.17986525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.348623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:233.10, Y:75.13, Z:9.18 [[ 8.13854102e-01 -5.80278998e-01 -3.02949707e-02 2.33098605e+02] [ 5.79850482e-01 8.14417548e-01 -2.23042001e-02 7.51307504e+01] [ 3.76154147e-02 5.85811426e-04 9.99292118e-01 9.18371025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.408623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:233.14, Y:75.17, Z:9.18 [[ 8.18209982e-01 -5.74120981e-01 -3.02906554e-02 2.33144350e+02] [ 5.73688009e-01 8.18770010e-01 -2.23100591e-02 7.51656021e+01] [ 3.76097533e-02 8.76927267e-04 9.99292118e-01 9.18399371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:233.19, Y:75.20, Z:9.19 [[ 8.21570199e-01 -5.69302305e-01 -3.02868475e-02 2.33189792e+02] [ 5.68865859e-01 8.22127524e-01 -2.23152273e-02 7.52024151e+01] [ 3.76037613e-02 1.10437222e-03 9.99292118e-01 9.18698023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.528623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:233.23, Y:75.24, Z:9.19 [[ 8.23476322e-01 -5.66541888e-01 -3.02826108e-02 2.33234176e+02] [ 5.66103363e-01 8.24032012e-01 -2.23209752e-02 7.52401745e+01] [ 3.75996081e-02 1.23770679e-03 9.99292118e-01 9.19033054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.588623853 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:233.28, Y:75.28, Z:9.19 [[ 8.23489260e-01 -5.66523304e-01 -3.02784557e-02 2.33278935e+02] [ 5.66084559e-01 8.24044777e-01 -2.23266102e-02 7.52766301e+01] [ 3.75993482e-02 1.24555744e-03 9.99292118e-01 9.19171140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.648623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:75.32, Z:9.19 [[ 8.20640597e-01 -5.70642165e-01 -3.02742411e-02 2.33322975e+02] [ 5.70205998e-01 8.21198141e-01 -2.23323236e-02 7.53163584e+01] [ 3.76049160e-02 1.06425747e-03 9.99292118e-01 9.19144863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.708623853 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:233.37, Y:75.35, Z:9.19 [[ 8.18201181e-01 -5.74134585e-01 -3.02705436e-02 2.33368068e+02] [ 5.73700614e-01 8.18760435e-01 -2.23373343e-02 7.53535170e+01] [ 3.76089596e-02 9.10203887e-04 9.99292118e-01 9.19447741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.768623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:233.41, Y:75.39, Z:9.20 [[ 8.14946816e-01 -5.78744883e-01 -3.02662731e-02 2.33412138e+02] [ 5.78313861e-01 8.15508347e-01 -2.23431191e-02 7.53897912e+01] [ 3.76133642e-02 7.05048549e-04 9.99292118e-01 9.19587809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.828623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:233.46, Y:75.43, Z:9.20 [[ 8.11703690e-01 -5.83284924e-01 -3.02624746e-02 2.33456741e+02] [ 5.82856851e-01 8.12267472e-01 -2.23482628e-02 7.54264499e+01] [ 3.76166285e-02 5.01476655e-04 9.99292118e-01 9.19967993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.888623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:75.46, Z:9.20 [[ 8.08381794e-01 -5.87880363e-01 -3.02581205e-02 2.33502326e+02] [ 5.87455275e-01 8.08947830e-01 -2.23541565e-02 7.54615842e+01] [ 3.76188105e-02 2.95400646e-04 9.99292118e-01 9.20269098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.948623853 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:75.50, Z:9.21 [[ 8.06161372e-01 -5.90921778e-01 -3.02538298e-02 2.33547652e+02] [ 5.90498607e-01 8.06728843e-01 -2.23599619e-02 7.54961530e+01] [ 3.76196256e-02 1.60893272e-04 9.99292118e-01 9.20945376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.008623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:75.53, Z:9.20 [[ 8.04317609e-01 -5.93429088e-01 -3.02506208e-02 2.33593576e+02] [ 5.93007524e-01 8.04886274e-01 -2.23643024e-02 7.55299730e+01] [ 3.76199371e-02 4.91564968e-05 9.99292118e-01 9.20281906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06862385299996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:233.64, Y:75.56, Z:9.21 [[ 8.03304465e-01 -5.94799929e-01 -3.02486518e-02 2.33641236e+02] [ 5.94379234e-01 8.03873774e-01 -2.23669654e-02 7.55636438e+01] [ 3.76199673e-02 -1.16873274e-05 9.99292118e-01 9.20535767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12862385299997 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:233.69, Y:75.60, Z:9.21 [[ 8.02843497e-01 -5.95422200e-01 -3.02443905e-02 2.33688644e+02] [ 5.95001730e-01 8.03412971e-01 -2.23727260e-02 7.55966298e+01] [ 3.76199533e-02 -3.36671307e-05 9.99292118e-01 9.20904834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18862385299997 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:233.73, Y:75.63, Z:9.21 [[ 8.03603415e-01 -5.94396403e-01 -3.02401665e-02 2.33734944e+02] [ 5.93974991e-01 8.04172193e-01 -2.23784339e-02 7.56313837e+01] [ 3.76199616e-02 2.14832475e-05 9.99292118e-01 9.21243900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24862385299997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:233.78, Y:75.67, Z:9.22 [[ 8.05556178e-01 -5.91747435e-01 -3.02360390e-02 2.33781325e+02] [ 5.91323943e-01 8.06123409e-01 -2.23840093e-02 7.56652795e+01] [ 3.76196589e-02 1.52283142e-04 9.99292118e-01 9.21758508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.308623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:75.70, Z:9.22 [[ 8.08235353e-01 -5.88083038e-01 -3.02316900e-02 2.33826175e+02] [ 5.87656755e-01 8.08800489e-01 -2.23898815e-02 7.57004214e+01] [ 3.76185151e-02 3.30436906e-04 9.99292119e-01 9.21852861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:233.87, Y:75.74, Z:9.22 [[ 8.10681865e-01 -5.84706073e-01 -3.02278188e-02 2.33870495e+02] [ 5.84277242e-01 8.11245070e-01 -2.23951066e-02 7.57357634e+01] [ 3.76167238e-02 4.93880270e-04 9.99292119e-01 9.22166132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.428623853 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:233.92, Y:75.77, Z:9.23 [[ 8.11506768e-01 -5.83560850e-01 -3.02241593e-02 2.33915231e+02] [ 5.83131040e-01 8.12069227e-01 -2.24000443e-02 7.57719403e+01] [ 3.76158986e-02 5.53142067e-04 9.99292119e-01 9.22766530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.488623853 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:75.81, Z:9.23 [[ 8.11376499e-01 -5.83742160e-01 -3.02203172e-02 2.33960238e+02] [ 5.83312283e-01 8.11938906e-01 -2.24052266e-02 7.58074543e+01] [ 3.76159266e-02 5.51192073e-04 9.99292119e-01 9.23014123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.548623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:234.00, Y:75.84, Z:9.23 [[ 8.11377088e-01 -5.83741541e-01 -3.02164615e-02 2.34004575e+02] [ 5.83311470e-01 8.11939346e-01 -2.24104253e-02 7.58446899e+01] [ 3.76158302e-02 5.57697070e-04 9.99292119e-01 9.23167928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.608623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.05, Y:75.88, Z:9.23 [[ 8.11130472e-01 -5.84084392e-01 -3.02122487e-02 2.34047452e+02] [ 5.83654347e-01 8.11692751e-01 -2.24161033e-02 7.58822100e+01] [ 3.76159593e-02 5.48874221e-04 9.99292119e-01 9.23020307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.668623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:234.09, Y:75.92, Z:9.23 [[ 8.10726794e-01 -5.84644767e-01 -3.02086354e-02 2.34091498e+02] [ 5.84214929e-01 8.11289231e-01 -2.24209715e-02 7.59210679e+01] [ 3.76162443e-02 5.28946566e-04 9.99292119e-01 9.23109325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.728623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:75.96, Z:9.23 [[ 8.10339014e-01 -5.85182324e-01 -3.02048040e-02 2.34135872e+02] [ 5.84752667e-01 8.10901589e-01 -2.24261320e-02 7.59589190e+01] [ 3.76164996e-02 5.10429981e-04 9.99292119e-01 9.23448720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.788623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:76.00, Z:9.24 [[ 8.09693486e-01 -5.86075404e-01 -3.02006545e-02 2.34179484e+02] [ 5.85646159e-01 8.10256376e-01 -2.24317186e-02 7.59975191e+01] [ 3.76169514e-02 4.75919079e-04 9.99292119e-01 9.23941860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.848623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:234.22, Y:76.04, Z:9.24 [[ 8.08285552e-01 -5.88015847e-01 -3.01965085e-02 2.34222051e+02] [ 5.87587745e-01 8.08849312e-01 -2.24372984e-02 7.60354100e+01] [ 3.76179121e-02 3.92645823e-04 9.99292119e-01 9.23942605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.908623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:76.07, Z:9.24 [[ 8.06880902e-01 -5.89942033e-01 -3.01928297e-02 2.34265344e+02] [ 5.89515092e-01 8.07445541e-01 -2.24422476e-02 7.60735246e+01] [ 3.76186909e-02 3.09092183e-04 9.99292119e-01 9.24357251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.968623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:76.11, Z:9.25 [[ 8.05766161e-01 -5.91463900e-01 -3.01885689e-02 2.34309053e+02] [ 5.91037810e-01 8.06331443e-01 -2.24479777e-02 7.61119924e+01] [ 3.76191607e-02 2.45235149e-04 9.99292119e-01 9.24738982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.028623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:234.35, Y:76.15, Z:9.25 [[ 8.05394072e-01 -5.91970689e-01 -3.01842929e-02 2.34353511e+02] [ 5.91544740e-01 8.05959460e-01 -2.24537259e-02 7.61501255e+01] [ 3.76192640e-02 2.28738039e-04 9.99292119e-01 9.24902539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.088623853 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:234.40, Y:76.19, Z:9.25 [[ 8.05544371e-01 -5.91766374e-01 -3.01798936e-02 2.34395161e+02] [ 5.91340060e-01 8.06109483e-01 -2.24596373e-02 7.61908232e+01] [ 3.76191566e-02 2.45654307e-04 9.99292119e-01 9.24659785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.148623853 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:76.23, Z:9.25 [[ 8.05754443e-01 -5.91480450e-01 -3.01770372e-02 2.34438354e+02] [ 5.91053792e-01 8.06319296e-01 -2.24634746e-02 7.62290042e+01] [ 3.76190335e-02 2.63792190e-04 9.99292119e-01 9.24872121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.208623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.48, Y:76.27, Z:9.25 [[ 8.04856875e-01 -5.92701423e-01 -3.01734049e-02 2.34480705e+02] [ 5.92275439e-01 8.05422236e-01 -2.24683525e-02 7.62699690e+01] [ 3.76193558e-02 2.12841352e-04 9.99292119e-01 9.25130681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.268623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:234.52, Y:76.31, Z:9.25 [[ 8.01670190e-01 -5.97004798e-01 -3.01691615e-02 2.34523543e+02] [ 5.96581634e-01 8.02237665e-01 -2.24740489e-02 7.63078545e+01] [ 3.76199527e-02 1.84073970e-05 9.99292119e-01 9.25498573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.328623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:234.57, Y:76.34, Z:9.26 [[ 7.97138213e-01 -6.03042884e-01 -3.01653643e-02 2.34568964e+02] [ 6.02623825e-01 7.97708727e-01 -2.24791445e-02 7.63438413e+01] [ 3.76190624e-02 -2.59382172e-04 9.99292119e-01 9.26000448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.388623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:234.62, Y:76.38, Z:9.26 [[ 7.92725527e-01 -6.08832106e-01 -3.01613169e-02 2.34615556e+02] [ 6.08417007e-01 7.93298928e-01 -2.24845737e-02 7.63786292e+01] [ 3.76162707e-02 -5.26562605e-04 9.99292119e-01 9.26085185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.448623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:234.66, Y:76.41, Z:9.26 [[ 7.89316262e-01 -6.13245779e-01 -3.01571432e-02 2.34662507e+02] [ 6.12833672e-01 7.89891817e-01 -2.24901702e-02 7.64128009e+01] [ 3.76128826e-02 -7.29455746e-04 9.99292119e-01 9.26181561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.508623853 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:234.71, Y:76.45, Z:9.26 [[ 7.87594391e-01 -6.15455825e-01 -3.01529849e-02 2.34709952e+02] [ 6.15045120e-01 7.88170947e-01 -2.24957439e-02 7.64450077e+01] [ 3.76108433e-02 -8.27924485e-04 9.99292119e-01 9.26456264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56862385299996 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:234.76, Y:76.48, Z:9.27 [[ 7.87688920e-01 -6.15334986e-01 -3.01499534e-02 2.34757437e+02] [ 6.14924037e-01 7.88265303e-01 -2.24998062e-02 7.64771683e+01] [ 3.76110801e-02 -8.17082971e-04 9.99292119e-01 9.26688131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62862385299997 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:234.80, Y:76.51, Z:9.27 [[ 7.89311645e-01 -6.13252286e-01 -3.01456558e-02 2.34804445e+02] [ 6.12839596e-01 7.89886782e-01 -2.25055627e-02 7.65116280e+01] [ 3.76132429e-02 -7.10548817e-04 9.99292119e-01 9.26880261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68862385299997 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:234.85, Y:76.55, Z:9.27 [[ 7.93959763e-01 -6.07222674e-01 -3.01416464e-02 2.34850918e+02] [ 6.06805412e-01 7.94531592e-01 -2.25109312e-02 7.65455470e+01] [ 3.76176381e-02 -4.17340557e-04 9.99292119e-01 9.26830969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74862385299997 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:234.90, Y:76.58, Z:9.27 [[ 7.98942563e-01 -6.00651739e-01 -3.01375152e-02 2.34896665e+02] [ 6.00229565e-01 7.99510775e-01 -2.25164608e-02 7.65802273e+01] [ 3.76198194e-02 -1.00068745e-04 9.99292119e-01 9.27285326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.808623853 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:234.94, Y:76.62, Z:9.28 [[ 8.02653092e-01 -5.95684487e-01 -3.01331573e-02 2.34941794e+02] [ 5.95258577e-01 8.03218509e-01 -2.25222912e-02 7.66150663e+01] [ 3.76196892e-02 1.40566305e-04 9.99292119e-01 9.27616109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.868623853 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:76.65, Z:9.28 [[ 8.05033946e-01 -5.92463139e-01 -3.01293037e-02 2.34987838e+02] [ 5.92034775e-01 8.05597505e-01 -2.25274453e-02 7.66505611e+01] [ 3.76187728e-02 2.97762660e-04 9.99292119e-01 9.28299482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.928623853 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:235.03, Y:76.69, Z:9.29 [[ 8.05772676e-01 -5.91458272e-01 -3.01248531e-02 2.35032717e+02] [ 5.91028982e-01 8.06335531e-01 -2.25333952e-02 7.66856950e+01] [ 3.76183024e-02 3.52132871e-04 9.99292119e-01 9.28512179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.988623853 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:235.08, Y:76.72, Z:9.29 [[ 8.05357282e-01 -5.92023971e-01 -3.01208693e-02 2.35078375e+02] [ 5.91594877e-01 8.05920286e-01 -2.25387193e-02 7.67216415e+01] [ 3.76184817e-02 3.32369745e-04 9.99292119e-01 9.28604744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.048623853 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:235.12, Y:76.76, Z:9.29 [[ 8.04236852e-01 -5.93545345e-01 -3.01165877e-02 2.35124165e+02] [ 5.93117102e-01 8.04800504e-01 -2.25444390e-02 7.67575319e+01] [ 3.76189917e-02 2.68405441e-04 9.99292119e-01 9.28711435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.108623853 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:76.79, Z:9.29 [[ 8.03101299e-01 -5.95081130e-01 -3.01123292e-02 2.35169146e+02] [ 5.94653752e-01 8.03665607e-01 -2.25501256e-02 7.67938324e+01] [ 3.76193975e-02 2.03625635e-04 9.99292119e-01 9.28959902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.168623853 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:235.21, Y:76.83, Z:9.29 [[ 8.01341056e-01 -5.97449595e-01 -3.01080269e-02 2.35214412e+02] [ 5.97023669e-01 8.01906460e-01 -2.25558683e-02 7.68299962e+01] [ 3.76198157e-02 9.97386049e-05 9.99292119e-01 9.29122461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.228623853 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:235.26, Y:76.86, Z:9.29 [[ 7.98793910e-01 -6.00851107e-01 -3.01037670e-02 2.35260129e+02] [ 6.00427374e-01 7.99360960e-01 -2.25615523e-02 7.68642933e+01] [ 3.76199098e-02 -5.30951412e-05 9.99292119e-01 9.29135237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.288623853 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:76.90, Z:9.29 [[ 7.97072888e-01 -6.03132486e-01 -3.01001047e-02 2.35305506e+02] [ 6.02710192e-01 7.97641010e-01 -2.25664372e-02 7.69002507e+01] [ 3.76196293e-02 -1.54544622e-04 9.99292119e-01 9.29289238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.348623853 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:235.35, Y:76.94, Z:9.30 [[ 7.96465291e-01 -6.03934829e-01 -3.00958952e-02 2.35350530e+02] [ 6.03512895e-01 7.97033681e-01 -2.25720499e-02 7.69351271e+01] [ 3.76194892e-02 -1.85406543e-04 9.99292119e-01 9.29599889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.408623853 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:235.40, Y:76.97, Z:9.30 [[ 7.97273146e-01 -6.02868141e-01 -3.00920923e-02 2.35395525e+02] [ 6.02445256e-01 7.97840828e-01 -2.25771185e-02 7.69713884e+01] [ 3.76197254e-02 -1.28707938e-04 9.99292119e-01 9.29838394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.468623853 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:235.44, Y:77.01, Z:9.30 [[ 7.98482393e-01 -6.01265817e-01 -3.00879738e-02 2.35440049e+02] [ 6.00841585e-01 7.99049070e-01 -2.25826059e-02 7.70073846e+01] [ 3.76199164e-02 -4.62926936e-05 9.99292119e-01 9.30053582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.528623853 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:77.04, Z:9.30 [[ 7.99002927e-01 -6.00574140e-01 -3.00836463e-02 2.35485460e+02] [ 6.00149201e-01 7.99569073e-01 -2.25883693e-02 7.70429877e+01] [ 3.76199437e-02 -6.50306011e-06 9.99292119e-01 9.30075615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.588623853 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:77.08, Z:9.30 [[ 7.98842146e-01 -6.00788186e-01 -3.00795949e-02 2.35531260e+02] [ 6.00363195e-01 7.99408254e-01 -2.25937630e-02 7.70783305e+01] [ 3.76199423e-02 -9.83159560e-06 9.99292119e-01 9.30195511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.648623853 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:235.58, Y:77.11, Z:9.31 [[ 7.98118994e-01 -6.01748728e-01 -3.00755664e-02 2.35576766e+02] [ 6.01324216e-01 7.98685462e-01 -2.25991243e-02 7.71132913e+01] [ 3.76199119e-02 -4.83760542e-05 9.99292119e-01 9.30879882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.708623853 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:235.62, Y:77.15, Z:9.32 [[ 7.97500376e-01 -6.02568550e-01 -3.00714582e-02 2.35623139e+02] [ 6.02144415e-01 7.98067125e-01 -2.26045896e-02 7.71476614e+01] [ 3.76198569e-02 -8.01918973e-05 9.99292119e-01 9.31887986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.768623853 meters Centerline goodness : 0.998689 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:77.18, Z:9.31 [[ 7.97641112e-01 -6.02382448e-01 -3.00672965e-02 2.35670041e+02] [ 6.01957972e-01 7.98207606e-01 -2.26101239e-02 7.71816324e+01] [ 3.76198865e-02 -6.44844912e-05 9.99292119e-01 9.31386138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.828623853 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:235.72, Y:77.22, Z:9.31 [[ 7.98359064e-01 -6.01430814e-01 -3.00629566e-02 2.35715979e+02] [ 6.01005445e-01 7.98924888e-01 -2.26158928e-02 7.72172307e+01] [ 3.76199390e-02 -1.23976258e-05 9.99292119e-01 9.31477595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.888623853 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:235.76, Y:77.25, Z:9.32 [[ 7.98430557e-01 -6.01336116e-01 -3.00586307e-02 2.35762202e+02] [ 6.00910464e-01 7.98996168e-01 -2.26216408e-02 7.72517326e+01] [ 3.76199404e-02 -7.36451894e-07 9.99292119e-01 9.31563671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.948623853 meters Centerline goodness : 0.998597 with order 1 Centerline is valid? [True, True] Translation: X:235.81, Y:77.29, Z:9.32 [[ 7.97402920e-01 -6.02698366e-01 -3.00543138e-02 2.35810075e+02] [ 6.02273465e-01 7.97969095e-01 -2.26273747e-02 7.72850286e+01] [ 3.76198953e-02 -5.77810696e-05 9.99292120e-01 9.31951744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.008623853 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:235.86, Y:77.32, Z:9.32 [[ 7.94955142e-01 -6.05923529e-01 -3.00499452e-02 2.35857725e+02] [ 6.05500705e-01 7.95522869e-01 -2.26331749e-02 7.73159868e+01] [ 3.76193918e-02 -2.02904191e-04 9.99292120e-01 9.32086932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06862385299996 meters Centerline goodness : 0.998604 with order 1 Centerline is valid? [True, True] Translation: X:235.91, Y:77.35, Z:9.32 [[ 7.93283709e-01 -6.08110345e-01 -3.00460480e-02 2.35906804e+02] [ 6.07688890e-01 7.93852454e-01 -2.26383473e-02 7.73477081e+01] [ 3.76187421e-02 -3.00017444e-04 9.99292120e-01 9.32436690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12862385299997 meters Centerline goodness : 0.998419 with order 1 Centerline is valid? [True, True] Translation: X:235.96, Y:77.38, Z:9.33 [[ 7.92085475e-01 -6.09670476e-01 -3.00418227e-02 2.35956526e+02] [ 6.09249929e-01 7.92654891e-01 -2.26439531e-02 7.73778283e+01] [ 3.76181473e-02 -3.67032022e-04 9.99292120e-01 9.32669516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18862385299997 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:236.00, Y:77.41, Z:9.33 [[ 7.91428003e-01 -6.10523921e-01 -3.00376052e-02 2.36004997e+02] [ 6.10103775e-01 7.91997716e-01 -2.26495462e-02 7.74095391e+01] [ 3.76178045e-02 -4.00571163e-04 9.99292120e-01 9.32929983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24862385299997 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:236.06, Y:77.44, Z:9.33 [[ 7.91376390e-01 -6.10591030e-01 -3.00333565e-02 2.36055141e+02] [ 6.10170719e-01 7.91945981e-01 -2.26551787e-02 7.74374868e+01] [ 3.76178448e-02 -3.96701183e-04 9.99292120e-01 9.33034466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.308623853 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:236.10, Y:77.47, Z:9.33 [[ 7.93266421e-01 -6.08133677e-01 -3.00302583e-02 2.36104749e+02] [ 6.07711445e-01 7.93834590e-01 -2.26592847e-02 7.74677448e+01] [ 3.76189319e-02 -2.74882013e-04 9.99292120e-01 9.33252266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.368623853 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:236.15, Y:77.50, Z:9.34 [[ 7.96375142e-01 -6.04057167e-01 -3.00261828e-02 2.36154541e+02] [ 6.03631824e-01 7.96940985e-01 -2.26646839e-02 7.74974743e+01] [ 3.76198604e-02 -7.51686026e-05 9.99292120e-01 9.33681777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.428623853 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:236.20, Y:77.53, Z:9.34 [[ 8.00318019e-01 -5.98823639e-01 -3.00219563e-02 2.36201802e+02] [ 5.98394386e-01 8.00880901e-01 -2.26702810e-02 7.75291211e+01] [ 3.76195116e-02 1.78464257e-04 9.99292120e-01 9.33692939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.488623853 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:77.56, Z:9.34 [[ 8.03056852e-01 -5.95145900e-01 -3.00175008e-02 2.36250001e+02] [ 5.94713848e-01 8.03617589e-01 -2.26761789e-02 7.75609227e+01] [ 3.76182265e-02 3.58437465e-04 9.99292120e-01 9.34209096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.548623853 meters Centerline goodness : 0.998390 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:77.59, Z:9.35 [[ 8.04145952e-01 -5.93673732e-01 -3.00131194e-02 2.36297848e+02] [ 5.93240438e-01 8.04705729e-01 -2.26819764e-02 7.75918136e+01] [ 3.76174228e-02 4.34623434e-04 9.99292120e-01 9.34525127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.608623853 meters Centerline goodness : 0.998502 with order 1 Centerline is valid? [True, True] Translation: X:236.34, Y:77.62, Z:9.35 [[ 8.04353215e-01 -5.93393087e-01 -3.00091685e-02 2.36344811e+02] [ 5.92959402e-01 8.04912690e-01 -2.26872025e-02 7.76249882e+01] [ 3.76171896e-02 4.54305638e-04 9.99292120e-01 9.34910312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.668623853 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:236.39, Y:77.66, Z:9.35 [[ 8.04571502e-01 -5.93097298e-01 -3.00049037e-02 2.36391567e+02] [ 5.92663197e-01 8.05130654e-01 -2.26928415e-02 7.76590478e+01] [ 3.76169307e-02 4.75211445e-04 9.99292120e-01 9.35077753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.728623853 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:77.69, Z:9.35 [[ 8.05354483e-01 -5.92033886e-01 -3.00005874e-02 2.36438982e+02] [ 5.91598835e-01 8.05912895e-01 -2.26985463e-02 7.76923143e+01] [ 3.76161688e-02 5.32063405e-04 9.99292120e-01 9.35218384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.788623853 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:77.73, Z:9.35 [[ 8.05625245e-01 -5.91665607e-01 -2.99962386e-02 2.36484003e+02] [ 5.91230087e-01 8.06183291e-01 -2.27042919e-02 7.77265098e+01] [ 3.76158150e-02 5.56471963e-04 9.99292120e-01 9.35340303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.848623853 meters Centerline goodness : 0.998618 with order 1 Centerline is valid? [True, True] Translation: X:236.53, Y:77.76, Z:9.36 [[ 8.05594897e-01 -5.91707122e-01 -2.99923850e-02 2.36530746e+02] [ 5.91271441e-01 8.06152819e-01 -2.27093813e-02 7.77609014e+01] [ 3.76157483e-02 5.60921050e-04 9.99292120e-01 9.35554537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.908623853 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:77.79, Z:9.36 [[ 8.04822950e-01 -5.92756894e-01 -2.99880631e-02 2.36576333e+02] [ 5.92321729e-01 8.05381273e-01 -2.27150870e-02 7.77947763e+01] [ 3.76163488e-02 5.19041913e-04 9.99292120e-01 9.35617321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.968623853 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:77.83, Z:9.36 [[ 8.03672542e-01 -5.94315903e-01 -2.99842180e-02 2.36623105e+02] [ 5.93881631e-01 8.04231561e-01 -2.27201614e-02 7.78296955e+01] [ 3.76172077e-02 4.52493558e-04 9.99292120e-01 9.35972723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.028623853 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:77.86, Z:9.36 [[ 8.03252320e-01 -5.94883947e-01 -2.99799901e-02 2.36668368e+02] [ 5.94449862e-01 8.03811484e-01 -2.27257389e-02 7.78643948e+01] [ 3.76174376e-02 4.32901513e-04 9.99292120e-01 9.36356211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.088623853 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:77.90, Z:9.37 [[ 8.02694277e-01 -5.95636906e-01 -2.99762316e-02 2.36713945e+02] [ 5.95203160e-01 8.03253704e-01 -2.27306955e-02 7.79008932e+01] [ 3.76177602e-02 4.03851370e-04 9.99292120e-01 9.36643232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.148623853 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:77.94, Z:9.37 [[ 8.01806364e-01 -5.96831836e-01 -2.99719010e-02 2.36759264e+02] [ 5.96398711e-01 8.02366271e-01 -2.27364041e-02 7.79369788e+01] [ 3.76182523e-02 3.54990383e-04 9.99292120e-01 9.36751429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.208623853 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:77.97, Z:9.37 [[ 8.00848933e-01 -5.98116157e-01 -2.99674836e-02 2.36804248e+02] [ 5.97683712e-01 8.01409366e-01 -2.27422250e-02 7.79722432e+01] [ 3.76187143e-02 3.02009814e-04 9.99292120e-01 9.36891265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.268623853 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:78.01, Z:9.37 [[ 7.99174624e-01 -6.00351605e-01 -2.99644873e-02 2.36849295e+02] [ 5.99920580e-01 7.99736150e-01 -2.27461722e-02 7.80093249e+01] [ 3.76193847e-02 2.01851017e-04 9.99292120e-01 9.37002278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.328623853 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:236.89, Y:78.04, Z:9.37 [[ 7.97104211e-01 -6.03098055e-01 -2.99601819e-02 2.36894337e+02] [ 6.02668751e-01 7.97667054e-01 -2.27518416e-02 7.80447908e+01] [ 3.76198415e-02 7.95233431e-05 9.99292120e-01 9.37211594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.388623853 meters Centerline goodness : 0.998546 with order 1 Centerline is valid? [True, True] Translation: X:236.94, Y:78.08, Z:9.37 [[ 7.94316064e-01 -6.06765697e-01 -2.99562971e-02 2.36939590e+02] [ 6.06338799e-01 7.94880734e-01 -2.27569554e-02 7.80787970e+01] [ 3.76198233e-02 -8.74499610e-05 9.99292120e-01 9.37384420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.448623853 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:236.99, Y:78.11, Z:9.38 [[ 7.92082519e-01 -6.09678667e-01 -2.99534023e-02 2.36986795e+02] [ 6.09253702e-01 7.92648645e-01 -2.27607649e-02 7.81132278e+01] [ 3.76192766e-02 -2.20817249e-04 9.99292120e-01 9.37582122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.508623853 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:78.15, Z:9.39 [[ 7.90431248e-01 -6.11818185e-01 -2.99491549e-02 2.37033415e+02] [ 6.11394540e-01 7.90998363e-01 -2.27663525e-02 7.81472815e+01] [ 3.76186009e-02 -3.15513354e-04 9.99292120e-01 9.38531151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56862385299996 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:78.18, Z:9.38 [[ 7.89890353e-01 -6.12516556e-01 -2.99449334e-02 2.37081717e+02] [ 6.12093203e-01 7.90457685e-01 -2.27719038e-02 7.81780181e+01] [ 3.76183708e-02 -3.41783053e-04 9.99292120e-01 9.37869400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62862385299997 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:237.13, Y:78.21, Z:9.38 [[ 7.91893065e-01 -6.09925357e-01 -2.99404932e-02 2.37128869e+02] [ 6.09499926e-01 7.92458841e-01 -2.27777402e-02 7.82108796e+01] [ 3.76193299e-02 -2.11193828e-04 9.99292120e-01 9.38342626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68862385299997 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:237.18, Y:78.25, Z:9.39 [[ 7.94333898e-01 -6.06743334e-01 -2.99363632e-02 2.37175205e+02] [ 6.06315432e-01 7.94897807e-01 -2.27831669e-02 7.82450851e+01] [ 3.76198841e-02 -5.34371696e-05 9.99292120e-01 9.38888263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74862385299997 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:237.22, Y:78.28, Z:9.39 [[ 7.99773109e-01 -5.99555704e-01 -2.99321334e-02 2.37220383e+02] [ 5.99122527e-01 8.00332976e-01 -2.27887226e-02 7.82808930e+01] [ 3.76187820e-02 2.92792174e-04 9.99292120e-01 9.39455528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.808623853 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:237.26, Y:78.32, Z:9.40 [[ 8.05411217e-01 -5.91960381e-01 -2.99278971e-02 2.37264678e+02] [ 5.91521718e-01 8.05966797e-01 -2.27942847e-02 7.83185661e+01] [ 3.76142048e-02 6.55771452e-04 9.99292120e-01 9.39540317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.868623853 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:78.36, Z:9.40 [[ 8.10545088e-01 -5.84911301e-01 -2.99237287e-02 2.37306808e+02] [ 5.84467607e-01 8.11096658e-01 -2.27997555e-02 7.83571887e+01] [ 3.76068710e-02 9.90779687e-04 9.99292120e-01 9.39665800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.928623853 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:78.40, Z:9.40 [[ 8.13456459e-01 -5.80855731e-01 -2.99200312e-02 2.37349520e+02] [ 5.80409109e-01 8.14005661e-01 -2.28046067e-02 7.83963015e+01] [ 3.76012613e-02 1.18469598e-03 9.99292120e-01 9.39792711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.988623853 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:237.39, Y:78.44, Z:9.40 [[ 8.13676110e-01 -5.80548200e-01 -2.99161310e-02 2.37391965e+02] [ 5.80101183e-01 8.14224990e-01 -2.28097220e-02 7.84367682e+01] [ 3.76006045e-02 1.20534290e-03 9.99292120e-01 9.40167750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.048623853 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:237.44, Y:78.47, Z:9.40 [[ 8.12517192e-01 -5.82169295e-01 -2.99119402e-02 2.37435735e+02] [ 5.81723171e-01 8.13066798e-01 -2.28152164e-02 7.84742614e+01] [ 3.76027239e-02 1.13728686e-03 9.99292120e-01 9.40200986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.108623853 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:78.51, Z:9.40 [[ 8.09359379e-01 -5.86551720e-01 -2.99077861e-02 2.37478707e+02] [ 5.86108371e-01 8.09911226e-01 -2.28206605e-02 7.85137700e+01] [ 3.76081494e-02 9.40911821e-04 9.99292120e-01 9.40417980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.168623853 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:78.55, Z:9.41 [[ 8.06353769e-01 -5.90677049e-01 -2.99035742e-02 2.37521956e+02] [ 5.90236320e-01 8.06907710e-01 -2.28261784e-02 7.85529233e+01] [ 3.76123243e-02 7.55799433e-04 9.99292120e-01 9.40592791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.228623853 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:237.57, Y:78.59, Z:9.41 [[ 8.04065617e-01 -5.93788277e-01 -2.98992600e-02 2.37565114e+02] [ 5.93349481e-01 8.04621092e-01 -2.28318280e-02 7.85918606e+01] [ 3.76148470e-02 6.17577479e-04 9.99292120e-01 9.40916159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.288623853 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:237.61, Y:78.63, Z:9.41 [[ 8.02034779e-01 -5.96528722e-01 -2.98947806e-02 2.37606463e+02] [ 5.96091606e-01 8.02591576e-01 -2.28376916e-02 7.86312900e+01] [ 3.76166380e-02 4.96595120e-04 9.99292120e-01 9.41078823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.348623853 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:78.67, Z:9.41 [[ 7.99988295e-01 -5.99270536e-01 -2.98923535e-02 2.37649006e+02] [ 5.98835210e-01 8.00546492e-01 -2.28408679e-02 7.86706454e+01] [ 3.76180779e-02 3.71833198e-04 9.99292120e-01 9.41403564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.408623853 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:78.71, Z:9.42 [[ 7.99120128e-01 -6.00427949e-01 -2.98881229e-02 2.37693083e+02] [ 5.99993224e-01 7.99678794e-01 -2.28464025e-02 7.87076982e+01] [ 3.76185167e-02 3.24348825e-04 9.99292120e-01 9.41560574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.468623853 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:237.74, Y:78.75, Z:9.42 [[ 7.98517019e-01 -6.01230007e-01 -2.98839284e-02 2.37736110e+02] [ 6.00795638e-01 7.99075961e-01 -2.28518878e-02 7.87475760e+01] [ 3.76187695e-02 2.93487457e-04 9.99292120e-01 9.41539350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.528623853 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:78.79, Z:9.42 [[ 7.98648806e-01 -6.01055142e-01 -2.98797766e-02 2.37777808e+02] [ 6.00620448e-01 7.99207496e-01 -2.28573151e-02 7.87876456e+01] [ 3.76186482e-02 3.08562614e-04 9.99292120e-01 9.41639095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.588623853 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:237.82, Y:78.83, Z:9.42 [[ 7.98733225e-01 -6.00943136e-01 -2.98761289e-02 2.37820369e+02] [ 6.00508185e-01 7.99291715e-01 -2.28620820e-02 7.88266577e+01] [ 3.76185535e-02 3.19844536e-04 9.99292121e-01 9.41910458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.648623853 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:78.87, Z:9.42 [[ 7.97619681e-01 -6.02420539e-01 -2.98720462e-02 2.37861455e+02] [ 6.01986423e-01 7.98178820e-01 -2.28674152e-02 7.88673359e+01] [ 3.76190352e-02 2.56934154e-04 9.99292121e-01 9.42368629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.708623853 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:237.90, Y:78.91, Z:9.43 [[ 7.94899086e-01 -6.06006039e-01 -2.98684445e-02 2.37904112e+02] [ 6.05574269e-01 7.95460038e-01 -2.28721187e-02 7.89070714e+01] [ 3.76197960e-02 9.34648247e-05 9.99292121e-01 9.42785409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.768623853 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:237.95, Y:78.95, Z:9.43 [[ 7.90782243e-01 -6.11368609e-01 -2.98641762e-02 2.37947343e+02] [ 6.10940431e-01 7.91345942e-01 -2.28776904e-02 7.89458102e+01] [ 3.76195964e-02 -1.53961381e-04 9.99292121e-01 9.42948365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.828623853 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:237.99, Y:78.98, Z:9.43 [[ 7.85792294e-01 -6.17769269e-01 -2.98596744e-02 2.37991260e+02] [ 6.17345460e-01 7.86359285e-01 -2.28835646e-02 7.89824284e+01] [ 3.76171952e-02 -4.52005737e-04 9.99292121e-01 9.42890664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.888623853 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:238.04, Y:79.02, Z:9.43 [[ 7.81092036e-01 -6.23701744e-01 -2.98557402e-02 2.38037205e+02] [ 6.23282045e-01 7.81662076e-01 -2.28886963e-02 7.90180662e+01] [ 3.76128197e-02 -7.30368423e-04 9.99292121e-01 9.42998668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.948623853 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:79.05, Z:9.43 [[ 7.77958873e-01 -6.27605681e-01 -2.98513120e-02 2.38084035e+02] [ 6.27188620e-01 7.78530846e-01 -2.28944701e-02 7.90523763e+01] [ 3.76088667e-02 -9.11446991e-04 9.99292121e-01 9.43159138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.008623853 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:79.09, Z:9.44 [[ 7.76925158e-01 -6.28885097e-01 -2.98468314e-02 2.38128960e+02] [ 6.28468753e-01 7.77497654e-01 -2.29003099e-02 7.90874123e+01] [ 3.76075050e-02 -9.65974023e-04 9.99292121e-01 9.43912834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06862385299996 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:79.12, Z:9.44 [[ 7.75851227e-01 -6.30209709e-01 -2.98428692e-02 2.38177481e+02] [ 6.29794144e-01 7.76424288e-01 -2.29054721e-02 7.91196209e+01] [ 3.76059794e-02 -1.02362558e-03 9.99292121e-01 9.43539483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12862385299997 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:238.22, Y:79.15, Z:9.45 [[ 7.75822082e-01 -6.30245799e-01 -2.98383838e-02 2.38224118e+02] [ 6.29830037e-01 7.76395000e-01 -2.29113137e-02 7.91515648e+01] [ 3.76061312e-02 -1.01800725e-03 9.99292121e-01 9.44550319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18862385299997 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:79.18, Z:9.44 [[ 7.76018933e-01 -6.30003591e-01 -2.98343870e-02 2.38273486e+02] [ 6.29587450e-01 7.76591576e-01 -2.29165170e-02 7.91832909e+01] [ 3.76066216e-02 -9.99704548e-04 9.99292121e-01 9.44064297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24862385299997 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:238.32, Y:79.21, Z:9.45 [[ 7.77506152e-01 -6.28167456e-01 -2.98300410e-02 2.38321878e+02] [ 6.27749746e-01 7.78077651e-01 -2.29221727e-02 7.92140749e+01] [ 3.76090511e-02 -9.03670337e-04 9.99292121e-01 9.45072205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.308623853 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:238.37, Y:79.24, Z:9.44 [[ 7.78996007e-01 -6.26319103e-01 -2.98262022e-02 2.38371371e+02] [ 6.25899845e-01 7.79566372e-01 -2.29271666e-02 7.92439721e+01] [ 3.76112267e-02 -8.08044082e-04 9.99292121e-01 9.44338767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.368623853 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:238.42, Y:79.27, Z:9.45 [[ 7.80717687e-01 -6.24171827e-01 -2.98232187e-02 2.38420117e+02] [ 6.23750852e-01 7.81286786e-01 -2.29310468e-02 7.92740437e+01] [ 3.76134001e-02 -6.99584301e-04 9.99292121e-01 9.44567336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.428623853 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:238.47, Y:79.31, Z:9.45 [[ 7.81140627e-01 -6.23642593e-01 -2.98200692e-02 2.38466055e+02] [ 6.23221077e-01 7.81709325e-01 -2.29351419e-02 7.93074449e+01] [ 3.76139575e-02 -6.68924533e-04 9.99292121e-01 9.44710514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.488623853 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:79.34, Z:9.45 [[ 7.83311307e-01 -6.20914121e-01 -2.98169517e-02 2.38515711e+02] [ 6.20490470e-01 7.83878416e-01 -2.29391940e-02 7.93372149e+01] [ 3.76161343e-02 -5.32604321e-04 9.99292121e-01 9.44920061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.548623853 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:238.56, Y:79.37, Z:9.45 [[ 7.85541409e-01 -6.18090526e-01 -2.98126837e-02 2.38562849e+02] [ 6.17664626e-01 7.86106831e-01 -2.29447396e-02 7.93692468e+01] [ 3.76178804e-02 -3.90197073e-04 9.99292121e-01 9.45118422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.608623853 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:238.61, Y:79.40, Z:9.45 [[ 7.87125337e-01 -6.16072379e-01 -2.98081830e-02 2.38612373e+02] [ 6.15644808e-01 7.87689496e-01 -2.29505851e-02 7.94003400e+01] [ 3.76188142e-02 -2.86266059e-04 9.99292121e-01 9.45411624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.668623853 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:238.66, Y:79.43, Z:9.45 [[ 7.87229047e-01 -6.15940060e-01 -2.98038623e-02 2.38660486e+02] [ 6.15512182e-01 7.87792973e-01 -2.29561946e-02 7.94318783e+01] [ 3.76189131e-02 -2.72857076e-04 9.99292121e-01 9.45477490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.728623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:238.71, Y:79.46, Z:9.46 [[ 7.86935983e-01 -6.16314659e-01 -2.97993346e-02 2.38708409e+02] [ 6.15886826e-01 7.87499943e-01 -2.29620704e-02 7.94647394e+01] [ 3.76188349e-02 -2.83338139e-04 9.99292121e-01 9.45774620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.788623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:79.50, Z:9.46 [[ 7.87120632e-01 -6.16079024e-01 -2.97950918e-02 2.38756594e+02] [ 6.15650813e-01 7.87684306e-01 -2.29675745e-02 7.94960548e+01] [ 3.76189671e-02 -2.65120711e-04 9.99292121e-01 9.45991673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.848623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:79.53, Z:9.46 [[ 7.87759407e-01 -6.15262250e-01 -2.97906189e-02 2.38805235e+02] [ 6.14833236e-01 7.88322470e-01 -2.29733748e-02 7.95284051e+01] [ 3.76192645e-02 -2.18770498e-04 9.99292121e-01 9.46197428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.908623853 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:79.56, Z:9.46 [[ 7.88453030e-01 -6.14373328e-01 -2.97864547e-02 2.38853651e+02] [ 6.13943475e-01 7.89015453e-01 -2.29787726e-02 7.95594199e+01] [ 3.76195180e-02 -1.69516654e-04 9.99292121e-01 9.46407812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.968623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:79.59, Z:9.47 [[ 7.88668116e-01 -6.14097411e-01 -2.97820859e-02 2.38902514e+02] [ 6.13667147e-01 7.89230225e-01 -2.29844335e-02 7.95918559e+01] [ 3.76196034e-02 -1.49197793e-04 9.99292121e-01 9.46529060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.028623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:79.63, Z:9.47 [[ 7.88696203e-01 -6.14061535e-01 -2.97780366e-02 2.38949630e+02] [ 6.13631048e-01 7.89258140e-01 -2.29896785e-02 7.96262162e+01] [ 3.76196350e-02 -1.40855688e-04 9.99292121e-01 9.46668147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.088623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:79.66, Z:9.47 [[ 7.89008536e-01 -6.13660361e-01 -2.97740055e-02 2.38998587e+02] [ 6.13229392e-01 7.89570103e-01 -2.29948980e-02 7.96578366e+01] [ 3.76197220e-02 -1.15124447e-04 9.99292121e-01 9.47176997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.148623853 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:79.69, Z:9.47 [[ 7.90448615e-01 -6.11804518e-01 -2.97694223e-02 2.39044705e+02] [ 6.11372006e-01 7.91008996e-01 -2.30008299e-02 7.96909620e+01] [ 3.76198925e-02 -1.92173144e-05 9.99292121e-01 9.47355425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.208623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.09, Y:79.72, Z:9.48 [[ 7.92064277e-01 -6.09711579e-01 -2.97652829e-02 2.39090407e+02] [ 6.09277386e-01 7.92623355e-01 -2.30061854e-02 7.97243431e+01] [ 3.76197960e-02 8.70638706e-05 9.99292121e-01 9.47669447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.268623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.14, Y:79.76, Z:9.48 [[ 7.93236345e-01 -6.08186156e-01 -2.97607219e-02 2.39136296e+02] [ 6.07750666e-01 7.93794414e-01 -2.30120840e-02 7.97577212e+01] [ 3.76195257e-02 1.66922826e-04 9.99292121e-01 9.47587930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.328623853 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:79.79, Z:9.49 [[ 7.93715265e-01 -6.07561225e-01 -2.97562776e-02 2.39181770e+02] [ 6.07125080e-01 7.94272822e-01 -2.30178293e-02 7.97934328e+01] [ 3.76193432e-02 2.03820037e-04 9.99292121e-01 9.48667117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.388623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:239.23, Y:79.83, Z:9.48 [[ 7.92930797e-01 -6.08584892e-01 -2.97519811e-02 2.39227502e+02] [ 6.08149259e-01 7.93488754e-01 -2.30233816e-02 7.98283052e+01] [ 3.76195446e-02 1.62303087e-04 9.99292121e-01 9.48106800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.27, Y:79.86, Z:9.49 [[ 7.92877804e-01 -6.08654125e-01 -2.97480045e-02 2.39272754e+02] [ 6.08218348e-01 7.93435649e-01 -2.30285185e-02 7.98643211e+01] [ 3.76195300e-02 1.65519021e-04 9.99292121e-01 9.48574708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.508623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:239.32, Y:79.90, Z:9.49 [[ 7.92799208e-01 -6.08756702e-01 -2.97438210e-02 2.39317203e+02] [ 6.08320794e-01 7.93356950e-01 -2.30339206e-02 7.98997441e+01] [ 3.76195207e-02 1.67489168e-04 9.99292121e-01 9.48963554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56862385299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:239.36, Y:79.94, Z:9.49 [[ 7.91792969e-01 -6.10065101e-01 -2.97399913e-02 2.39361873e+02] [ 6.09629929e-01 7.92351286e-01 -2.30388643e-02 7.99361317e+01] [ 3.76197274e-02 1.11622002e-04 9.99292121e-01 9.49230805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62862385299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:79.97, Z:9.49 [[ 7.90454993e-01 -6.11797915e-01 -2.97357506e-02 2.39407546e+02] [ 6.11363761e-01 7.91014102e-01 -2.30443364e-02 7.99720275e+01] [ 3.76198750e-02 3.61504213e-05 9.99292121e-01 9.49395640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68862385299997 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:80.01, Z:9.50 [[ 7.87940135e-01 -6.15033641e-01 -2.97315341e-02 2.39452878e+02] [ 6.14601578e-01 7.88500861e-01 -2.30497751e-02 8.00063603e+01] [ 3.76197274e-02 -1.11204897e-04 9.99292121e-01 9.49931117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74862385299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.50, Y:80.04, Z:9.50 [[ 7.84947102e-01 -6.18849206e-01 -2.97272217e-02 2.39501143e+02] [ 6.18419658e-01 7.85509757e-01 -2.30553354e-02 8.00397640e+01] [ 3.76187987e-02 -2.86679577e-04 9.99292121e-01 9.49517961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.808623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:239.55, Y:80.07, Z:9.50 [[ 7.82952037e-01 -6.21371584e-01 -2.97230821e-02 2.39547692e+02] [ 6.20943646e-01 7.83515918e-01 -2.30606710e-02 8.00742564e+01] [ 3.76177537e-02 -4.00959658e-04 9.99292121e-01 9.49902486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.868623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.59, Y:80.11, Z:9.50 [[ 7.81700417e-01 -6.22945616e-01 -2.97189656e-02 2.39593856e+02] [ 6.22518612e-01 7.82265005e-01 -2.30659749e-02 8.01084642e+01] [ 3.76169547e-02 -4.69927056e-04 9.99292121e-01 9.50218002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.928623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:80.14, Z:9.50 [[ 7.80424591e-01 -6.24543433e-01 -2.97146122e-02 2.39640817e+02] [ 6.24117371e-01 7.80989891e-01 -2.30715817e-02 8.01403580e+01] [ 3.76160166e-02 -5.39775944e-04 9.99292121e-01 9.50379985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.988623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:80.17, Z:9.51 [[ 7.80591720e-01 -6.24334674e-01 -2.97116281e-02 2.39688235e+02] [ 6.23908315e-01 7.81156795e-01 -2.30754241e-02 8.01726487e+01] [ 3.76162276e-02 -5.24846857e-04 9.99292121e-01 9.50580233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.048623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:80.21, Z:9.51 [[ 7.81600774e-01 -6.23071196e-01 -2.97071339e-02 2.39735668e+02] [ 6.22643704e-01 7.82164993e-01 -2.30812084e-02 8.02058505e+01] [ 3.76171163e-02 -4.56669500e-04 9.99292121e-01 9.50950136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.108623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:239.78, Y:80.24, Z:9.51 [[ 7.82216031e-01 -6.22298830e-01 -2.97026491e-02 2.39782579e+02] [ 6.21870561e-01 7.82779660e-01 -2.30869784e-02 8.02398760e+01] [ 3.76176292e-02 -4.12198448e-04 9.99292121e-01 9.51133401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.168623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:239.83, Y:80.27, Z:9.51 [[ 7.82922334e-01 -6.21410201e-01 -2.96981692e-02 2.39829831e+02] [ 6.20981074e-01 7.83485310e-01 -2.30927397e-02 8.02719722e+01] [ 3.76181433e-02 -3.62179310e-04 9.99292122e-01 9.51104480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.228623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:239.88, Y:80.30, Z:9.52 [[ 7.82865364e-01 -6.21482193e-01 -2.96935066e-02 2.39878326e+02] [ 6.21052891e-01 7.83428207e-01 -2.30987335e-02 8.03041970e+01] [ 3.76181822e-02 -3.58039719e-04 9.99292122e-01 9.51808331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.288623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:80.34, Z:9.52 [[ 7.82761239e-01 -6.21613539e-01 -2.96892445e-02 2.39924373e+02] [ 6.21184123e-01 7.83323995e-01 -2.31042103e-02 8.03382829e+01] [ 3.76181875e-02 -3.57407027e-04 9.99292122e-01 9.52104541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.348623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:239.97, Y:80.37, Z:9.52 [[ 7.83735008e-01 -6.20385578e-01 -2.96845392e-02 2.39973192e+02] [ 6.19955051e-01 7.84296915e-01 -2.31102541e-02 8.03698156e+01] [ 3.76187609e-02 -2.90764831e-04 9.99292122e-01 9.52292990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.408623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:240.02, Y:80.40, Z:9.52 [[ 7.86757290e-01 -6.16548501e-01 -2.96801696e-02 2.40020417e+02] [ 6.16115022e-01 7.87316922e-01 -2.31158647e-02 8.04032563e+01] [ 3.76197515e-02 -9.98233118e-05 9.99292122e-01 9.52285347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.468623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:240.07, Y:80.44, Z:9.52 [[ 7.90365295e-01 -6.11916698e-01 -2.96758412e-02 2.40066551e+02] [ 6.11479731e-01 7.90922208e-01 -2.31214201e-02 8.04375889e+01] [ 3.76196648e-02 1.28192660e-04 9.99292122e-01 9.52481964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.528623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:240.11, Y:80.47, Z:9.53 [[ 7.92698152e-01 -6.08891812e-01 -2.96715607e-02 2.40112832e+02] [ 6.08452514e-01 7.93253228e-01 -2.31269119e-02 8.04716861e+01] [ 3.76188486e-02 2.78924657e-04 9.99292122e-01 9.52639661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.588623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:80.51, Z:9.53 [[ 7.95225939e-01 -6.05586896e-01 -2.96684600e-02 2.40158678e+02] [ 6.05145143e-01 7.95779063e-01 -2.31308889e-02 8.05069953e+01] [ 3.76173025e-02 4.40558371e-04 9.99292122e-01 9.53185610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.648623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:240.20, Y:80.54, Z:9.54 [[ 7.96302672e-01 -6.04170583e-01 -2.96641256e-02 2.40203839e+02] [ 6.03727640e-01 7.96854843e-01 -2.31364463e-02 8.05411805e+01] [ 3.76163624e-02 5.14561490e-04 9.99292122e-01 9.53511352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.708623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:240.25, Y:80.58, Z:9.54 [[ 7.96292635e-01 -6.04183960e-01 -2.96611247e-02 2.40248590e+02] [ 6.03740882e-01 7.96844699e-01 -2.31402927e-02 8.05762784e+01] [ 3.76163037e-02 5.18811040e-04 9.99292122e-01 9.53644371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.768623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:80.61, Z:9.54 [[ 7.95953338e-01 -6.04631102e-01 -2.96566009e-02 2.40293557e+02] [ 6.04188119e-01 7.96505477e-01 -2.31460891e-02 8.06124144e+01] [ 3.76164904e-02 5.05040953e-04 9.99292122e-01 9.54110524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.828623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:80.65, Z:9.54 [[ 7.95405794e-01 -6.05351442e-01 -2.96522356e-02 2.40338123e+02] [ 6.04908750e-01 7.95958167e-01 -2.31516801e-02 8.06492314e+01] [ 3.76168420e-02 4.78083685e-04 9.99292122e-01 9.54403811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.888623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:80.69, Z:9.54 [[ 7.94797225e-01 -6.06150459e-01 -2.96477999e-02 2.40382437e+02] [ 6.05708112e-01 7.95349873e-01 -2.31573589e-02 8.06865509e+01] [ 3.76172176e-02 4.47491710e-04 9.99292122e-01 9.54380165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.948623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:240.43, Y:80.72, Z:9.55 [[ 7.93214764e-01 -6.08220031e-01 -2.96434034e-02 2.40427852e+02] [ 6.07778915e-01 7.93768396e-01 -2.31629855e-02 8.07225919e+01] [ 3.76181885e-02 3.56586579e-04 9.99292122e-01 9.54522424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.008623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:240.47, Y:80.76, Z:9.55 [[ 7.91504571e-01 -6.10444134e-01 -2.96390427e-02 2.40472541e+02] [ 6.10004365e-01 7.92059273e-01 -2.31685640e-02 8.07582767e+01] [ 3.76189926e-02 2.58078857e-04 9.99292122e-01 9.54731452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06862385299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:240.52, Y:80.79, Z:9.55 [[ 7.90677581e-01 -6.11515104e-01 -2.96351214e-02 2.40517351e+02] [ 6.11075898e-01 7.91232729e-01 -2.31735787e-02 8.07944572e+01] [ 3.76192714e-02 2.13520762e-04 9.99292122e-01 9.54961285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12862385299997 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:240.56, Y:80.83, Z:9.55 [[ 7.89454452e-01 -6.13093534e-01 -2.96308409e-02 2.40562986e+02] [ 6.12655232e-01 7.90010315e-01 -2.31790507e-02 8.08291620e+01] [ 3.76195960e-02 1.45315090e-04 9.99292122e-01 9.55109712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18862385299997 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:240.61, Y:80.87, Z:9.55 [[ 7.89252923e-01 -6.13353164e-01 -2.96263332e-02 2.40608717e+02] [ 6.12914830e-01 7.89808759e-01 -2.31848108e-02 8.08650402e+01] [ 3.76196145e-02 1.40260757e-04 9.99292122e-01 9.55187007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24862385299997 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:240.65, Y:80.90, Z:9.55 [[ 7.89691553e-01 -6.12788527e-01 -2.96221416e-02 2.40653962e+02] [ 6.12349594e-01 7.90246918e-01 -2.31901649e-02 8.09014862e+01] [ 3.76194731e-02 1.73970944e-04 9.99292122e-01 9.55334649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.308623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:80.94, Z:9.56 [[ 7.90949135e-01 -6.11164661e-01 -2.96179671e-02 2.40698498e+02] [ 6.10724388e-01 7.91503437e-01 -2.31954953e-02 8.09364280e+01] [ 3.76189898e-02 2.58042117e-04 9.99292122e-01 9.55626968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.368623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:80.97, Z:9.56 [[ 7.92605229e-01 -6.09015590e-01 -2.96135608e-02 2.40744083e+02] [ 6.08573604e-01 7.93158166e-01 -2.32011194e-02 8.09727983e+01] [ 3.76180810e-02 3.67297127e-04 9.99292122e-01 9.56214980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.428623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:240.79, Y:81.01, Z:9.57 [[ 7.93996669e-01 -6.07200613e-01 -2.96092156e-02 2.40788328e+02] [ 6.06757156e-01 7.94548428e-01 -2.32066635e-02 8.10096687e+01] [ 3.76170560e-02 4.60410078e-04 9.99292122e-01 9.56539305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.488623853 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:240.83, Y:81.05, Z:9.58 [[ 7.94197086e-01 -6.06938587e-01 -2.96064174e-02 2.40833610e+02] [ 6.06494815e-01 7.94748592e-01 -2.32102328e-02 8.10456570e+01] [ 3.76168444e-02 4.77360574e-04 9.99292122e-01 9.57704169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.548623853 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:240.88, Y:81.08, Z:9.58 [[ 7.94667209e-01 -6.06323133e-01 -2.96021229e-02 2.40878748e+02] [ 6.05878730e-01 7.95218206e-01 -2.32157086e-02 8.10823913e+01] [ 3.76163683e-02 5.13465716e-04 9.99292122e-01 9.57760531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.608623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:240.92, Y:81.12, Z:9.57 [[ 7.96368872e-01 -6.04086574e-01 -2.95978205e-02 2.40922482e+02] [ 6.03640421e-01 7.96918452e-01 -2.32211925e-02 8.11191013e+01] [ 3.76146599e-02 6.26193996e-04 9.99292122e-01 9.57165323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.668623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:240.96, Y:81.16, Z:9.58 [[ 7.97832426e-01 -6.02152520e-01 -2.95933045e-02 2.40964947e+02] [ 6.01704821e-01 7.98380747e-01 -2.32269463e-02 8.11585925e+01] [ 3.76128888e-02 7.24776928e-04 9.99292122e-01 9.57555974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.728623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.01, Y:81.20, Z:9.58 [[ 7.97731053e-01 -6.02287030e-01 -2.95888681e-02 2.41008724e+02] [ 6.01839214e-01 7.98279279e-01 -2.32325965e-02 8.11965812e+01] [ 3.76128718e-02 7.25622578e-04 9.99292122e-01 9.57762249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.788623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:81.23, Z:9.58 [[ 7.95992551e-01 -6.04583012e-01 -2.95844804e-02 2.41053034e+02] [ 6.04136570e-01 7.96541896e-01 -2.32381825e-02 8.12347674e+01] [ 3.76146884e-02 6.24353685e-04 9.99292122e-01 9.58113326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.848623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:81.27, Z:9.58 [[ 7.93896021e-01 -6.07333623e-01 -2.95800344e-02 2.41096415e+02] [ 6.06888873e-01 7.94446738e-01 -2.32438404e-02 8.12722210e+01] [ 3.76165276e-02 5.01398677e-04 9.99292122e-01 9.58213942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.908623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:241.14, Y:81.31, Z:9.58 [[ 7.92976822e-01 -6.08533498e-01 -2.95760400e-02 2.41139509e+02] [ 6.08089392e-01 7.93528058e-01 -2.32489219e-02 8.13113062e+01] [ 3.76171653e-02 4.50980044e-04 9.99292122e-01 9.58371794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.968623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:241.18, Y:81.35, Z:9.59 [[ 7.92154455e-01 -6.09603828e-01 -2.95718229e-02 2.41181282e+02] [ 6.09160267e-01 7.92706129e-01 -2.32542846e-02 8.13505931e+01] [ 3.76176662e-02 4.07005596e-04 9.99292122e-01 9.58702971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.028623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:241.23, Y:81.39, Z:9.59 [[ 7.91086281e-01 -6.10989580e-01 -2.95673797e-02 2.41225075e+02] [ 6.10546774e-01 7.91638562e-01 -2.32599327e-02 8.13887531e+01] [ 3.76182544e-02 3.48345399e-04 9.99292122e-01 9.59149049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.088623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:241.27, Y:81.43, Z:9.59 [[ 7.89297445e-01 -6.13298933e-01 -2.95628411e-02 2.41267366e+02] [ 6.12857528e-01 7.89850845e-01 -2.32656998e-02 8.14276728e+01] [ 3.76190639e-02 2.45747717e-04 9.99292122e-01 9.59460369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.148623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:241.31, Y:81.47, Z:9.60 [[ 7.86396849e-01 -6.17013999e-01 -2.95587619e-02 2.41311067e+02] [ 6.16575013e-01 7.86952171e-01 -2.32708812e-02 8.14662215e+01] [ 3.76197913e-02 7.49536479e-05 9.99292122e-01 9.59654832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.208623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:241.36, Y:81.50, Z:9.60 [[ 7.85096199e-01 -6.18668331e-01 -2.95542855e-02 2.41355228e+02] [ 6.18230301e-01 7.85652275e-01 -2.32765648e-02 8.15015602e+01] [ 3.76198651e-02 2.98773820e-06 9.99292122e-01 9.59818838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.268623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:241.40, Y:81.54, Z:9.60 [[ 7.81247184e-01 -6.23521948e-01 -2.95502686e-02 2.41401356e+02] [ 6.23087180e-01 7.81805814e-01 -2.32816633e-02 8.15374807e+01] [ 3.76191998e-02 -2.23659632e-04 9.99292122e-01 9.59820515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.328623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:81.57, Z:9.60 [[ 7.78388516e-01 -6.27087203e-01 -2.95458770e-02 2.41446781e+02] [ 6.26654782e-01 7.78948964e-01 -2.32872352e-02 8.15741608e+01] [ 3.76178575e-02 -3.88548642e-04 9.99292122e-01 9.60034204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.388623853 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:241.49, Y:81.61, Z:9.60 [[ 7.77999111e-01 -6.27570462e-01 -2.95414818e-02 2.41491754e+02] [ 6.27138177e-01 7.78559665e-01 -2.32928095e-02 8.16111152e+01] [ 3.76176854e-02 -4.04805984e-04 9.99292122e-01 9.60270226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.448623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:241.54, Y:81.65, Z:9.61 [[ 7.78776214e-01 -6.26606079e-01 -2.95369267e-02 2.41536249e+02] [ 6.26172882e-01 7.79336062e-01 -2.32985842e-02 8.16470566e+01] [ 3.76182267e-02 -3.50839342e-04 9.99292122e-01 9.60508985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.508623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:81.68, Z:9.61 [[ 7.80405047e-01 -6.24576509e-01 -2.95321400e-02 2.41581390e+02] [ 6.24141626e-01 7.80963587e-01 -2.33046501e-02 8.16835432e+01] [ 3.76190630e-02 -2.45171339e-04 9.99292122e-01 9.60827279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56862385299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:81.72, Z:9.61 [[ 7.81741485e-01 -6.22903175e-01 -2.95276887e-02 2.41624482e+02] [ 6.22466883e-01 7.82298926e-01 -2.33102887e-02 8.17204522e+01] [ 3.76195319e-02 -1.57388654e-04 9.99292122e-01 9.60908036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62862385299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:241.67, Y:81.76, Z:9.61 [[ 7.82724051e-01 -6.21668280e-01 -2.95230351e-02 2.41669252e+02] [ 6.21230886e-01 7.83280628e-01 -2.33161811e-02 8.17571642e+01] [ 3.76197516e-02 -9.04855371e-05 9.99292123e-01 9.61102035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68862385299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:81.79, Z:9.61 [[ 7.85318316e-01 -6.18388058e-01 -2.95186853e-02 2.41712955e+02] [ 6.17948133e-01 7.85872893e-01 -2.33216866e-02 8.17936617e+01] [ 3.76197871e-02 7.39311372e-05 9.99292123e-01 9.61277829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74862385299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.76, Y:81.83, Z:9.62 [[ 7.88676491e-01 -6.14099593e-01 -2.95141107e-02 2.41755871e+02] [ 6.13656436e-01 7.89228489e-01 -2.33274744e-02 8.18335760e+01] [ 3.76187696e-02 2.86306690e-04 9.99292123e-01 9.61523156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.808623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:241.80, Y:81.87, Z:9.62 [[ 7.90398983e-01 -6.11881210e-01 -2.95098764e-02 2.41799084e+02] [ 6.11436303e-01 7.90949572e-01 -2.33328297e-02 8.18712410e+01] [ 3.76177442e-02 3.98835094e-04 9.99292123e-01 9.62431558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:241.84, Y:81.91, Z:9.62 [[ 7.91845955e-01 -6.10007704e-01 -2.95056733e-02 2.41841595e+02] [ 6.09561297e-01 7.92395328e-01 -2.33381436e-02 8.19105847e+01] [ 3.76166051e-02 4.94698142e-04 9.99292123e-01 9.61916436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.928623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:81.95, Z:9.62 [[ 7.92731854e-01 -6.08856192e-01 -2.95016096e-02 2.41884062e+02] [ 6.08408796e-01 7.93280422e-01 -2.33432794e-02 8.19487721e+01] [ 3.76157495e-02 5.55922402e-04 9.99292123e-01 9.62050859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.988623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:81.99, Z:9.62 [[ 7.93371885e-01 -6.08022157e-01 -2.94976152e-02 2.41925957e+02] [ 6.07573997e-01 7.93919829e-01 -2.33483258e-02 8.19893422e+01] [ 3.76150410e-02 6.01921324e-04 9.99292123e-01 9.62424566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.048623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:82.03, Z:9.63 [[ 7.92493461e-01 -6.09166863e-01 -2.94931647e-02 2.41968740e+02] [ 6.08719285e-01 7.93041881e-01 -2.33539461e-02 8.20290434e+01] [ 3.76157650e-02 5.54791432e-04 9.99292123e-01 9.62540026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.108623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.01, Y:82.07, Z:9.63 [[ 7.90033143e-01 -6.12354512e-01 -2.94887254e-02 2.42010853e+02] [ 6.11908938e-01 7.90583192e-01 -2.33595503e-02 8.20695231e+01] [ 3.76176167e-02 4.10404330e-04 9.99292123e-01 9.62623718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.168623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:242.05, Y:82.11, Z:9.63 [[ 7.86792688e-01 -6.16512728e-01 -2.94842728e-02 2.42053531e+02] [ 6.16069851e-01 7.87344910e-01 -2.33651689e-02 8.21087602e+01] [ 3.76192162e-02 2.19172503e-04 9.99292123e-01 9.63136980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.228623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:242.10, Y:82.15, Z:9.63 [[ 7.83963873e-01 -6.20106112e-01 -2.94797493e-02 2.42096483e+02] [ 6.19665551e-01 7.84517946e-01 -2.33708749e-02 8.21467870e+01] [ 3.76198147e-02 5.43365224e-05 9.99292123e-01 9.63082813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.288623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:242.14, Y:82.18, Z:9.63 [[ 7.79409017e-01 -6.25821626e-01 -2.94767265e-02 2.42140533e+02] [ 6.25384984e-01 7.79966183e-01 -2.33746868e-02 8.21836979e+01] [ 3.76192343e-02 -2.15860509e-04 9.99292123e-01 9.63348631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.348623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:82.22, Z:9.64 [[ 7.74713613e-01 -6.31624985e-01 -2.94736571e-02 2.42185306e+02] [ 6.31192369e-01 7.75273911e-01 -2.33785564e-02 8.22211105e+01] [ 3.76166378e-02 -4.91861562e-04 9.99292123e-01 9.63657300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.408623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:82.26, Z:9.64 [[ 7.71836919e-01 -6.35137259e-01 -2.94691877e-02 2.42230702e+02] [ 6.34706978e-01 7.72399011e-01 -2.33841889e-02 8.22566629e+01] [ 3.76141411e-02 -6.55518761e-04 9.99292123e-01 9.63831990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.468623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:82.29, Z:9.64 [[ 7.68982367e-01 -6.38590596e-01 -2.94647186e-02 2.42276410e+02] [ 6.38162623e-01 7.69546219e-01 -2.33898187e-02 8.22899980e+01] [ 3.76109811e-02 -8.16923978e-04 9.99292123e-01 9.63964596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.528623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:242.32, Y:82.32, Z:9.64 [[ 7.68072363e-01 -6.39685042e-01 -2.94600045e-02 2.42322175e+02] [ 6.39257645e-01 7.68636652e-01 -2.33957548e-02 8.23236919e+01] [ 3.76099536e-02 -8.62900408e-04 9.99292123e-01 9.64172237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.588623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.37, Y:82.36, Z:9.64 [[ 7.69488348e-01 -6.37981241e-01 -2.94553745e-02 2.42368311e+02] [ 6.37552371e-01 7.70051518e-01 -2.34015824e-02 8.23584308e+01] [ 3.76119264e-02 -7.72098864e-04 9.99292123e-01 9.64067080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.648623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:82.39, Z:9.65 [[ 7.71417034e-01 -6.35648011e-01 -2.94510781e-02 2.42414106e+02] [ 6.35217231e-01 7.71978745e-01 -2.34069883e-02 8.23934669e+01] [ 3.76142118e-02 -6.51282797e-04 9.99292123e-01 9.64690698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.708623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:242.46, Y:82.43, Z:9.65 [[ 7.75387863e-01 -6.30798342e-01 -2.94468089e-02 2.42460305e+02] [ 6.30363844e-01 7.75946703e-01 -2.34123578e-02 8.24276192e+01] [ 3.76176308e-02 -4.08545573e-04 9.99292123e-01 9.64553257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.768623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:82.46, Z:9.65 [[ 7.78155709e-01 -6.27380939e-01 -2.94423062e-02 2.42506159e+02] [ 6.26943773e-01 7.78712464e-01 -2.34180188e-02 8.24633187e+01] [ 3.76191095e-02 -2.35805505e-04 9.99292123e-01 9.64906392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.828623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:82.50, Z:9.65 [[ 7.81207793e-01 -6.23576605e-01 -2.94381217e-02 2.42550307e+02] [ 6.23136529e-01 7.81762250e-01 -2.34232779e-02 8.24989477e+01] [ 3.76198204e-02 -4.55217756e-05 9.99292123e-01 9.65080481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.888623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:242.60, Y:82.53, Z:9.65 [[ 7.82688692e-01 -6.21717033e-01 -2.94337128e-02 2.42597393e+02] [ 6.21275431e-01 7.83241935e-01 -2.34288168e-02 8.25330358e+01] [ 3.76198126e-02 5.10272948e-05 9.99292123e-01 9.65176513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.948623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:82.57, Z:9.65 [[ 7.83379610e-01 -6.20846426e-01 -2.94296019e-02 2.42642164e+02] [ 6.20404016e-01 7.83932207e-01 -2.34339794e-02 8.25674672e+01] [ 3.76197152e-02 9.94584480e-05 9.99292123e-01 9.65443290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.008623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.69, Y:82.60, Z:9.66 [[ 7.85718563e-01 -6.17883884e-01 -2.94252651e-02 2.42687445e+02] [ 6.17439186e-01 7.86269321e-01 -2.34394238e-02 8.26031586e+01] [ 3.76190254e-02 2.48478689e-04 9.99292123e-01 9.65926462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06862385299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:82.64, Z:9.66 [[ 7.87748937e-01 -6.15293448e-01 -2.94208358e-02 2.42732775e+02] [ 6.14846732e-01 7.88298059e-01 -2.34449821e-02 8.26381777e+01] [ 3.76179316e-02 3.79454995e-04 9.99292123e-01 9.65754660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.78, Y:82.67, Z:9.66 [[ 7.87846153e-01 -6.15169151e-01 -2.94169313e-02 2.42778262e+02] [ 6.14722165e-01 7.88395055e-01 -2.34498801e-02 8.26733451e+01] [ 3.76178060e-02 3.91658039e-04 9.99292123e-01 9.65973130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18862385299997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:242.82, Y:82.71, Z:9.67 [[ 7.87403486e-01 -6.15735843e-01 -2.94129650e-02 2.42823945e+02] [ 6.15289066e-01 7.87952559e-01 -2.34548540e-02 8.27076907e+01] [ 3.76180153e-02 3.70958038e-04 9.99292123e-01 9.67367135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24862385299997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:82.74, Z:9.68 [[ 7.86732896e-01 -6.16592635e-01 -2.94087122e-02 2.42870028e+02] [ 6.16146258e-01 7.87282293e-01 -2.34601850e-02 8.27430571e+01] [ 3.76183357e-02 3.36831332e-04 9.99292123e-01 9.67869758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.308623853 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:82.78, Z:9.67 [[ 7.86514520e-01 -6.16871374e-01 -2.94043677e-02 2.42916510e+02] [ 6.16424988e-01 7.87063910e-01 -2.34656291e-02 8.27778514e+01] [ 3.76183915e-02 3.30471040e-04 9.99292123e-01 9.67011459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.368623853 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:242.96, Y:82.81, Z:9.68 [[ 7.87313690e-01 -6.15851276e-01 -2.93999965e-02 2.42962340e+02] [ 6.15403974e-01 7.87862333e-01 -2.34711045e-02 8.28140010e+01] [ 3.76178595e-02 3.86247185e-04 9.99292123e-01 9.67761203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.428623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:243.01, Y:82.85, Z:9.67 [[ 7.88345135e-01 -6.14530584e-01 -2.93957485e-02 2.43007339e+02] [ 6.14082164e-01 7.88892865e-01 -2.34764236e-02 8.28519518e+01] [ 3.76170766e-02 4.56119520e-04 9.99292123e-01 9.66947634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.488623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:82.89, Z:9.67 [[ 7.88680532e-01 -6.14100288e-01 -2.93914016e-02 2.43050916e+02] [ 6.13651366e-01 7.89227852e-01 -2.34818644e-02 8.28884139e+01] [ 3.76167325e-02 4.83615588e-04 9.99292123e-01 9.67208917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:82.93, Z:9.68 [[ 7.88322180e-01 -6.14560457e-01 -2.93868350e-02 2.43096115e+02] [ 6.14111642e-01 7.88869587e-01 -2.34875780e-02 8.29252284e+01] [ 3.76169171e-02 4.68981160e-04 9.99292123e-01 9.67689426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.608623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:82.96, Z:9.68 [[ 7.87533651e-01 -6.15570805e-01 -2.93825096e-02 2.43140540e+02] [ 6.15122491e-01 7.88081469e-01 -2.34929877e-02 8.29609543e+01] [ 3.76174087e-02 4.27675936e-04 9.99292123e-01 9.67887104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.668623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.18, Y:83.00, Z:9.68 [[ 7.85917149e-01 -6.17633498e-01 -2.93785112e-02 2.43184613e+02] [ 6.17186434e-01 7.86465988e-01 -2.34979868e-02 8.29984087e+01] [ 3.76183436e-02 3.35452256e-04 9.99292123e-01 9.68184056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.728623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:83.04, Z:9.68 [[ 7.84304578e-01 -6.19680154e-01 -2.93740588e-02 2.43229215e+02] [ 6.19234314e-01 7.84854412e-01 -2.35035513e-02 8.30350950e+01] [ 3.76190439e-02 2.44517744e-04 9.99292123e-01 9.68218737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.788623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:243.27, Y:83.07, Z:9.68 [[ 7.83465322e-01 -6.20741100e-01 -2.93696326e-02 2.43274624e+02] [ 6.20295798e-01 7.84015591e-01 -2.35090809e-02 8.30712597e+01] [ 3.76193026e-02 2.00689920e-04 9.99292123e-01 9.68394856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.848623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:83.11, Z:9.69 [[ 7.83089675e-01 -6.21215140e-01 -2.93651393e-02 2.43318811e+02] [ 6.20769960e-01 7.83640042e-01 -2.35146921e-02 8.31069477e+01] [ 3.76193817e-02 1.85116229e-04 9.99292123e-01 9.68736949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.908623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:243.36, Y:83.14, Z:9.69 [[ 7.82718889e-01 -6.21682449e-01 -2.93610996e-02 2.43363745e+02] [ 6.21237408e-01 7.83269369e-01 -2.35197351e-02 8.31437361e+01] [ 3.76194565e-02 1.69127533e-04 9.99292123e-01 9.69044674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.968623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:243.41, Y:83.18, Z:9.69 [[ 7.82816239e-01 -6.21560079e-01 -2.93564821e-02 2.43406707e+02] [ 6.21114737e-01 7.83366475e-01 -2.35254971e-02 8.31811759e+01] [ 3.76193937e-02 1.82397455e-04 9.99292123e-01 9.68974371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.028623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:243.45, Y:83.22, Z:9.69 [[ 7.83411793e-01 -6.20809469e-01 -2.93524213e-02 2.43450607e+02] [ 6.20363410e-01 7.83961448e-01 -2.35305627e-02 8.32193887e+01] [ 3.76191628e-02 2.24952149e-04 9.99292123e-01 9.69185368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.088623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:243.49, Y:83.26, Z:9.70 [[ 7.85089563e-01 -6.18686565e-01 -2.93481241e-02 2.43493195e+02] [ 6.18238819e-01 7.85637845e-01 -2.35359210e-02 8.32579060e+01] [ 3.76183551e-02 3.33656398e-04 9.99292123e-01 9.69517295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.148623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.53, Y:83.30, Z:9.70 [[ 7.87128901e-01 -6.16090129e-01 -2.93435984e-02 2.43534718e+02] [ 6.15640364e-01 7.87675528e-01 -2.35415621e-02 8.32992641e+01] [ 3.76169584e-02 4.65140349e-04 9.99292123e-01 9.69857177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:243.58, Y:83.34, Z:9.70 [[ 7.87982384e-01 -6.14998353e-01 -2.93392045e-02 2.43577241e+02] [ 6.14547627e-01 7.88528218e-01 -2.35470368e-02 8.33388357e+01] [ 3.76161795e-02 5.24311658e-04 9.99292124e-01 9.70088214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.268623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:243.62, Y:83.38, Z:9.70 [[ 7.88552113e-01 -6.14267885e-01 -2.93348082e-02 2.43617012e+02] [ 6.13816450e-01 7.89097361e-01 -2.35525124e-02 8.33796111e+01] [ 3.76155717e-02 5.66195583e-04 9.99292124e-01 9.70178122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.328623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:243.66, Y:83.42, Z:9.71 [[ 7.88452157e-01 -6.14396366e-01 -2.93308929e-02 2.43659481e+02] [ 6.13944839e-01 7.88997328e-01 -2.35573873e-02 8.34197252e+01] [ 3.76155693e-02 5.66322560e-04 9.99292124e-01 9.70539520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.388623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:83.46, Z:9.71 [[ 7.88300980e-01 -6.14590536e-01 -2.93264016e-02 2.43700115e+02] [ 6.14138935e-01 7.88846091e-01 -2.35629772e-02 8.34602985e+01] [ 3.76156000e-02 5.64233052e-04 9.99292124e-01 9.70756728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.448623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:83.50, Z:9.71 [[ 7.87352911e-01 -6.15804833e-01 -2.93223721e-02 2.43740356e+02] [ 6.15353886e-01 7.87898562e-01 -2.35679906e-02 8.35025838e+01] [ 3.76163373e-02 5.12690363e-04 9.99292124e-01 9.70991634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.508623853 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:83.55, Z:9.72 [[ 7.85384916e-01 -6.18313011e-01 -2.93181598e-02 2.43780040e+02] [ 6.17863611e-01 7.85931842e-01 -2.35732294e-02 8.35452271e+01] [ 3.76177098e-02 3.99434670e-04 9.99292124e-01 9.72084791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56862385299996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:83.58, Z:9.72 [[ 7.83862503e-01 -6.20242114e-01 -2.93137458e-02 2.43822554e+02] [ 6.19793855e-01 7.84410365e-01 -2.35787170e-02 8.35844371e+01] [ 3.76185193e-02 3.13992646e-04 9.99292124e-01 9.71585829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.86, Y:83.63, Z:9.72 [[ 7.81845866e-01 -6.22782450e-01 -2.93097651e-02 2.43862086e+02] [ 6.22335786e-01 7.82395029e-01 -2.35836642e-02 8.36280192e+01] [ 3.76193067e-02 1.98274614e-04 9.99292124e-01 9.71542466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68862385299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:83.67, Z:9.72 [[ 7.80413326e-01 -6.24576843e-01 -2.93054353e-02 2.43899964e+02] [ 6.24131239e-01 7.80963349e-01 -2.35890433e-02 8.36714090e+01] [ 3.76196411e-02 1.18766065e-04 9.99292124e-01 9.71720381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74862385299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:83.72, Z:9.72 [[ 7.78148113e-01 -6.27396981e-01 -2.93008797e-02 2.43938731e+02] [ 6.26953158e-01 7.78699575e-01 -2.35947006e-02 8.37157885e+01] [ 3.76198265e-02 -1.01073219e-05 9.99292124e-01 9.72043008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.808623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:83.76, Z:9.72 [[ 7.75313179e-01 -6.30897133e-01 -2.92964548e-02 2.43980055e+02] [ 6.30455591e-01 7.75866469e-01 -2.36001935e-02 8.37563016e+01] [ 3.76194314e-02 -1.72572675e-04 9.99292124e-01 9.72248520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.868623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:83.80, Z:9.73 [[ 7.69505179e-01 -6.37968470e-01 -2.92918239e-02 2.44020408e+02] [ 6.37531794e-01 7.70062317e-01 -2.36059398e-02 8.37961434e+01] [ 3.76163751e-02 -5.09576127e-04 9.99292124e-01 9.73092849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.928623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:83.83, Z:9.73 [[ 7.63178473e-01 -6.45523701e-01 -2.92877128e-02 2.44064275e+02] [ 6.45092343e-01 7.63739738e-01 -2.36110394e-02 8.38346487e+01] [ 3.76096756e-02 -8.73842321e-04 9.99292124e-01 9.72535428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.988623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:83.87, Z:9.73 [[ 7.59603649e-01 -6.49726707e-01 -2.92831616e-02 2.44107415e+02] [ 6.49298236e-01 7.60167122e-01 -2.36166826e-02 8.38715753e+01] [ 3.76044860e-02 -1.07418687e-03 9.99292124e-01 9.72590200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.048623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:83.91, Z:9.73 [[ 7.57133624e-01 -6.52603561e-01 -2.92791484e-02 2.44152211e+02] [ 6.52177039e-01 7.57698573e-01 -2.36216569e-02 8.39088434e+01] [ 3.76003464e-02 -1.21043764e-03 9.99292124e-01 9.72767681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.108623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:83.94, Z:9.73 [[ 7.55979462e-01 -6.53940399e-01 -2.92746855e-02 2.44197312e+02] [ 6.53514662e-01 7.56545004e-01 -2.36271866e-02 8.39445743e+01] [ 3.75983889e-02 -1.26976832e-03 9.99292124e-01 9.72981771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.24, Y:83.98, Z:9.73 [[ 7.56897322e-01 -6.52878011e-01 -2.92702232e-02 2.44241447e+02] [ 6.52451267e-01 7.57462104e-01 -2.36327133e-02 8.39810842e+01] [ 3.76003637e-02 -1.20985684e-03 9.99292124e-01 9.73216000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.228623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:84.02, Z:9.74 [[ 7.59975904e-01 -6.49291965e-01 -2.92671977e-02 2.44285277e+02] [ 6.48862411e-01 7.60538552e-01 -2.36364596e-02 8.40178567e+01] [ 3.76057955e-02 -1.02724470e-03 9.99292124e-01 9.74180023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.288623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:84.05, Z:9.74 [[ 7.63371459e-01 -6.45296603e-01 -2.92627854e-02 2.44330628e+02] [ 6.44863894e-01 7.63931684e-01 -2.36419209e-02 8.40547991e+01] [ 3.76108202e-02 -8.22946131e-04 9.99292124e-01 9.73808716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.348623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:84.09, Z:9.74 [[ 7.65644745e-01 -6.42597920e-01 -2.92581248e-02 2.44374048e+02] [ 6.42163016e-01 7.66203268e-01 -2.36476873e-02 8.40917639e+01] [ 3.76136255e-02 -6.82758194e-04 9.99292124e-01 9.74011886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.408623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:84.13, Z:9.74 [[ 7.69714467e-01 -6.37717685e-01 -2.92539367e-02 2.44416689e+02] [ 6.37279043e-01 7.70270058e-01 -2.36528671e-02 8.41304895e+01] [ 3.76172832e-02 -4.36966832e-04 9.99292124e-01 9.74030978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.468623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:84.17, Z:9.74 [[ 7.72092423e-01 -6.34836804e-01 -2.92493108e-02 2.44460910e+02] [ 6.34395872e-01 7.72646199e-01 -2.36585861e-02 8.41684579e+01] [ 3.76187100e-02 -2.89026944e-04 9.99292124e-01 9.74413737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.528623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:84.21, Z:9.75 [[ 7.74575533e-01 -6.31804949e-01 -2.92446626e-02 2.44503176e+02] [ 6.31361633e-01 7.75127401e-01 -2.36643305e-02 8.42067908e+01] [ 3.76195804e-02 -1.34146487e-04 9.99292124e-01 9.74634477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.588623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:84.25, Z:9.75 [[ 7.75274837e-01 -6.30946798e-01 -2.92415054e-02 2.44545199e+02] [ 6.30502723e-01 7.75826096e-01 -2.36682310e-02 8.42450502e+01] [ 3.76197176e-02 -8.74648579e-05 9.99292124e-01 9.74911282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.648623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:84.28, Z:9.75 [[ 7.73694082e-01 -6.32884377e-01 -2.92375157e-02 2.44589908e+02] [ 6.32441497e-01 7.74246301e-01 -2.36731586e-02 8.42820082e+01] [ 3.76194106e-02 -1.75235472e-04 9.99292124e-01 9.75049808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.63, Y:84.32, Z:9.75 [[ 7.71880141e-01 -6.35095645e-01 -2.92330408e-02 2.44634768e+02] [ 6.34654137e-01 7.72433457e-01 -2.36786832e-02 8.43194484e+01] [ 3.76188073e-02 -2.75764951e-04 9.99292124e-01 9.75289950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.768623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.68, Y:84.36, Z:9.76 [[ 7.69221145e-01 -6.38313810e-01 -2.92285849e-02 2.44678468e+02] [ 6.37874408e-01 7.69776135e-01 -2.36841822e-02 8.43560183e+01] [ 3.76174077e-02 -4.25792567e-04 9.99292124e-01 9.75573010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.828623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:84.39, Z:9.76 [[ 7.67580169e-01 -6.40286303e-01 -2.92255746e-02 2.44723659e+02] [ 6.39848186e-01 7.68136174e-01 -2.36878962e-02 8.43930026e+01] [ 3.76162566e-02 -5.17571596e-04 9.99292124e-01 9.75897518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.888623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:244.77, Y:84.43, Z:9.76 [[ 7.66628075e-01 -6.41426158e-01 -2.92212170e-02 2.44769031e+02] [ 6.40988662e-01 7.67184569e-01 -2.36932706e-02 8.44289554e+01] [ 3.76155502e-02 -5.66542392e-04 9.99292124e-01 9.75939976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.948623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:244.81, Y:84.47, Z:9.76 [[ 7.66968284e-01 -6.41019518e-01 -2.92169284e-02 2.44813671e+02] [ 6.40581527e-01 7.67524388e-01 -2.36985577e-02 8.44656257e+01] [ 3.76159431e-02 -5.39782505e-04 9.99292124e-01 9.75903100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00862385299996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:244.86, Y:84.50, Z:9.76 [[ 7.67493640e-01 -6.40390610e-01 -2.92126691e-02 2.44858816e+02] [ 6.39951963e-01 7.68049227e-01 -2.37038069e-02 8.45022809e+01] [ 3.76164633e-02 -5.02183897e-04 9.99292124e-01 9.75997826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06862385299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:244.90, Y:84.54, Z:9.76 [[ 7.67939743e-01 -6.39855782e-01 -2.92083794e-02 2.44904045e+02] [ 6.39416547e-01 7.68494865e-01 -2.37090916e-02 8.45390781e+01] [ 3.76168889e-02 -4.69167414e-04 9.99292124e-01 9.76408623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12862385299997 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:84.57, Z:9.78 [[ 7.68598007e-01 -6.39065134e-01 -2.92037473e-02 2.44948324e+02] [ 6.38625111e-01 7.69152505e-01 -2.37147959e-02 8.45748448e+01] [ 3.76174346e-02 -4.23101531e-04 9.99292124e-01 9.77590731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:84.61, Z:9.77 [[ 7.70015687e-01 -6.37356435e-01 -2.91995957e-02 2.44993562e+02] [ 6.36914988e-01 7.70569052e-01 -2.37199065e-02 8.46095623e+01] [ 3.76183398e-02 -3.32960032e-04 9.99292124e-01 9.77153163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.04, Y:84.65, Z:9.77 [[ 7.71247272e-01 -6.35865763e-01 -2.91954828e-02 2.45038390e+02] [ 6.35423055e-01 7.71799629e-01 -2.37249677e-02 8.46463745e+01] [ 3.76189575e-02 -2.53666268e-04 9.99292124e-01 9.77378004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.308623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:245.08, Y:84.68, Z:9.78 [[ 7.73683184e-01 -6.32899846e-01 -2.91910205e-02 2.45082444e+02] [ 6.32454814e-01 7.74233669e-01 -2.37304569e-02 8.46847607e+01] [ 3.76196734e-02 -1.02145949e-04 9.99292124e-01 9.77624068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.368623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:84.72, Z:9.78 [[ 7.76299075e-01 -6.29688724e-01 -2.91865993e-02 2.45125987e+02] [ 6.29241210e-01 7.76847544e-01 -2.37358934e-02 8.47238098e+01] [ 3.76197624e-02 6.07410691e-05 9.99292124e-01 9.77888145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.428623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.17, Y:84.76, Z:9.78 [[ 7.78125436e-01 -6.27430643e-01 -2.91820944e-02 2.45168482e+02] [ 6.26981330e-01 7.78672432e-01 -2.37414306e-02 8.47625100e+01] [ 3.76193935e-02 1.77182698e-04 9.99292124e-01 9.77988088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.488623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:84.80, Z:9.78 [[ 7.79139167e-01 -6.26171541e-01 -2.91780657e-02 2.45210066e+02] [ 6.25721158e-01 7.79685283e-01 -2.37463809e-02 8.48010277e+01] [ 3.76190163e-02 2.44402335e-04 9.99292124e-01 9.77962170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.548623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:84.84, Z:9.78 [[ 7.79401259e-01 -6.25845498e-01 -2.91734683e-02 2.45252213e+02] [ 6.25394675e-01 7.79947012e-01 -2.37520276e-02 8.48404377e+01] [ 3.76188590e-02 2.67428526e-04 9.99292124e-01 9.78176599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.608623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:245.29, Y:84.88, Z:9.78 [[ 7.78644604e-01 -6.26786835e-01 -2.91692205e-02 2.45293482e+02] [ 6.26336477e-01 7.79190741e-01 -2.37572431e-02 8.48814640e+01] [ 3.76191137e-02 2.28702341e-04 9.99292124e-01 9.78481233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.668623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:84.92, Z:9.79 [[ 7.77051363e-01 -6.28761163e-01 -2.91646880e-02 2.45336974e+02] [ 6.28311984e-01 7.77598470e-01 -2.37628059e-02 8.49198696e+01] [ 3.76195463e-02 1.40397707e-04 9.99292124e-01 9.78735618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.728623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:245.38, Y:84.96, Z:9.79 [[ 7.72813054e-01 -6.33963466e-01 -2.91600446e-02 2.45379291e+02] [ 6.33517754e-01 7.73362989e-01 -2.37685026e-02 8.49585560e+01] [ 3.76196616e-02 -1.04796935e-04 9.99292124e-01 9.78800378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:84.99, Z:9.79 [[ 7.67166459e-01 -6.40785066e-01 -2.91568948e-02 2.45423056e+02] [ 6.40344097e-01 7.67720204e-01 -2.37723658e-02 8.49949794e+01] [ 3.76173143e-02 -4.33083797e-04 9.99292125e-01 9.79065037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.848623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:85.03, Z:9.79 [[ 7.63902402e-01 -6.44672922e-01 -2.91537912e-02 2.45467505e+02] [ 6.44234626e-01 7.64458266e-01 -2.37761714e-02 8.50301733e+01] [ 3.76147106e-02 -6.19207361e-04 9.99292125e-01 9.79213641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.908623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:245.51, Y:85.07, Z:9.80 [[ 7.61164966e-01 -6.47902914e-01 -2.91497695e-02 2.45512938e+02] [ 6.47466788e-01 7.61722534e-01 -2.37811011e-02 8.50653497e+01] [ 3.76118809e-02 -7.72166642e-04 9.99292125e-01 9.79574776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.968623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:245.56, Y:85.10, Z:9.80 [[ 7.58234165e-01 -6.51330561e-01 -2.91453381e-02 2.45559483e+02] [ 6.50896747e-01 7.58793533e-01 -2.37865308e-02 8.50999384e+01] [ 3.76081885e-02 -9.34845488e-04 9.99292125e-01 9.79673787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.028623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:245.61, Y:85.13, Z:9.80 [[ 7.57170207e-01 -6.52567300e-01 -2.91409571e-02 2.45606733e+02] [ 6.52134193e-01 7.57730123e-01 -2.37918968e-02 8.51336101e+01] [ 3.76067949e-02 -9.89299153e-04 9.99292125e-01 9.79939606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.088623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:85.17, Z:9.80 [[ 7.57480665e-01 -6.52207112e-01 -2.91363370e-02 2.45652155e+02] [ 6.51773521e-01 7.58040206e-01 -2.37975533e-02 8.51681272e+01] [ 3.76074484e-02 -9.64106465e-04 9.99292125e-01 9.79880045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.148623853 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:85.20, Z:9.81 [[ 7.59393442e-01 -6.49979160e-01 -2.91323169e-02 2.45698159e+02] [ 6.49543739e-01 7.59951560e-01 -2.38024736e-02 8.52024488e+01] [ 3.76102615e-02 -8.47271707e-04 9.99292125e-01 9.81113880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.208623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:85.24, Z:9.81 [[ 7.63948046e-01 -6.44620010e-01 -2.91277615e-02 2.45745006e+02] [ 6.44180460e-01 7.64502918e-01 -2.38080468e-02 8.52367524e+01] [ 3.76154021e-02 -5.75423975e-04 9.99292125e-01 9.80733611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.268623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:245.79, Y:85.27, Z:9.81 [[ 7.67470608e-01 -6.40422171e-01 -2.91257287e-02 2.45789879e+02] [ 6.39979492e-01 7.68022987e-01 -2.38105335e-02 8.52727684e+01] [ 3.76180227e-02 -3.65984415e-04 9.99292125e-01 9.80972339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.328623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:85.31, Z:9.81 [[ 7.72196672e-01 -6.34715886e-01 -2.91212074e-02 2.45833864e+02] [ 6.34268915e-01 7.72745584e-01 -2.38160619e-02 8.53091490e+01] [ 3.76197173e-02 -7.99929150e-05 9.99292125e-01 9.81352683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.388623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:85.35, Z:9.81 [[ 7.76248861e-01 -6.29753793e-01 -2.91181361e-02 2.45879044e+02] [ 6.29303174e-01 7.76794781e-01 -2.38198164e-02 8.53454700e+01] [ 3.76194359e-02 1.65969928e-04 9.99292125e-01 9.80952615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.448623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:85.38, Z:9.81 [[ 7.78402131e-01 -6.27090502e-01 -2.91139919e-02 2.45922965e+02] [ 6.26637825e-01 7.78946347e-01 -2.38248806e-02 8.53833699e+01] [ 3.76185940e-02 3.01409228e-04 9.99292125e-01 9.81468812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50862385299996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:245.97, Y:85.42, Z:9.82 [[ 7.78341448e-01 -6.27166039e-01 -2.91092898e-02 2.45966787e+02] [ 6.26713200e-01 7.78885529e-01 -2.38306243e-02 8.54202863e+01] [ 3.76185628e-02 3.05186486e-04 9.99292125e-01 9.81731990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56862385299996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:85.46, Z:9.82 [[ 7.77832885e-01 -6.27796860e-01 -2.91050688e-02 2.46009645e+02] [ 6.27344269e-01 7.78377173e-01 -2.38357783e-02 8.54576945e+01] [ 3.76187480e-02 2.81354077e-04 9.99292125e-01 9.81875077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62862385299997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:246.05, Y:85.50, Z:9.82 [[ 7.76680580e-01 -6.29222068e-01 -2.91009554e-02 2.46051827e+02] [ 6.28770288e-01 7.77225541e-01 -2.38407993e-02 8.54968448e+01] [ 3.76191629e-02 2.18869757e-04 9.99292125e-01 9.82225789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68862385299997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:85.54, Z:9.83 [[ 7.74937031e-01 -6.31368352e-01 -2.90964306e-02 2.46094428e+02] [ 6.30917874e-01 7.75483068e-01 -2.38463203e-02 8.55352828e+01] [ 3.76196012e-02 1.21938469e-04 9.99292125e-01 9.83366880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74862385299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:85.57, Z:9.83 [[ 7.73512557e-01 -6.33112936e-01 -2.90918155e-02 2.46138800e+02] [ 6.32663478e-01 7.74059435e-01 -2.38519492e-02 8.55733106e+01] [ 3.76197719e-02 4.44530668e-05 9.99292125e-01 9.82827196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.808623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:85.61, Z:9.83 [[ 7.70374448e-01 -6.36927898e-01 -2.90871528e-02 2.46180861e+02] [ 6.36480934e-01 7.70923365e-01 -2.38576341e-02 8.56121981e+01] [ 3.76195584e-02 -1.34106467e-04 9.99292125e-01 9.83109540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.868623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:85.65, Z:9.83 [[ 7.66817965e-01 -6.41205417e-01 -2.90829981e-02 2.46226334e+02] [ 6.40761323e-01 7.67369207e-01 -2.38626976e-02 8.56481609e+01] [ 3.76182882e-02 -3.36915108e-04 9.99292125e-01 9.83181152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.928623853 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:246.27, Y:85.69, Z:9.83 [[ 7.65092332e-01 -6.43263686e-01 -2.90784248e-02 2.46269259e+02] [ 6.42820862e-01 7.65644595e-01 -2.38682693e-02 8.56857742e+01] [ 3.76173296e-02 -4.30788252e-04 9.99292125e-01 9.83392391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.988623853 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:246.31, Y:85.72, Z:9.84 [[ 7.65145043e-01 -6.43201170e-01 -2.90743565e-02 2.46312513e+02] [ 6.42758113e-01 7.65697118e-01 -2.38732239e-02 8.57245762e+01] [ 3.76174365e-02 -4.21299547e-04 9.99292125e-01 9.83537593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.048623853 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:246.36, Y:85.76, Z:9.84 [[ 7.66051020e-01 -6.42122093e-01 -2.90697860e-02 2.46355516e+02] [ 6.41678047e-01 7.66602300e-01 -2.38787879e-02 8.57619039e+01] [ 3.76180621e-02 -3.61073674e-04 9.99292125e-01 9.83624699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.108623853 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:246.40, Y:85.80, Z:9.84 [[ 7.66669325e-01 -6.41383918e-01 -2.90657233e-02 2.46398342e+02] [ 6.40939154e-01 7.67220026e-01 -2.38837322e-02 8.58007234e+01] [ 3.76184467e-02 -3.18435240e-04 9.99292125e-01 9.83954219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.168623853 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:246.44, Y:85.84, Z:9.84 [[ 7.66442408e-01 -6.41655267e-01 -2.90612037e-02 2.46441207e+02] [ 6.41210489e-01 7.66993098e-01 -2.38892302e-02 8.58395164e+01] [ 3.76183931e-02 -3.24629549e-04 9.99292125e-01 9.84283371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.228623853 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:246.49, Y:85.88, Z:9.84 [[ 7.64957364e-01 -6.43425161e-01 -2.90567243e-02 2.46485870e+02] [ 6.42981451e-01 7.65508915e-01 -2.38946773e-02 8.58770900e+01] [ 3.76176181e-02 -4.04525411e-04 9.99292125e-01 9.84427641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.288623853 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:246.53, Y:85.91, Z:9.85 [[ 7.63500736e-01 -6.45153161e-01 -2.90521100e-02 2.46529612e+02] [ 6.44710485e-01 7.64053117e-01 -2.39002863e-02 8.59137748e+01] [ 3.76167004e-02 -4.82313727e-04 9.99292125e-01 9.84622124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.348623853 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:85.95, Z:9.85 [[ 7.61190239e-01 -6.47877793e-01 -2.90479789e-02 2.46574285e+02] [ 6.47436903e-01 7.61744047e-01 -2.39053060e-02 8.59497831e+01] [ 3.76148419e-02 -6.10247886e-04 9.99292125e-01 9.85087518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.408623853 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:246.62, Y:85.99, Z:9.85 [[ 7.59559424e-01 -6.49789174e-01 -2.90432431e-02 2.46618310e+02] [ 6.49349458e-01 7.60114164e-01 -2.39110584e-02 8.59856557e+01] [ 3.76133273e-02 -6.97344397e-04 9.99292125e-01 9.85298139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.468623853 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:246.66, Y:86.02, Z:9.85 [[ 7.58775316e-01 -6.50704813e-01 -2.90390373e-02 2.46664264e+02] [ 6.50265571e-01 7.59330431e-01 -2.39161650e-02 8.60217430e+01] [ 3.76125884e-02 -7.36090536e-04 9.99292125e-01 9.85494437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.528623853 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:246.71, Y:86.06, Z:9.86 [[ 7.58605739e-01 -6.50902709e-01 -2.90343857e-02 2.46708952e+02] [ 6.50463396e-01 7.59160798e-01 -2.39218108e-02 8.60581258e+01] [ 3.76125389e-02 -7.38582092e-04 9.99292125e-01 9.85723352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.588623853 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:86.09, Z:9.86 [[ 7.58594896e-01 -6.50915551e-01 -2.90297865e-02 2.46753993e+02] [ 6.50476034e-01 7.59149794e-01 -2.39273908e-02 8.60924032e+01] [ 3.76126672e-02 -7.31983824e-04 9.99292125e-01 9.85724365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.648623853 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:246.80, Y:86.13, Z:9.86 [[ 7.58654252e-01 -6.50846552e-01 -2.90256928e-02 2.46800382e+02] [ 6.50406795e-01 7.59208959e-01 -2.39323557e-02 8.61275802e+01] [ 3.76128572e-02 -7.22124360e-04 9.99292125e-01 9.85826101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.708623853 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:246.85, Y:86.16, Z:9.86 [[ 7.59102587e-01 -6.50323791e-01 -2.90211965e-02 2.46847898e+02] [ 6.49883443e-01 7.59656825e-01 -2.39378068e-02 8.61596835e+01] [ 3.76134753e-02 -6.89144052e-04 9.99292125e-01 9.86028504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.768623853 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:246.89, Y:86.19, Z:9.86 [[ 7.61406824e-01 -6.47624623e-01 -2.90171524e-02 2.46894223e+02] [ 6.47182124e-01 7.61959346e-01 -2.39427080e-02 8.61945085e+01] [ 3.76157777e-02 -5.49241026e-04 9.99292125e-01 9.86321731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.828623853 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:246.94, Y:86.23, Z:9.87 [[ 7.64160815e-01 -6.44372959e-01 -2.90127206e-02 2.46939473e+02] [ 6.43927904e-01 7.64711281e-01 -2.39480770e-02 8.62297358e+01] [ 3.76178480e-02 -3.81918306e-04 9.99292125e-01 9.86664051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.888623853 meters Centerline goodness : 0.998515 with order 1 Centerline is valid? [True, True] Translation: X:246.98, Y:86.27, Z:9.87 [[ 7.67398305e-01 -6.40514150e-01 -2.90080389e-02 2.46983865e+02] [ 6.40066112e-01 7.67946346e-01 -2.39537466e-02 8.62650775e+01] [ 3.76193311e-02 -1.84998125e-04 9.99292125e-01 9.86894037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.948623853 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:247.03, Y:86.30, Z:9.87 [[ 7.71854468e-01 -6.35137373e-01 -2.90034129e-02 2.47028769e+02] [ 6.34685307e-01 7.72399191e-01 -2.39593465e-02 8.63024445e+01] [ 3.76196891e-02 8.50886221e-05 9.99292125e-01 9.87094141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00862385299996 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:86.34, Z:9.87 [[ 7.74774975e-01 -6.31571702e-01 -2.89986725e-02 2.47071431e+02] [ 6.31116915e-01 7.75317428e-01 -2.39650826e-02 8.63400567e+01] [ 3.76188442e-02 2.65993564e-04 9.99292125e-01 9.87310916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06862385299996 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:247.11, Y:86.38, Z:9.88 [[ 7.78833130e-01 -6.26560674e-01 -2.89944223e-02 2.47114692e+02] [ 6.26102206e-01 7.79372476e-01 -2.39702237e-02 8.63785982e+01] [ 3.76162542e-02 5.15332595e-04 9.99292125e-01 9.87511985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12862385299997 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:247.16, Y:86.42, Z:9.88 [[ 7.81099801e-01 -6.23732873e-01 -2.89897348e-02 2.47156220e+02] [ 6.23272242e-01 7.81637300e-01 -2.39758914e-02 8.64185029e+01] [ 3.76140097e-02 6.59067023e-04 9.99292125e-01 9.87645872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18862385299997 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:86.46, Z:9.88 [[ 7.80900132e-01 -6.23983029e-01 -2.89855782e-02 2.47196766e+02] [ 6.23522384e-01 7.81437619e-01 -2.39809154e-02 8.64585966e+01] [ 3.76141055e-02 6.53543208e-04 9.99292125e-01 9.87826974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24862385299997 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:247.24, Y:86.50, Z:9.88 [[ 7.79891486e-01 -6.25243424e-01 -2.89815437e-02 2.47239850e+02] [ 6.24783467e-01 7.80429562e-01 -2.39857903e-02 8.64977283e+01] [ 3.76150111e-02 5.99124325e-04 9.99292125e-01 9.87979052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.308623853 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:247.28, Y:86.54, Z:9.88 [[ 7.77358147e-01 -6.28390513e-01 -2.89771484e-02 2.47280274e+02] [ 6.27932536e-01 7.77897909e-01 -2.39910990e-02 8.65389837e+01] [ 3.76170422e-02 4.53981954e-04 9.99292125e-01 9.88206706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.368623853 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:247.32, Y:86.58, Z:9.89 [[ 7.73343427e-01 -6.33324981e-01 -2.89726086e-02 2.47322183e+02] [ 6.32870244e-01 7.73885921e-01 -2.39965802e-02 8.65795198e+01] [ 3.76191276e-02 2.21695756e-04 9.99292125e-01 9.88616568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.428623853 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:86.62, Z:9.89 [[ 7.68028259e-01 -6.39760458e-01 -2.89680911e-02 2.47365709e+02] [ 6.39310060e-01 7.68574362e-01 -2.40020324e-02 8.66175801e+01] [ 3.76196834e-02 -8.53528972e-05 9.99292126e-01 9.88689640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.488623853 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:247.41, Y:86.66, Z:9.89 [[ 7.63956833e-01 -6.44617001e-01 -2.89633982e-02 2.47408530e+02] [ 6.44169861e-01 7.64505606e-01 -2.40076940e-02 8.66570386e+01] [ 3.76184480e-02 -3.16506264e-04 9.99292126e-01 9.89442087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.548623853 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:247.45, Y:86.69, Z:9.89 [[ 7.58756148e-01 -6.50730744e-01 -2.89587200e-02 2.47453686e+02] [ 6.50287809e-01 7.59308320e-01 -2.40133356e-02 8.66943514e+01] [ 3.76148128e-02 -6.11236566e-04 9.99292126e-01 9.88947500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.608623853 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:247.50, Y:86.73, Z:9.89 [[ 7.56123618e-01 -6.53787990e-01 -2.89540854e-02 2.47497532e+02] [ 6.53347073e-01 7.56677404e-01 -2.40189225e-02 8.67307886e+01] [ 3.76121852e-02 -7.55792441e-04 9.99292126e-01 9.88934653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.668623853 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:247.54, Y:86.77, Z:9.89 [[ 7.55507081e-01 -6.54500531e-01 -2.89500453e-02 2.47541521e+02] [ 6.54059950e-01 7.56061134e-01 -2.40237911e-02 8.67675364e+01] [ 3.76115881e-02 -7.84920851e-04 9.99292126e-01 9.89036114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.728623853 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:247.59, Y:86.80, Z:9.89 [[ 7.55482645e-01 -6.54528915e-01 -2.89460140e-02 2.47585794e+02] [ 6.54088169e-01 7.56036567e-01 -2.40286474e-02 8.68049365e+01] [ 3.76116896e-02 -7.80019203e-04 9.99292126e-01 9.89219331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.788623853 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:247.63, Y:86.84, Z:9.90 [[ 7.57027829e-01 -6.52741335e-01 -2.89416084e-02 2.47630416e+02] [ 6.52299078e-01 7.57580545e-01 -2.40339525e-02 8.68413199e+01] [ 3.76135537e-02 -6.84213612e-04 9.99292126e-01 9.89733865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.848623853 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:247.67, Y:86.88, Z:9.90 [[ 7.59612371e-01 -6.49732005e-01 -2.89373098e-02 2.47674890e+02] [ 6.49287362e-01 7.60163168e-01 -2.40391271e-02 8.68779934e+01] [ 3.76160673e-02 -5.28211164e-04 9.99292126e-01 9.90179192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.908623853 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:86.91, Z:9.91 [[ 7.63128380e-01 -6.45598933e-01 -2.89325662e-02 2.47718713e+02] [ 6.45151089e-01 7.63676579e-01 -2.40448350e-02 8.69138672e+01] [ 3.76184429e-02 -3.16580606e-04 9.99292126e-01 9.90512538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.968623853 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:247.76, Y:86.95, Z:9.91 [[ 7.66910737e-01 -6.41101454e-01 -2.89283174e-02 2.47761971e+02] [ 6.40650203e-01 7.67456134e-01 -2.40499456e-02 8.69530747e+01] [ 3.76196697e-02 -8.87708851e-05 9.99292126e-01 9.90983745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.028623853 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:247.81, Y:86.99, Z:9.91 [[ 7.68902601e-01 -6.38711364e-01 -2.89237571e-02 2.47806058e+02] [ 6.38258211e-01 7.69446419e-01 -2.40554288e-02 8.69907791e+01] [ 3.76197571e-02 3.54563548e-05 9.99292126e-01 9.91194414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.088623853 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:247.85, Y:87.03, Z:9.91 [[ 7.72040682e-01 -6.34914848e-01 -2.89192099e-02 2.47848990e+02] [ 6.34458817e-01 7.72582089e-01 -2.40608941e-02 8.70302253e+01] [ 3.76190825e-02 2.27941436e-04 9.99292126e-01 9.91348352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.148623853 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:87.07, Z:9.92 [[ 7.74614654e-01 -6.31772183e-01 -2.89144612e-02 2.47890739e+02] [ 6.31313742e-01 7.75154022e-01 -2.40665994e-02 8.70706263e+01] [ 3.76177689e-02 3.88243873e-04 9.99292126e-01 9.91672540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.208623853 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:247.93, Y:87.11, Z:9.92 [[ 7.74965628e-01 -6.31341826e-01 -2.89097497e-02 2.47932381e+02] [ 6.30882874e-01 7.75504562e-01 -2.40722578e-02 8.71093633e+01] [ 3.76174659e-02 4.16506406e-04 9.99292126e-01 9.91735209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.268623853 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:247.98, Y:87.15, Z:9.92 [[ 7.73670269e-01 -6.32928690e-01 -2.89065543e-02 2.47975042e+02] [ 6.32470700e-01 7.74210020e-01 -2.40760942e-02 8.71480931e+01] [ 3.76181947e-02 3.44409670e-04 9.99292126e-01 9.91873749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.328623853 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:248.02, Y:87.19, Z:9.92 [[ 7.69724445e-01 -6.37721696e-01 -2.89018397e-02 2.48016743e+02] [ 6.37266856e-01 7.70266852e-01 -2.40817524e-02 8.71874534e+01] [ 3.76195851e-02 1.18129023e-04 9.99292126e-01 9.92151093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.388623853 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:248.06, Y:87.23, Z:9.92 [[ 7.64689131e-01 -6.43751040e-01 -2.88986431e-02 2.48060052e+02] [ 6.43300331e-01 7.65234976e-01 -2.40855879e-02 8.72264767e+01] [ 3.76193747e-02 -1.72519409e-04 9.99292126e-01 9.92448327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.448623853 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:248.10, Y:87.26, Z:9.94 [[ 7.60953214e-01 -6.48163054e-01 -2.88939746e-02 2.48102811e+02] [ 6.47715296e-01 7.61501484e-01 -2.40911870e-02 8.72644796e+01] [ 3.76178219e-02 -3.82803155e-04 9.99292126e-01 9.93578719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50862385299996 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:87.30, Z:9.93 [[ 7.56179622e-01 -6.53726079e-01 -2.88893277e-02 2.48149548e+02] [ 6.53282142e-01 7.56730989e-01 -2.40967581e-02 8.73000772e+01] [ 3.76141287e-02 -6.51404459e-04 9.99292126e-01 9.92972338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56862385299996 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:248.19, Y:87.34, Z:9.93 [[ 7.52434868e-01 -6.58033010e-01 -2.88847329e-02 2.48193825e+02] [ 6.57592017e-01 7.52988592e-01 -2.41022647e-02 8.73367624e+01] [ 3.76099601e-02 -8.58985369e-04 9.99292126e-01 9.93210019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62862385299997 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:248.24, Y:87.37, Z:9.93 [[ 7.50762792e-01 -6.59940275e-01 -2.88801396e-02 2.48238696e+02] [ 6.59500478e-01 7.51317467e-01 -2.41077673e-02 8.73719792e+01] [ 3.76078399e-02 -9.47251130e-04 9.99292126e-01 9.93362209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68862385299997 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:248.28, Y:87.41, Z:9.94 [[ 7.50354555e-01 -6.60404584e-01 -2.88760510e-02 2.48283852e+02] [ 6.59964941e-01 7.50909352e-01 -2.41126635e-02 8.74078813e+01] [ 3.76074103e-02 -9.64134426e-04 9.99292126e-01 9.93569654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74862385299997 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:248.33, Y:87.44, Z:9.94 [[ 7.50273624e-01 -6.60496720e-01 -2.88716280e-02 2.48328687e+02] [ 6.60056942e-01 7.50828314e-01 -2.41179584e-02 8.74441800e+01] [ 3.76074682e-02 -9.61850443e-04 9.99292126e-01 9.93752716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.808623853 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:248.38, Y:87.48, Z:9.94 [[ 7.50355520e-01 -6.60403874e-01 -2.88672222e-02 2.48376430e+02] [ 6.59963825e-01 7.50909995e-01 -2.41232306e-02 8.74770350e+01] [ 3.76077606e-02 -9.50323159e-04 9.99292126e-01 9.93800338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.868623853 meters Centerline goodness : 0.998271 with order 1 Centerline is valid? [True, True] Translation: X:248.42, Y:87.51, Z:9.95 [[ 7.51517265e-01 -6.59081738e-01 -2.88628276e-02 2.48422031e+02] [ 6.58640511e-01 7.52070803e-01 -2.41284874e-02 8.75116138e+01] [ 3.76095354e-02 -8.77252653e-04 9.99292126e-01 9.94778757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.928623853 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:248.47, Y:87.55, Z:9.95 [[ 7.54143538e-01 -6.56075233e-01 -2.88585029e-02 2.48469470e+02] [ 6.55631601e-01 7.54695151e-01 -2.41336589e-02 8.75452140e+01] [ 3.76128680e-02 -7.20303513e-04 9.99292126e-01 9.95009158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.988623853 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:248.52, Y:87.58, Z:9.94 [[ 7.58230815e-01 -6.51347441e-01 -2.88538184e-02 2.48518070e+02] [ 6.50900156e-01 7.58779469e-01 -2.41392583e-02 8.75767395e+01] [ 3.76167291e-02 -4.77825419e-04 9.99292126e-01 9.94112902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.048623853 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:248.56, Y:87.61, Z:9.95 [[ 7.63477189e-01 -6.45190067e-01 -2.88506328e-02 2.48563090e+02] [ 6.44738213e-01 7.64022087e-01 -2.41430650e-02 8.76129774e+01] [ 3.76193864e-02 -1.68426015e-04 9.99292126e-01 9.94741924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.108623853 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:248.61, Y:87.65, Z:9.95 [[ 7.67168799e-01 -6.40796338e-01 -2.88459255e-02 2.48606773e+02] [ 6.40341152e-01 7.67710916e-01 -2.41486879e-02 8.76495788e+01] [ 3.76197227e-02 5.48867550e-05 9.99292126e-01 9.95022163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.168623853 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:248.65, Y:87.69, Z:9.95 [[ 7.72489488e-01 -6.34372248e-01 -2.88416607e-02 2.48650162e+02] [ 6.33912364e-01 7.73027625e-01 -2.41537804e-02 8.76861082e+01] [ 3.76178885e-02 3.75456143e-04 9.99292126e-01 9.95225617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.228623853 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:248.69, Y:87.73, Z:9.95 [[ 7.76690780e-01 -6.29221605e-01 -2.88375402e-02 2.48693297e+02] [ 6.28757970e-01 7.77225689e-01 -2.41586990e-02 8.77253414e+01] [ 3.76144524e-02 6.32005482e-04 9.99292126e-01 9.95486709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.288623853 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:248.74, Y:87.77, Z:9.96 [[ 7.79219167e-01 -6.26087977e-01 -2.88328905e-02 2.48735356e+02] [ 6.25621986e-01 7.79752025e-01 -2.41642471e-02 8.77655497e+01] [ 3.76114493e-02 7.90754315e-04 9.99292126e-01 9.95884710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.348623853 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:248.78, Y:87.81, Z:9.96 [[ 7.82972091e-01 -6.21388473e-01 -2.88282945e-02 2.48775357e+02] [ 6.20919083e-01 7.83501957e-01 -2.41697289e-02 8.78085892e+01] [ 3.76058161e-02 1.02418502e-03 9.99292126e-01 9.96130254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.408623853 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:248.82, Y:87.85, Z:9.96 [[ 7.83492455e-01 -6.20732452e-01 -2.88235333e-02 2.48816308e+02] [ 6.20262410e-01 7.84021743e-01 -2.41754056e-02 8.78488793e+01] [ 3.76047355e-02 1.06309366e-03 9.99292126e-01 9.96087948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.468623853 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:248.86, Y:87.89, Z:9.96 [[ 7.81813841e-01 -6.22845456e-01 -2.88210933e-02 2.48855287e+02] [ 6.22376738e-01 7.82344301e-01 -2.41783140e-02 8.78921004e+01] [ 3.76073711e-02 9.65362499e-04 9.99292126e-01 9.96318813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.528623853 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:248.90, Y:87.93, Z:9.96 [[ 7.76752228e-01 -6.29146714e-01 -2.88164468e-02 2.48895828e+02] [ 6.28682095e-01 7.77286282e-01 -2.41838507e-02 8.79336166e+01] [ 3.76138190e-02 6.68475791e-04 9.99292126e-01 9.96390780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.588623853 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:248.94, Y:87.97, Z:9.97 [[ 7.70094019e-01 -6.37279437e-01 -2.88118057e-02 2.48937212e+02] [ 6.36820252e-01 7.70632753e-01 -2.41893786e-02 8.79739126e+01] [ 3.76187147e-02 2.80154418e-04 9.99292126e-01 9.96608405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.648623853 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:248.98, Y:88.01, Z:9.97 [[ 7.65461555e-01 -6.42836492e-01 -2.88071782e-02 2.48979662e+02] [ 6.42381010e-01 7.66003424e-01 -2.41948882e-02 8.80134912e+01] [ 3.76197542e-02 1.50725156e-05 9.99292126e-01 9.97033434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.708623853 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:249.02, Y:88.05, Z:9.97 [[ 7.59587783e-01 -6.49766743e-01 -2.88024202e-02 2.49021107e+02] [ 6.49315991e-01 7.60133592e-01 -2.42005511e-02 8.80526907e+01] [ 3.76184003e-02 -3.19429069e-04 9.99292126e-01 9.97249480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.768623853 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:249.06, Y:88.09, Z:9.97 [[ 7.54722046e-01 -6.55412266e-01 -2.87992131e-02 2.49063375e+02] [ 6.54965450e-01 7.55271082e-01 -2.42043669e-02 8.80905108e+01] [ 3.76150518e-02 -5.94920271e-04 9.99292126e-01 9.97422582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.828623853 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:249.11, Y:88.13, Z:9.98 [[ 7.51182514e-01 -6.59466204e-01 -2.87950939e-02 2.49107411e+02] [ 6.59022163e-01 7.51733796e-01 -2.42092664e-02 8.81284982e+01] [ 3.76114383e-02 -7.91027519e-04 9.99292126e-01 9.97695198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.888623853 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:249.15, Y:88.16, Z:9.98 [[ 7.49345764e-01 -6.61552746e-01 -2.87904692e-02 2.49151564e+02] [ 6.61110029e-01 7.49898110e-01 -2.42147650e-02 8.81637457e+01] [ 3.76092627e-02 -8.88436320e-04 9.99292126e-01 9.97883984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.948623853 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:249.20, Y:88.20, Z:9.98 [[ 7.47957634e-01 -6.63121953e-01 -2.87863416e-02 2.49197131e+02] [ 6.62680206e-01 7.48510756e-01 -2.42196709e-02 8.81989252e+01] [ 3.76074818e-02 -9.60851041e-04 9.99292126e-01 9.98240167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00862385299996 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:249.24, Y:88.23, Z:9.98 [[ 7.48460543e-01 -6.62554475e-01 -2.87816543e-02 2.49242224e+02] [ 6.62112094e-01 7.49013159e-01 -2.42252398e-02 8.82344836e+01] [ 3.76083788e-02 -9.25045206e-04 9.99292127e-01 9.98446003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06862385299996 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:249.29, Y:88.27, Z:9.99 [[ 7.49939883e-01 -6.60879739e-01 -2.87774506e-02 2.49288799e+02] [ 6.60435933e-01 7.50491355e-01 -2.42302324e-02 8.82696380e+01] [ 3.76104976e-02 -8.34444784e-04 9.99292127e-01 9.98822905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12862385299997 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:88.30, Z:9.99 [[ 7.51890488e-01 -6.58659869e-01 -2.87727620e-02 2.49336718e+02] [ 6.58214221e-01 7.52440473e-01 -2.42357987e-02 8.83032659e+01] [ 3.76129386e-02 -7.15974642e-04 9.99292127e-01 9.99043386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18862385299997 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:249.38, Y:88.34, Z:9.99 [[ 7.54565667e-01 -6.55593662e-01 -2.87681245e-02 2.49383428e+02] [ 6.55145570e-01 7.55113662e-01 -2.42413022e-02 8.83365758e+01] [ 3.76156479e-02 -5.55654961e-04 9.99292127e-01 9.98987143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24862385299997 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:249.43, Y:88.37, Z:9.99 [[ 7.56945701e-01 -6.52844414e-01 -2.87641535e-02 2.49429244e+02] [ 6.52394152e-01 7.57491915e-01 -2.42460132e-02 8.83716642e+01] [ 3.76174880e-02 -4.12650031e-04 9.99292127e-01 9.99069965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.308623853 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:249.47, Y:88.41, Z:9.99 [[ 7.61681600e-01 -6.47312929e-01 -2.87595404e-02 2.49474692e+02] [ 6.46858494e-01 7.62224346e-01 -2.42514838e-02 8.84059273e+01] [ 3.76195209e-02 -1.31444022e-04 9.99292127e-01 9.99203167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.368623853 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:249.52, Y:88.44, Z:9.99 [[ 7.66881379e-01 -6.41144348e-01 -2.87554413e-02 2.49518953e+02] [ 6.40685365e-01 7.67420284e-01 -2.42563433e-02 8.84425610e+01] [ 3.76193263e-02 1.78547600e-04 9.99292127e-01 9.99358076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.428623853 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:249.56, Y:88.48, Z:10.00 [[ 7.69680073e-01 -6.37782051e-01 -2.87513585e-02 2.49563840e+02] [ 6.37320533e-01 7.70216809e-01 -2.42611816e-02 8.84797709e+01] [ 3.76181258e-02 3.49516937e-04 9.99292127e-01 9.99686321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.488623853 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:249.61, Y:88.52, Z:10.00 [[ 7.72179276e-01 -6.34754127e-01 -2.87465476e-02 2.49608543e+02] [ 6.34290292e-01 7.72714012e-01 -2.42668806e-02 8.85153943e+01] [ 3.76163628e-02 5.04726205e-04 9.99292127e-01 9.99778868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.548623853 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:249.65, Y:88.55, Z:10.00 [[ 7.72844856e-01 -6.33943777e-01 -2.87422359e-02 2.49651632e+02] [ 6.33479192e-01 7.73378939e-01 -2.42719864e-02 8.85519345e+01] [ 3.76157147e-02 5.50871471e-04 9.99292127e-01 1.00002558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.608623853 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:249.70, Y:88.59, Z:10.00 [[ 7.72269161e-01 -6.34645149e-01 -2.87381092e-02 2.49696439e+02] [ 6.34180867e-01 7.72803508e-01 -2.42768715e-02 8.85878587e+01] [ 3.76161103e-02 5.23120136e-04 9.99292127e-01 1.00037096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.668623853 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:249.74, Y:88.62, Z:10.01 [[ 7.71808709e-01 -6.35205183e-01 -2.87348651e-02 2.49740534e+02] [ 6.34741146e-01 7.72343269e-01 -2.42807107e-02 8.86249339e+01] [ 3.76164129e-02 5.00862713e-04 9.99292127e-01 1.00076075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.728623853 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:249.78, Y:88.66, Z:10.01 [[ 7.70602394e-01 -6.36668303e-01 -2.87301747e-02 2.49784312e+02] [ 6.36205074e-01 7.71137654e-01 -2.42862594e-02 8.86617964e+01] [ 3.76172110e-02 4.36766749e-04 9.99292127e-01 1.00112207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.788623853 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:249.83, Y:88.70, Z:10.01 [[ 7.69058001e-01 -6.38533172e-01 -2.87259422e-02 2.49828004e+02] [ 6.38071054e-01 7.69594220e-01 -2.42912645e-02 8.86991092e+01] [ 3.76180973e-02 3.52199098e-04 9.99292127e-01 1.00137991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.848623853 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:249.87, Y:88.74, Z:10.02 [[ 7.68299190e-01 -6.39446204e-01 -2.87212096e-02 2.49871720e+02] [ 6.38984514e-01 7.68835778e-01 -2.42968589e-02 8.87361013e+01] [ 3.76184277e-02 3.14848824e-04 9.99292127e-01 1.00150434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.908623853 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:88.77, Z:10.02 [[ 7.66950509e-01 -6.41063375e-01 -2.87170010e-02 2.49914427e+02] [ 6.40602631e-01 7.67487909e-01 -2.43018322e-02 8.87747154e+01] [ 3.76189656e-02 2.42116158e-04 9.99292127e-01 1.00194327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.968623853 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:88.81, Z:10.02 [[ 7.65802975e-01 -6.42433973e-01 -2.87122724e-02 2.49957700e+02] [ 6.41973981e-01 7.66341019e-01 -2.43074177e-02 8.88122410e+01] [ 3.76193030e-02 1.82160985e-04 9.99292127e-01 1.00217164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.028623853 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:250.00, Y:88.85, Z:10.02 [[ 7.64649536e-01 -6.43806597e-01 -2.87080530e-02 2.50000491e+02] [ 6.43347384e-01 7.65188246e-01 -2.43123999e-02 8.88506486e+01] [ 3.76195482e-02 1.21214530e-04 9.99292127e-01 1.00232545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.088623853 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:250.04, Y:88.89, Z:10.02 [[ 7.64076743e-01 -6.44486495e-01 -2.87034471e-02 2.50043999e+02] [ 6.44027557e-01 7.64615687e-01 -2.43178365e-02 8.88891914e+01] [ 3.76196231e-02 9.48823482e-05 9.99292127e-01 1.00235888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.148623853 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:88.93, Z:10.02 [[ 7.62188999e-01 -6.46718103e-01 -2.86988744e-02 2.50087295e+02] [ 6.46260540e-01 7.62729110e-01 -2.43232318e-02 8.89270449e+01] [ 3.76197413e-02 -8.05032254e-06 9.99292127e-01 1.00246460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.208623853 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:250.13, Y:88.96, Z:10.03 [[ 7.59037921e-01 -6.50413769e-01 -2.86943225e-02 2.50132727e+02] [ 6.49958633e-01 7.59580078e-01 -2.43286005e-02 8.89636405e+01] [ 3.76192925e-02 -1.83792313e-04 9.99292127e-01 1.00256257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.268623853 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:250.18, Y:89.00, Z:10.03 [[ 7.56264881e-01 -6.53636232e-01 -2.86898313e-02 2.50177512e+02] [ 6.53183204e-01 7.56808802e-01 -2.43338957e-02 8.89984535e+01] [ 3.76182327e-02 -3.36845249e-04 9.99292127e-01 1.00298329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.328623853 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:250.22, Y:89.03, Z:10.03 [[ 7.55380270e-01 -6.54658546e-01 -2.86851089e-02 2.50222494e+02] [ 6.54206043e-01 7.55924628e-01 -2.43394612e-02 8.90340706e+01] [ 3.76178166e-02 -3.80422834e-04 9.99292127e-01 1.00328269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.388623853 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:250.27, Y:89.07, Z:10.04 [[ 7.55268903e-01 -6.54787229e-01 -2.86804649e-02 2.50269068e+02] [ 6.54334611e-01 7.55813165e-01 -2.43449323e-02 8.90688530e+01] [ 3.76178237e-02 -3.79650530e-04 9.99292127e-01 1.00352001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.448623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:250.32, Y:89.10, Z:10.04 [[ 7.56174564e-01 -6.53741317e-01 -2.86761111e-02 2.50315375e+02] [ 6.53287752e-01 7.56718037e-01 -2.43500596e-02 8.91023868e+01] [ 3.76183705e-02 -3.20856439e-04 9.99292127e-01 1.00359692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50862385299996 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:250.36, Y:89.14, Z:10.04 [[ 7.57252593e-01 -6.52492493e-01 -2.86715339e-02 2.50360549e+02] [ 6.52037828e-01 7.57795146e-01 -2.43554479e-02 8.91378950e+01] [ 3.76188961e-02 -2.51698636e-04 9.99292127e-01 1.00395150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56862385299996 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:250.41, Y:89.17, Z:10.04 [[ 7.61023035e-01 -6.48091166e-01 -2.86667217e-02 2.50405401e+02] [ 6.47633150e-01 7.61562762e-01 -2.43611106e-02 8.91728385e+01] [ 3.76197283e-02 -2.61529612e-05 9.99292127e-01 1.00376501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62862385299997 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:89.21, Z:10.04 [[ 7.66307602e-01 -6.41834181e-01 -2.86625766e-02 2.50448183e+02] [ 6.41371576e-01 7.66843400e-01 -2.43659867e-02 8.92098792e+01] [ 3.76186308e-02 2.88478887e-04 9.99292127e-01 1.00413625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68862385299997 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:250.49, Y:89.25, Z:10.05 [[ 7.70905997e-01 -6.36303903e-01 -2.86581008e-02 2.50490561e+02] [ 6.35837258e-01 7.71438282e-01 -2.43712497e-02 8.92499987e+01] [ 3.76154774e-02 5.66054342e-04 9.99292127e-01 1.00467985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74862385299997 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:250.53, Y:89.29, Z:10.05 [[ 7.72724304e-01 -6.34094711e-01 -2.86539430e-02 2.50532522e+02] [ 6.33626364e-01 7.73255091e-01 -2.43761373e-02 8.92894797e+01] [ 3.76135870e-02 6.80140012e-04 9.99292127e-01 1.00483321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.808623853 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:89.33, Z:10.05 [[ 7.72864416e-01 -6.33924115e-01 -2.86497916e-02 2.50575581e+02] [ 6.33455470e-01 7.73394940e-01 -2.43810154e-02 8.93281571e+01] [ 3.76133175e-02 6.94852001e-04 9.99292127e-01 1.00511001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.868623853 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:250.62, Y:89.37, Z:10.05 [[ 7.71168376e-01 -6.35986459e-01 -2.86454080e-02 2.50617707e+02] [ 6.35519042e-01 7.71699982e-01 -2.43861647e-02 8.93668308e+01] [ 3.76149314e-02 6.01136830e-04 9.99292127e-01 1.00530186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.928623853 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:250.66, Y:89.41, Z:10.06 [[ 7.66936594e-01 -6.41083432e-01 -2.86407859e-02 2.50660606e+02] [ 6.40619346e-01 7.67471110e-01 -2.43915920e-02 8.94060983e+01] [ 3.76180212e-02 3.58962918e-04 9.99292127e-01 1.00582078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.988623853 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:250.71, Y:89.44, Z:10.06 [[ 7.61232901e-01 -6.47845977e-01 -2.86367058e-02 2.50706247e+02] [ 6.47386459e-01 7.61771349e-01 -2.43963812e-02 8.94414273e+01] [ 3.76197195e-02 3.23124687e-05 9.99292127e-01 1.00579456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.048623853 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:250.75, Y:89.48, Z:10.06 [[ 7.56893345e-01 -6.52910895e-01 -2.86326222e-02 2.50751163e+02] [ 6.52454799e-01 7.57434695e-01 -2.44011730e-02 8.94770436e+01] [ 3.76191332e-02 -2.12406385e-04 9.99292127e-01 1.00606858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.108623853 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:250.80, Y:89.51, Z:10.06 [[ 7.55327265e-01 -6.54722200e-01 -2.86280256e-02 2.50796000e+02] [ 6.54267198e-01 7.55869535e-01 -2.44065646e-02 8.95131289e+01] [ 3.76185721e-02 -2.95434384e-04 9.99292127e-01 1.00639214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.168623853 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:89.55, Z:10.07 [[ 7.55673420e-01 -6.54322851e-01 -2.86232251e-02 2.50841227e+02] [ 6.53867349e-01 7.56215270e-01 -2.44121932e-02 8.95483394e+01] [ 3.76187758e-02 -2.68146845e-04 9.99292127e-01 1.00650710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.228623853 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:250.88, Y:89.59, Z:10.07 [[ 7.57308041e-01 -6.52430445e-01 -2.86189870e-02 2.50884292e+02] [ 6.51973401e-01 7.57848591e-01 -2.44171606e-02 8.95855295e+01] [ 3.76193579e-02 -1.67506236e-04 9.99292127e-01 1.00663010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.288623853 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:250.93, Y:89.62, Z:10.07 [[ 7.61466165e-01 -6.47572756e-01 -2.86147787e-02 2.50927287e+02] [ 6.47112078e-01 7.62003622e-01 -2.44220915e-02 8.96239399e+01] [ 3.76196460e-02 7.96274246e-05 9.99292127e-01 1.00684472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.348623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:250.97, Y:89.66, Z:10.07 [[ 7.66412006e-01 -6.41711848e-01 -2.86101637e-02 2.50969164e+02] [ 6.41246859e-01 7.66945737e-01 -2.44274966e-02 8.96635198e+01] [ 3.76178571e-02 3.75349004e-04 9.99292127e-01 1.00717782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.408623853 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:251.01, Y:89.70, Z:10.07 [[ 7.70616399e-01 -6.36656970e-01 -2.86053893e-02 2.51009199e+02] [ 6.36188273e-01 7.71146876e-01 -2.44330863e-02 8.97036270e+01] [ 3.76144513e-02 6.30123720e-04 9.99292127e-01 1.00745119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.468623853 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:251.05, Y:89.74, Z:10.08 [[ 7.72306566e-01 -6.34605819e-01 -2.86010916e-02 2.51051147e+02] [ 6.34135527e-01 7.72835631e-01 -2.44381161e-02 8.97430546e+01] [ 3.76125134e-02 7.36749194e-04 9.99292127e-01 1.00770359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.528623853 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:251.09, Y:89.78, Z:10.08 [[ 7.73082310e-01 -6.33660783e-01 -2.85964131e-02 2.51092673e+02] [ 6.33189642e-01 7.73610618e-01 -2.44435895e-02 8.97826192e+01] [ 3.76114329e-02 7.89954047e-04 9.99292128e-01 1.00792168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.588623853 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:251.13, Y:89.82, Z:10.08 [[ 7.72635691e-01 -6.34205467e-01 -2.85922273e-02 2.51133974e+02] [ 6.33734517e-01 7.73164170e-01 -2.44484847e-02 8.98239269e+01] [ 3.76118483e-02 7.69890461e-04 9.99292128e-01 1.00825511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.648623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:251.18, Y:89.86, Z:10.08 [[ 7.71652639e-01 -6.35401413e-01 -2.85875681e-02 2.51175618e+02] [ 6.34931081e-01 7.72181667e-01 -2.44539315e-02 8.98647110e+01] [ 3.76128586e-02 7.18805274e-04 9.99292128e-01 1.00839954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.708623853 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:251.22, Y:89.91, Z:10.08 [[ 7.70454408e-01 -6.36854004e-01 -2.85829028e-02 2.51215328e+02] [ 6.36384468e-01 7.70984143e-01 -2.44593833e-02 8.99053465e+01] [ 3.76140210e-02 6.55124344e-04 9.99292128e-01 1.00830386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.768623853 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:251.26, Y:89.95, Z:10.08 [[ 7.68600812e-01 -6.39090011e-01 -2.85788224e-02 2.51256419e+02] [ 6.38621839e-01 7.69131752e-01 -2.44641500e-02 8.99461014e+01] [ 3.76156737e-02 5.52105375e-04 9.99292128e-01 1.00831157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.828623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:251.30, Y:89.99, Z:10.08 [[ 7.65748601e-01 -6.42504940e-01 -2.85741583e-02 2.51298198e+02] [ 6.42038932e-01 7.66281442e-01 -2.44695965e-02 8.99858839e+01] [ 3.76176838e-02 3.91837179e-04 9.99292128e-01 1.00806903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.888623853 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:90.03, Z:10.08 [[ 7.63089188e-01 -6.45661422e-01 -2.85695378e-02 2.51340426e+02] [ 6.45197416e-01 7.63623774e-01 -2.44749899e-02 9.00253346e+01] [ 3.76189351e-02 2.43608201e-04 9.99292128e-01 1.00841642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.948623853 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:251.38, Y:90.06, Z:10.09 [[ 7.59000664e-01 -6.50462942e-01 -2.85648801e-02 2.51383168e+02] [ 6.50002114e-01 7.59537992e-01 -2.44804248e-02 9.00640409e+01] [ 3.76197208e-02 1.34262179e-05 9.99292128e-01 1.00888080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00862385299996 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:251.43, Y:90.10, Z:10.10 [[ 7.56831318e-01 -6.52985961e-01 -2.85602842e-02 2.51425178e+02] [ 6.52526722e-01 7.57370004e-01 -2.44857854e-02 9.01022814e+01] [ 3.76195767e-02 -1.04739409e-04 9.99292128e-01 1.00964034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06862385299996 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:251.47, Y:90.14, Z:10.09 [[ 7.56146539e-01 -6.53778984e-01 -2.85561299e-02 2.51470038e+02] [ 6.53320126e-01 7.56685550e-01 -2.44906293e-02 9.01393087e+01] [ 3.76194696e-02 -1.37789818e-04 9.99292128e-01 1.00925540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12862385299997 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:251.51, Y:90.18, Z:10.10 [[ 7.56060290e-01 -6.53878925e-01 -2.85515112e-02 2.51512842e+02] [ 6.53419936e-01 7.56599189e-01 -2.44960128e-02 9.01776365e+01] [ 3.76194767e-02 -1.35664086e-04 9.99292128e-01 1.00964881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18862385299997 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:251.56, Y:90.21, Z:10.10 [[ 7.55320572e-01 -6.54733473e-01 -2.85466704e-02 2.51557031e+02] [ 6.54274880e-01 7.55859809e-01 -2.45016527e-02 9.02137358e+01] [ 3.76193330e-02 -1.70766978e-04 9.99292128e-01 1.00976922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24862385299997 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:90.25, Z:10.10 [[ 7.54232545e-01 -6.55986738e-01 -2.85423728e-02 2.51601518e+02] [ 6.55528852e-01 7.54772381e-01 -2.45066580e-02 9.02501610e+01] [ 3.76190374e-02 -2.26629805e-04 9.99292128e-01 1.00995527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.308623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:90.29, Z:10.10 [[ 7.54166921e-01 -6.56062389e-01 -2.85376387e-02 2.51646010e+02] [ 6.55604349e-01 7.54706626e-01 -2.45121696e-02 9.02861916e+01] [ 3.76190576e-02 -2.23132541e-04 9.99292128e-01 1.01021835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.368623853 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:251.69, Y:90.32, Z:10.10 [[ 7.54480623e-01 -6.55701789e-01 -2.85333728e-02 2.51690001e+02] [ 6.55243303e-01 7.55019950e-01 -2.45171343e-02 9.03237603e+01] [ 3.76191945e-02 -1.98598622e-04 9.99292128e-01 1.01046678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.428623853 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:251.74, Y:90.36, Z:10.11 [[ 7.55475540e-01 -6.54555437e-01 -2.85287391e-02 2.51735201e+02] [ 6.54095929e-01 7.56013996e-01 -2.45225250e-02 9.03597117e+01] [ 3.76194781e-02 -1.34364358e-04 9.99292128e-01 1.01055773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.488623853 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:251.78, Y:90.40, Z:10.11 [[ 7.56727985e-01 -6.53107289e-01 -2.85241227e-02 2.51779393e+02] [ 6.52646548e-01 7.57265387e-01 -2.45278936e-02 9.03964880e+01] [ 3.76196769e-02 -5.52267347e-05 9.99292128e-01 1.01084912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.548623853 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:90.43, Z:10.11 [[ 7.58071618e-01 -6.51547437e-01 -2.85194702e-02 2.51823580e+02] [ 6.51085386e-01 7.58607894e-01 -2.45333019e-02 9.04338286e+01] [ 3.76197052e-02 2.93895949e-05 9.99292128e-01 1.01109638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.608623853 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:251.87, Y:90.47, Z:10.11 [[ 7.58995030e-01 -6.50471712e-01 -2.85148411e-02 2.51867369e+02] [ 6.50008699e-01 7.59530476e-01 -2.45386811e-02 9.04695206e+01] [ 3.76196088e-02 8.98422233e-05 9.99292128e-01 1.01129929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.668623853 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:251.91, Y:90.51, Z:10.12 [[ 7.59771881e-01 -6.49564293e-01 -2.85116996e-02 2.51910648e+02] [ 6.49100504e-01 7.60306655e-01 -2.45423307e-02 9.05087454e+01] [ 3.76194567e-02 1.39614183e-04 9.99292128e-01 1.01192039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.728623853 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:251.96, Y:90.54, Z:10.11 [[ 7.59250218e-01 -6.50174153e-01 -2.85074919e-02 2.51956224e+02] [ 6.49710610e-01 7.59785205e-01 -2.45472173e-02 9.05448623e+01] [ 3.76195368e-02 1.15860122e-04 9.99292128e-01 1.01132883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.788623853 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:252.00, Y:90.58, Z:10.12 [[ 7.58349678e-01 -6.51224504e-01 -2.85028061e-02 2.52000140e+02] [ 6.50761498e-01 7.58885129e-01 -2.45526569e-02 9.05826644e+01] [ 3.76196476e-02 7.09706940e-05 9.99292128e-01 1.01173383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.848623853 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:252.04, Y:90.62, Z:10.12 [[ 7.57078485e-01 -6.52702102e-01 -2.84979450e-02 2.52044276e+02] [ 6.52239929e-01 7.57614655e-01 -2.45582979e-02 9.06192020e+01] [ 3.76197134e-02 5.06138860e-06 9.99292128e-01 1.01188438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.908623853 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:252.09, Y:90.66, Z:10.12 [[ 7.55883172e-01 -6.54086192e-01 -2.84935820e-02 2.52088202e+02] [ 6.53624809e-01 7.56420022e-01 -2.45633590e-02 9.06559520e+01] [ 3.76196699e-02 -5.70823645e-05 9.99292128e-01 1.01218386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.968623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:90.69, Z:10.13 [[ 7.55050749e-01 -6.55047062e-01 -2.84905755e-02 2.52131872e+02] [ 6.54586231e-01 7.55588074e-01 -2.45668457e-02 9.06933526e+01] [ 3.76195791e-02 -1.00323189e-04 9.99292128e-01 1.01264153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.028623853 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:252.18, Y:90.73, Z:10.13 [[ 7.53196922e-01 -6.57178018e-01 -2.84859312e-02 2.52177156e+02] [ 6.56718504e-01 7.53735373e-01 -2.45722297e-02 9.07287781e+01] [ 3.76191832e-02 -1.99510290e-04 9.99292128e-01 1.01275570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.088623853 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:252.22, Y:90.76, Z:10.13 [[ 7.49536621e-01 -6.61349821e-01 -2.84827572e-02 2.52223407e+02] [ 6.60893164e-01 7.50077497e-01 -2.45759083e-02 9.07616654e+01] [ 3.76175478e-02 -4.03516217e-04 9.99292128e-01 1.01283650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.148623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:252.27, Y:90.80, Z:10.13 [[ 7.46275798e-01 -6.65027399e-01 -2.84779137e-02 2.52271321e+02] [ 6.64573192e-01 7.46818734e-01 -2.45815196e-02 9.07950847e+01] [ 3.76152234e-02 -5.81064853e-04 9.99292128e-01 1.01343502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.208623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:90.83, Z:10.13 [[ 7.44756028e-01 -6.66729123e-01 -2.84734075e-02 2.52317660e+02] [ 6.66275957e-01 7.45299833e-01 -2.45867381e-02 9.08280233e+01] [ 3.76139201e-02 -6.60025409e-04 9.99292128e-01 1.01348770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.268623853 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:90.86, Z:10.14 [[ 7.44227287e-01 -6.67319473e-01 -2.84686912e-02 2.52366970e+02] [ 6.66866530e-01 7.44771277e-01 -2.45921977e-02 9.08596045e+01] [ 3.76135160e-02 -6.82632710e-04 9.99292128e-01 1.01377242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.328623853 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:252.42, Y:90.89, Z:10.14 [[ 7.45121378e-01 -6.66321192e-01 -2.84640461e-02 2.52415989e+02] [ 6.65867315e-01 7.45664588e-01 -2.45975731e-02 9.08907674e+01] [ 3.76145154e-02 -6.25100389e-04 9.99292128e-01 1.01384098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.388623853 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:90.92, Z:10.14 [[ 7.47176549e-01 -6.64016025e-01 -2.84591625e-02 2.52464752e+02] [ 6.63560256e-01 7.47718174e-01 -2.46032220e-02 9.09228296e+01] [ 3.76163667e-02 -5.01418607e-04 9.99292128e-01 1.01392283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.448623853 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:252.51, Y:90.96, Z:10.14 [[ 7.48738104e-01 -6.62254928e-01 -2.84545713e-02 2.52511099e+02] [ 6.61797684e-01 7.49278484e-01 -2.46085308e-02 9.09558362e+01] [ 3.76175188e-02 -4.05824634e-04 9.99292128e-01 1.01400155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50862385299996 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:252.56, Y:90.99, Z:10.14 [[ 7.50913144e-01 -6.59787893e-01 -2.84497384e-02 2.52558125e+02] [ 6.59328662e-01 7.51451836e-01 -2.46141168e-02 9.09904580e+01] [ 3.76187044e-02 -2.74664176e-04 9.99292128e-01 1.01434097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56862385299996 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:252.61, Y:91.03, Z:10.15 [[ 7.56201779e-01 -6.53719914e-01 -2.84454441e-02 2.52605068e+02] [ 6.53256174e-01 7.56736594e-01 -2.46190785e-02 9.10252375e+01] [ 3.76196904e-02 3.48289442e-05 9.99292128e-01 1.01487468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62862385299997 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:252.65, Y:91.06, Z:10.15 [[ 7.59974200e-01 -6.49330677e-01 -2.84409639e-02 2.52650448e+02] [ 6.48863654e-01 7.60506151e-01 -2.46242532e-02 9.10607961e+01] [ 3.76188109e-02 2.59489400e-04 9.99292128e-01 1.01497097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68862385299997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:252.70, Y:91.10, Z:10.15 [[ 7.64187523e-01 -6.44366973e-01 -2.84365030e-02 2.52695525e+02] [ 6.43896303e-01 7.64716250e-01 -2.46294036e-02 9.10970004e+01] [ 3.76162302e-02 5.11323721e-04 9.99292128e-01 1.01503958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74862385299997 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:91.13, Z:10.15 [[ 7.65050337e-01 -6.43342520e-01 -2.84321073e-02 2.52741863e+02] [ 6.42870954e-01 7.65578265e-01 -2.46344770e-02 9.11327683e+01] [ 3.76154098e-02 5.68438998e-04 9.99292128e-01 1.01506839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.808623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:252.79, Y:91.17, Z:10.15 [[ 7.63070128e-01 -6.45690208e-01 -2.84277082e-02 2.52788174e+02] [ 6.45220078e-01 7.63599335e-01 -2.46395523e-02 9.11676550e+01] [ 3.76168968e-02 4.59578261e-04 9.99292128e-01 1.01531182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.868623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:252.83, Y:91.20, Z:10.16 [[ 7.61113871e-01 -6.47995216e-01 -2.84231347e-02 2.52834097e+02] [ 6.47526491e-01 7.61644323e-01 -2.46448271e-02 9.12029061e+01] [ 3.76180492e-02 3.52787094e-04 9.99292128e-01 1.01568581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.928623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:252.88, Y:91.24, Z:10.16 [[ 7.58486817e-01 -6.51068463e-01 -2.84183842e-02 2.52879510e+02] [ 6.50601683e-01 7.59018980e-01 -2.46503037e-02 9.12369809e+01] [ 3.76191284e-02 2.07881763e-04 9.99292128e-01 1.01604210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.988623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:252.93, Y:91.27, Z:10.16 [[ 7.56866088e-01 -6.52951986e-01 -2.84152927e-02 2.52925602e+02] [ 6.52486396e-01 7.57399294e-01 -2.46538669e-02 9.12723343e+01] [ 3.76195140e-02 1.19083868e-04 9.99292128e-01 1.01631113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.048623853 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:252.97, Y:91.31, Z:10.16 [[ 7.54833945e-01 -6.55300352e-01 -2.84106389e-02 2.52971917e+02] [ 6.54836219e-01 7.55368419e-01 -2.46592286e-02 9.13059799e+01] [ 3.76197006e-02 9.30743715e-06 9.99292128e-01 1.01649452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.108623853 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:253.02, Y:91.34, Z:10.17 [[ 7.53067193e-01 -6.57330143e-01 -2.84057337e-02 2.53019702e+02] [ 6.56867238e-01 7.53602731e-01 -2.46648778e-02 9.13395814e+01] [ 3.76196062e-02 -8.44855608e-05 9.99292129e-01 1.01675851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.168623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:253.07, Y:91.37, Z:10.17 [[ 7.52131017e-01 -6.58401327e-01 -2.84011804e-02 2.53067494e+02] [ 6.57938986e-01 7.52667042e-01 -2.46701198e-02 9.13728855e+01] [ 3.76194720e-02 -1.31081584e-04 9.99292129e-01 1.01709000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.228623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:91.41, Z:10.17 [[ 7.52242435e-01 -6.58274231e-01 -2.83964163e-02 2.53113571e+02] [ 6.57811593e-01 7.52778203e-01 -2.46756023e-02 9.14085393e+01] [ 3.76195163e-02 -1.17456697e-04 9.99292129e-01 1.01736549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.288623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:253.16, Y:91.44, Z:10.17 [[ 7.53371043e-01 -6.56982485e-01 -2.83916519e-02 2.53160082e+02] [ 6.56518722e-01 7.53905838e-01 -2.46810829e-02 9.14437725e+01] [ 3.76196713e-02 -4.56378541e-05 9.99292129e-01 1.01743311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.348623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:253.20, Y:91.48, Z:10.17 [[ 7.55198802e-01 -6.54880869e-01 -2.83869040e-02 2.53204954e+02] [ 6.54415413e-01 7.55732123e-01 -2.46865425e-02 9.14785250e+01] [ 3.76196397e-02 6.64198791e-05 9.99292129e-01 1.01747267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.408623853 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:253.25, Y:91.51, Z:10.18 [[ 7.56868257e-01 -6.52950856e-01 -2.83834535e-02 2.53249294e+02] [ 6.52483891e-01 7.57400258e-01 -2.46905091e-02 9.15147925e+01] [ 3.76193241e-02 1.67716464e-04 9.99292129e-01 1.01771867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.468623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:253.29, Y:91.55, Z:10.18 [[ 7.59602392e-01 -6.49768249e-01 -2.83800538e-02 2.53294170e+02] [ 6.49298909e-01 7.60132299e-01 -2.46944162e-02 9.15518858e+01] [ 3.76182431e-02 3.30799661e-04 9.99292129e-01 1.01814793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.528623853 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:253.34, Y:91.59, Z:10.18 [[ 7.62152995e-01 -6.46774819e-01 -2.83751038e-02 2.53336592e+02] [ 6.46303186e-01 7.62680862e-01 -2.47001027e-02 9.15893842e+01] [ 3.76165531e-02 4.86337234e-04 9.99292129e-01 1.01845815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.588623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:253.38, Y:91.63, Z:10.19 [[ 7.64647796e-01 -6.43823621e-01 -2.83706482e-02 2.53378641e+02] [ 6.43349760e-01 7.65173665e-01 -2.47052194e-02 9.16286262e+01] [ 3.76142766e-02 6.38541814e-04 9.99292129e-01 1.01882869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.648623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:253.42, Y:91.67, Z:10.19 [[ 7.66170288e-01 -6.42011253e-01 -2.83661958e-02 2.53420177e+02] [ 6.41535960e-01 7.66694862e-01 -2.47103305e-02 9.16685585e+01] [ 3.76125268e-02 7.34386372e-04 9.99292129e-01 1.01903399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.708623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:253.46, Y:91.71, Z:10.19 [[ 7.67474650e-01 -6.40451630e-01 -2.83614284e-02 2.53460354e+02] [ 6.39975069e-01 7.67998073e-01 -2.47158011e-02 9.17111117e+01] [ 3.76107974e-02 8.18143749e-04 9.99292129e-01 1.01907357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.768623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:253.50, Y:91.75, Z:10.19 [[ 7.67770080e-01 -6.40097651e-01 -2.83566853e-02 2.53498210e+02] [ 6.39620647e-01 7.68293100e-01 -2.47212417e-02 9.17540863e+01] [ 3.76102544e-02 8.42708348e-04 9.99292129e-01 1.01917099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.828623853 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:91.80, Z:10.19 [[ 7.67160319e-01 -6.40828512e-01 -2.83524842e-02 2.53536762e+02] [ 6.40351830e-01 7.67683630e-01 -2.47260589e-02 9.17980061e+01] [ 3.76109016e-02 8.13286137e-04 9.99292129e-01 1.01931005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.888623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:253.58, Y:91.84, Z:10.20 [[ 7.66113728e-01 -6.42079555e-01 -2.83478645e-02 2.53576503e+02] [ 6.41603531e-01 7.66637639e-01 -2.47313542e-02 9.18405271e+01] [ 3.76120368e-02 7.58940015e-04 9.99292129e-01 1.01963551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.948623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:91.89, Z:10.20 [[ 7.63770268e-01 -6.44865596e-01 -2.83432787e-02 2.53614144e+02] [ 6.44391288e-01 7.64295733e-01 -2.47366086e-02 9.18860987e+01] [ 3.76144348e-02 6.28924235e-04 9.99292129e-01 1.02011838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00862385299996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:253.65, Y:91.93, Z:10.20 [[ 7.60676050e-01 -6.48512816e-01 -2.83385809e-02 2.53651199e+02] [ 6.48040827e-01 7.61203600e-01 -2.47419893e-02 9.19308411e+01] [ 3.76169269e-02 4.56081252e-04 9.99292129e-01 1.02015038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06862385299996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:253.69, Y:91.97, Z:10.20 [[ 7.56139588e-01 -6.53796669e-01 -2.83344118e-02 2.53688952e+02] [ 6.53328188e-01 7.56670256e-01 -2.47467628e-02 9.19739286e+01] [ 3.76191577e-02 2.00337056e-04 9.99292129e-01 1.02029679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12862385299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:253.73, Y:92.02, Z:10.21 [[ 7.52274662e-01 -6.58240280e-01 -2.83296052e-02 2.53730081e+02] [ 6.57774728e-01 7.52807899e-01 -2.47522641e-02 9.20151505e+01] [ 3.76196878e-02 -1.39972115e-05 9.99292129e-01 1.02054801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18862385299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:253.77, Y:92.06, Z:10.21 [[ 7.45705864e-01 -6.65672939e-01 -2.83249621e-02 2.53770213e+02] [ 6.65212499e-01 7.46243522e-01 -2.47575762e-02 9.20571130e+01] [ 3.76177680e-02 -3.80249057e-04 9.99292129e-01 1.02086431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24862385299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:253.81, Y:92.10, Z:10.21 [[ 7.41209391e-01 -6.70676223e-01 -2.83203526e-02 2.53812293e+02] [ 6.70219210e-01 7.41749966e-01 -2.47628480e-02 9.20955370e+01] [ 3.76144739e-02 -6.26388840e-04 9.99292129e-01 1.02090652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.308623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:253.85, Y:92.13, Z:10.21 [[ 7.35417792e-01 -6.77022084e-01 -2.83155302e-02 2.53854621e+02] [ 6.76569522e-01 7.35962099e-01 -2.47683610e-02 9.21348968e+01] [ 3.76078844e-02 -9.42331302e-04 9.99292129e-01 1.02116086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.368623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:253.90, Y:92.17, Z:10.21 [[ 7.33893161e-01 -6.78674679e-01 -2.83109137e-02 2.53897143e+02] [ 6.78223140e-01 7.34438316e-01 -2.47736366e-02 9.21723269e+01] [ 3.76058597e-02 -1.01991434e-03 9.99292129e-01 1.02140486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.428623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:92.21, Z:10.22 [[ 7.30940555e-01 -6.81853849e-01 -2.83060800e-02 2.53941491e+02] [ 6.81404466e-01 7.31487489e-01 -2.47791584e-02 9.22099864e+01] [ 3.76013079e-02 -1.17579754e-03 9.99292129e-01 1.02170953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.488623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:253.99, Y:92.25, Z:10.22 [[ 7.29690570e-01 -6.83191551e-01 -2.83015209e-02 2.53987439e+02] [ 6.82742970e-01 7.30238162e-01 -2.47843644e-02 9.22461230e+01] [ 3.75993190e-02 -1.23774739e-03 9.99292129e-01 1.02209223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.548623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.03, Y:92.28, Z:10.22 [[ 7.29570872e-01 -6.83319578e-01 -2.82965791e-02 2.54031429e+02] [ 6.82870875e-01 7.30118363e-01 -2.47900052e-02 9.22816872e+01] [ 3.75993480e-02 -1.23684398e-03 9.99292129e-01 1.02227190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.608623853 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:254.08, Y:92.32, Z:10.22 [[ 7.29432709e-01 -6.83467246e-01 -2.82921704e-02 2.54078800e+02] [ 6.83018459e-01 7.29980131e-01 -2.47950358e-02 9.23157687e+01] [ 3.75993171e-02 -1.23776450e-03 9.99292129e-01 1.02239377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.668623853 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:254.13, Y:92.35, Z:10.23 [[ 7.30527619e-01 -6.82297017e-01 -2.82874057e-02 2.54126279e+02] [ 6.81847143e-01 7.31074148e-01 -2.48004704e-02 9.23488018e+01] [ 3.76014780e-02 -1.17025819e-03 9.99292129e-01 1.02311071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.728623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:254.17, Y:92.38, Z:10.23 [[ 7.32053495e-01 -6.80659808e-01 -2.82826096e-02 2.54171972e+02] [ 6.80208500e-01 7.32598841e-01 -2.48059386e-02 9.23848809e+01] [ 3.76042125e-02 -1.07879740e-03 9.99292129e-01 1.02261558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.22, Y:92.42, Z:10.23 [[ 7.37705048e-01 -6.74530671e-01 -2.82778440e-02 2.54217793e+02] [ 6.74074622e-01 7.38246436e-01 -2.48113701e-02 9.24186029e+01] [ 3.76120477e-02 -7.57904094e-04 9.99292129e-01 1.02302566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.848623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:254.26, Y:92.45, Z:10.24 [[ 7.44192040e-01 -6.67367041e-01 -2.82743544e-02 2.54264188e+02] [ 6.66905629e-01 7.44728864e-01 -2.48153461e-02 9.24538817e+01] [ 3.76176719e-02 -3.88943009e-04 9.99292129e-01 1.02365484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.908623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:92.49, Z:10.24 [[ 7.48023679e-01 -6.63069681e-01 -2.82696751e-02 2.54310093e+02] [ 6.62604983e-01 7.48557661e-01 -2.48206756e-02 9.24900712e+01] [ 3.76193193e-02 -1.65174506e-04 9.99292129e-01 1.02387486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.968623853 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:254.35, Y:92.53, Z:10.24 [[ 7.49201109e-01 -6.61739220e-01 -2.82648650e-02 2.54354717e+02] [ 6.61273367e-01 7.49734084e-01 -2.48261520e-02 9.25257887e+01] [ 3.76195711e-02 -9.10218568e-05 9.99292129e-01 1.02398437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.028623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:254.40, Y:92.56, Z:10.24 [[ 7.50377208e-01 -6.60405504e-01 -2.82597982e-02 2.54400836e+02] [ 6.59938487e-01 7.50909162e-01 -2.48319183e-02 9.25605574e+01] [ 3.76196769e-02 -1.64229408e-05 9.99292129e-01 1.02387975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.088623853 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:254.45, Y:92.60, Z:10.24 [[ 7.52447004e-01 -6.58046468e-01 -2.82551402e-02 2.54445163e+02] [ 6.57577583e-01 7.52977314e-01 -2.48372172e-02 9.25972550e+01] [ 3.76195226e-02 1.08742866e-04 9.99292129e-01 1.02410484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.148623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:92.64, Z:10.25 [[ 7.53878627e-01 -6.56406065e-01 -2.82505536e-02 2.54489150e+02] [ 6.55935831e-01 7.54407741e-01 -2.48424331e-02 9.26352210e+01] [ 3.76191600e-02 1.97628976e-04 9.99292129e-01 1.02452687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.208623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:254.53, Y:92.67, Z:10.25 [[ 7.56158506e-01 -6.53778624e-01 -2.82458036e-02 2.54531965e+02] [ 6.53306350e-01 7.56685799e-01 -2.48478327e-02 9.26737847e+01] [ 3.76181803e-02 3.35737202e-04 9.99292129e-01 1.02495333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.268623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:254.57, Y:92.71, Z:10.25 [[ 7.58026077e-01 -6.51612553e-01 -2.82408920e-02 2.54573528e+02] [ 6.51138564e-01 7.58551829e-01 -2.48534136e-02 9.27130447e+01] [ 3.76169766e-02 4.50801726e-04 9.99292129e-01 1.02503527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.61, Y:92.75, Z:10.25 [[ 7.58976917e-01 -6.50504986e-01 -2.82365427e-02 2.54614324e+02] [ 6.50030047e-01 7.59501811e-01 -2.48583540e-02 9.27549262e+01] [ 3.76161886e-02 5.12315709e-04 9.99292129e-01 1.02514564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.388623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:254.66, Y:92.80, Z:10.26 [[ 7.58870322e-01 -6.50629543e-01 -2.82317611e-02 2.54655852e+02] [ 6.50154488e-01 7.59395111e-01 -2.48637833e-02 9.27953944e+01] [ 3.76161733e-02 5.13381076e-04 9.99292129e-01 1.02550572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.448623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:254.70, Y:92.84, Z:10.26 [[ 7.57508453e-01 -6.52214828e-01 -2.82269492e-02 2.54695913e+02] [ 6.51740668e-01 7.58034051e-01 -2.48692450e-02 9.28362330e+01] [ 3.76170790e-02 4.42012573e-04 9.99292129e-01 1.02573221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50862385299996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:254.74, Y:92.88, Z:10.26 [[ 7.54975720e-01 -6.55145133e-01 -2.82226165e-02 2.54736615e+02] [ 6.54672829e-01 7.55502987e-01 -2.48741609e-02 9.28770593e+01] [ 3.76184565e-02 3.02807304e-04 9.99292129e-01 1.02598097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56862385299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.78, Y:92.92, Z:10.26 [[ 7.53015345e-01 -6.57397629e-01 -2.82178581e-02 2.54777958e+02] [ 6.56926700e-01 7.53543840e-01 -2.48795578e-02 9.29176386e+01] [ 3.76191554e-02 1.97624380e-04 9.99292130e-01 1.02615339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62862385299997 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:254.82, Y:92.96, Z:10.26 [[ 7.49660800e-01 -6.61220621e-01 -2.82130483e-02 2.54818239e+02] [ 6.60752182e-01 7.50191503e-01 -2.48850108e-02 9.29579107e+01] [ 3.76196714e-02 1.34838211e-05 9.99292130e-01 1.02616525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68862385299997 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:254.86, Y:93.00, Z:10.26 [[ 7.45487934e-01 -6.65921955e-01 -2.82079960e-02 2.54860164e+02] [ 6.65456646e-01 7.46021383e-01 -2.48907364e-02 9.29973329e+01] [ 3.76190560e-02 -2.15454759e-04 9.99292130e-01 1.02629322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74862385299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:93.04, Z:10.27 [[ 7.42819009e-01 -6.68897976e-01 -2.82031520e-02 2.54901848e+02] [ 6.68434595e-01 7.43354135e-01 -2.48962238e-02 9.30366940e+01] [ 3.76179634e-02 -3.58574183e-04 9.99292130e-01 1.02653188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.94, Y:93.08, Z:10.27 [[ 7.40154121e-01 -6.71845776e-01 -2.81980493e-02 2.54944577e+02] [ 6.71384307e-01 7.40690896e-01 -2.49020020e-02 9.30760621e+01] [ 3.76163432e-02 -5.00408370e-04 9.99292130e-01 1.02698704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.868623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.99, Y:93.12, Z:10.27 [[ 7.38582426e-01 -6.73573403e-01 -2.81934514e-02 2.54987948e+02] [ 6.73112991e-01 7.39120107e-01 -2.49072065e-02 9.31151526e+01] [ 3.76151787e-02 -5.81353475e-04 9.99292130e-01 1.02729512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.928623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.03, Y:93.15, Z:10.27 [[ 7.37920839e-01 -6.74298317e-01 -2.81889187e-02 2.55030634e+02] [ 6.73838237e-01 7.38458805e-01 -2.49123353e-02 9.31527100e+01] [ 3.76147010e-02 -6.11439920e-04 9.99292130e-01 1.02731844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.988623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:93.19, Z:10.27 [[ 7.37469274e-01 -6.74792355e-01 -2.81841662e-02 2.55072601e+02] [ 6.74332431e-01 7.38007372e-01 -2.49177109e-02 9.31909555e+01] [ 3.76144032e-02 -6.29451162e-04 9.99292130e-01 1.02729150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.048623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:255.12, Y:93.23, Z:10.27 [[ 7.37550415e-01 -6.74703872e-01 -2.81792599e-02 2.55115897e+02] [ 6.74243671e-01 7.38088276e-01 -2.49232582e-02 9.32288730e+01] [ 3.76146001e-02 -6.17528187e-04 9.99292130e-01 1.02746530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.108623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.16, Y:93.27, Z:10.28 [[ 7.38439853e-01 -6.73730502e-01 -2.81743680e-02 2.55159683e+02] [ 6.73269380e-01 7.38976926e-01 -2.49287870e-02 9.32662253e+01] [ 3.76154920e-02 -5.60529462e-04 9.99292130e-01 1.02792790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.168623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:93.30, Z:10.28 [[ 7.39057798e-01 -6.73052778e-01 -2.81696410e-02 2.55202647e+02] [ 6.72590961e-01 7.39594273e-01 -2.49341273e-02 9.33030093e+01] [ 3.76160888e-02 -5.18884672e-04 9.99292130e-01 1.02805569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.228623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.25, Y:93.34, Z:10.28 [[ 7.38914690e-01 -6.73210095e-01 -2.81646759e-02 2.55246063e+02] [ 6.72748179e-01 7.39451079e-01 -2.49397345e-02 9.33414799e+01] [ 3.76160810e-02 -5.19398221e-04 9.99292130e-01 1.02840190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.288623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.29, Y:93.38, Z:10.29 [[ 7.38218343e-01 -6.73973812e-01 -2.81598898e-02 2.55290872e+02] [ 6.73512244e-01 7.38755032e-01 -2.49451374e-02 9.33785256e+01] [ 3.76156296e-02 -5.51072546e-04 9.99292130e-01 1.02854956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.348623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:255.34, Y:93.41, Z:10.29 [[ 7.37751376e-01 -6.74485137e-01 -2.81550429e-02 2.55336046e+02] [ 6.74023733e-01 7.38288206e-01 -2.49506067e-02 9.34149177e+01] [ 3.76153495e-02 -5.69822697e-04 9.99292130e-01 1.02878884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.38, Y:93.45, Z:10.29 [[ 7.39009374e-01 -6.73106763e-01 -2.81501434e-02 2.55380149e+02] [ 6.72644147e-01 7.39545160e-01 -2.49561333e-02 9.34507798e+01] [ 3.76164444e-02 -4.92212735e-04 9.99292130e-01 1.02911672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.468623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:93.49, Z:10.29 [[ 7.43389988e-01 -6.68265804e-01 -2.81450000e-02 2.55423679e+02] [ 6.67799479e-01 7.43922548e-01 -2.49619326e-02 9.34893059e+01] [ 3.76189061e-02 -2.38765531e-04 9.99292130e-01 1.02928786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.528623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.46, Y:93.53, Z:10.29 [[ 7.48692706e-01 -6.62319679e-01 -2.81402531e-02 2.55464818e+02] [ 6.61848923e-01 7.49221354e-01 -2.49672828e-02 9.35283737e+01] [ 3.76196012e-02 6.82263111e-05 9.99292130e-01 1.02924511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.588623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:255.51, Y:93.57, Z:10.29 [[ 7.51385041e-01 -6.59263928e-01 -2.81352626e-02 2.55506630e+02] [ 6.58790811e-01 7.51911578e-01 -2.49729052e-02 9.35687253e+01] [ 3.76189653e-02 2.29014880e-04 9.99292130e-01 1.02949568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.648623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.55, Y:93.61, Z:10.30 [[ 7.52342468e-01 -6.58171310e-01 -2.81307072e-02 2.55547453e+02] [ 6.57697237e-01 7.52868144e-01 -2.49780356e-02 9.36098771e+01] [ 3.76185397e-02 2.90548568e-04 9.99292130e-01 1.02987141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.708623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.59, Y:93.65, Z:10.30 [[ 7.50810011e-01 -6.59919131e-01 -2.81259399e-02 2.55590128e+02] [ 6.59446081e-01 7.51336607e-01 -2.49834025e-02 9.36495711e+01] [ 3.76190735e-02 2.10247866e-04 9.99292130e-01 1.03004629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.63, Y:93.69, Z:10.30 [[ 7.48903998e-01 -6.62081571e-01 -2.81210614e-02 2.55630900e+02] [ 6.61609835e-01 7.49431772e-01 -2.49888925e-02 9.36893246e+01] [ 3.76195021e-02 1.09110665e-04 9.99292130e-01 1.03010341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.828623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.67, Y:93.73, Z:10.30 [[ 7.47144502e-01 -6.64066627e-01 -2.81177361e-02 2.55672486e+02] [ 6.63596153e-01 7.47673401e-01 -2.49926337e-02 9.37298061e+01] [ 3.76196573e-02 1.42873686e-05 9.99292130e-01 1.03028029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:93.77, Z:10.30 [[ 7.43807676e-01 -6.67802219e-01 -2.81129177e-02 2.55714002e+02] [ 6.67334196e-01 7.44338745e-01 -2.49980524e-02 9.37686372e+01] [ 3.76192888e-02 -1.66968125e-04 9.99292130e-01 1.03032333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.948623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:255.76, Y:93.81, Z:10.31 [[ 7.41444961e-01 -6.70424730e-01 -2.81078576e-02 2.55756405e+02] [ 6.69958370e-01 7.41977490e-01 -2.50037407e-02 9.38079245e+01] [ 3.76185238e-02 -2.92196859e-04 9.99292130e-01 1.03076643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00862385299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.80, Y:93.85, Z:10.31 [[ 7.37903279e-01 -6.74321118e-01 -2.81030520e-02 2.55798314e+02] [ 6.73857363e-01 7.38438079e-01 -2.50091408e-02 9.38484181e+01] [ 3.76165555e-02 -4.83121504e-04 9.99292130e-01 1.03130484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06862385299996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.84, Y:93.89, Z:10.32 [[ 7.34447185e-01 -6.78083934e-01 -2.80982188e-02 2.55841737e+02] [ 6.77622712e-01 7.34984171e-01 -2.50145698e-02 9.38864058e+01] [ 3.76137240e-02 -6.68110813e-04 9.99292130e-01 1.03156030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12862385299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:255.88, Y:93.92, Z:10.32 [[ 7.32688836e-01 -6.79983700e-01 -2.80933642e-02 2.55884466e+02] [ 6.79523661e-01 7.33226836e-01 -2.50200208e-02 9.39242116e+01] [ 3.76120148e-02 -7.58215759e-04 9.99292130e-01 1.03167098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18862385299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.93, Y:93.96, Z:10.32 [[ 7.31486467e-01 -6.81277182e-01 -2.80882689e-02 2.55926116e+02] [ 6.80817874e-01 7.32025091e-01 -2.50257396e-02 9.39633311e+01] [ 3.76107829e-02 -8.17005696e-04 9.99292130e-01 1.03177540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24862385299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.97, Y:94.00, Z:10.32 [[ 7.31350187e-01 -6.81423680e-01 -2.80833016e-02 2.55969527e+02] [ 6.80964267e-01 7.31888721e-01 -2.50313125e-02 9.40018868e+01] [ 3.76107808e-02 -8.17069774e-04 9.99292130e-01 1.03204636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.01, Y:94.04, Z:10.32 [[ 7.32335469e-01 -6.80364866e-01 -2.80786305e-02 2.56013357e+02] [ 6.79904473e-01 7.32873167e-01 -2.50365512e-02 9.40404612e+01] [ 3.76120646e-02 -7.55632034e-04 9.99292130e-01 1.03222159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.368623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:256.06, Y:94.08, Z:10.33 [[ 7.33731228e-01 -6.78859586e-01 -2.80739758e-02 2.56055543e+02] [ 6.78397890e-01 7.34267807e-01 -2.50417695e-02 9.40795204e+01] [ 3.76136619e-02 -6.71397665e-04 9.99292130e-01 1.03298979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.428623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:256.10, Y:94.12, Z:10.33 [[ 7.33995380e-01 -6.78574163e-01 -2.80693325e-02 2.56098613e+02] [ 6.78112060e-01 7.34531608e-01 -2.50469731e-02 9.41188047e+01] [ 3.76140408e-02 -6.49790298e-04 9.99292130e-01 1.03259072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.488623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:94.16, Z:10.33 [[ 7.34971030e-01 -6.77517502e-01 -2.80645580e-02 2.56141679e+02] [ 6.77054424e-01 7.35506416e-01 -2.50523217e-02 9.41573719e+01] [ 3.76150489e-02 -5.88502501e-04 9.99292130e-01 1.03274979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.548623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:94.20, Z:10.33 [[ 7.36169510e-01 -6.76215276e-01 -2.80598049e-02 2.56183718e+02] [ 6.75751048e-01 7.36703899e-01 -2.50576442e-02 9.41961185e+01] [ 3.76161295e-02 -5.14768901e-04 9.99292130e-01 1.03273332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.608623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:94.24, Z:10.33 [[ 7.38718652e-01 -6.73429790e-01 -2.80547944e-02 2.56226215e+02] [ 6.72963334e-01 7.39251097e-01 -2.50632528e-02 9.42356533e+01] [ 3.76178786e-02 -3.65155666e-04 9.99292130e-01 1.03332467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.668623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:256.27, Y:94.28, Z:10.33 [[ 7.40977434e-01 -6.70943843e-01 -2.80499738e-02 2.56267120e+02] [ 6.70475396e-01 7.41508129e-01 -2.50686467e-02 9.42759214e+01] [ 3.76189378e-02 -2.31515791e-04 9.99292130e-01 1.03323539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.728623853 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:94.32, Z:10.34 [[ 7.41914675e-01 -6.69907530e-01 -2.80449048e-02 2.56309088e+02] [ 6.69438127e-01 7.42444525e-01 -2.50743162e-02 9.43154495e+01] [ 3.76192593e-02 -1.71325420e-04 9.99292130e-01 1.03416759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.788623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:94.36, Z:10.34 [[ 7.42283850e-01 -6.69498651e-01 -2.80400284e-02 2.56349365e+02] [ 6.69028751e-01 7.42813258e-01 -2.50797682e-02 9.43560115e+01] [ 3.76193758e-02 -1.43278246e-04 9.99292130e-01 1.03386055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.848623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:256.39, Y:94.40, Z:10.34 [[ 7.41501498e-01 -6.70365253e-01 -2.80349013e-02 2.56390007e+02] [ 6.69895755e-01 7.42031263e-01 -2.50854981e-02 9.43955473e+01] [ 3.76192195e-02 -1.79526907e-04 9.99292131e-01 1.03404711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.908623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:256.43, Y:94.44, Z:10.34 [[ 7.40099003e-01 -6.71913528e-01 -2.80299363e-02 2.56431498e+02] [ 6.71444928e-01 7.40629562e-01 -2.50910447e-02 9.44363510e+01] [ 3.76188118e-02 -2.50701343e-04 9.99292131e-01 1.03421300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.968623853 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:256.47, Y:94.48, Z:10.35 [[ 7.38681400e-01 -6.73471884e-01 -2.80251887e-02 2.56474011e+02] [ 6.73004202e-01 7.39212769e-01 -2.50963463e-02 9.44751211e+01] [ 3.76182610e-02 -3.22865564e-04 9.99292131e-01 1.03517638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.028623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:256.51, Y:94.51, Z:10.35 [[ 7.35556048e-01 -6.76884155e-01 -2.80203786e-02 2.56514938e+02] [ 6.76418733e-01 7.36089398e-01 -2.51017157e-02 9.45146831e+01] [ 3.76164573e-02 -4.89790167e-04 9.99292131e-01 1.03462791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.088623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:256.56, Y:94.55, Z:10.35 [[ 7.32926672e-01 -6.79730559e-01 -2.80153514e-02 2.56558466e+02] [ 6.79266994e-01 7.33461637e-01 -2.51073252e-02 9.45528599e+01] [ 3.76144017e-02 -6.28075256e-04 9.99292131e-01 1.03478267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.148623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:256.60, Y:94.59, Z:10.35 [[ 7.30045439e-01 -6.82824326e-01 -2.80106685e-02 2.56602312e+02] [ 6.82362827e-01 7.30582187e-01 -2.51125486e-02 9.45901836e+01] [ 3.76115545e-02 -7.80137369e-04 9.99292131e-01 1.03493884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.208623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:256.65, Y:94.63, Z:10.35 [[ 7.27381857e-01 -6.85661214e-01 -2.80059678e-02 2.56646239e+02] [ 6.85201607e-01 7.27920225e-01 -2.51177898e-02 9.46262962e+01] [ 3.76084046e-02 -9.19509579e-04 9.99292131e-01 1.03514838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.268623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:256.69, Y:94.66, Z:10.36 [[ 7.24759994e-01 -6.88432199e-01 -2.80010437e-02 2.56690903e+02] [ 6.87974438e-01 7.25299934e-01 -2.51232779e-02 9.46612880e+01] [ 3.76048286e-02 -1.05565552e-03 9.99292131e-01 1.03550694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.328623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:256.74, Y:94.69, Z:10.36 [[ 7.23689737e-01 -6.89557378e-01 -2.79962121e-02 2.56735943e+02] [ 6.89100248e-01 7.24230211e-01 -2.51286609e-02 9.46947068e+01] [ 3.76033561e-02 -1.10684271e-03 9.99292131e-01 1.03589937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.388623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:256.78, Y:94.73, Z:10.36 [[ 7.23550361e-01 -6.89703781e-01 -2.79923008e-02 2.56781302e+02] [ 6.89246593e-01 7.24090785e-01 -2.51330172e-02 9.47314756e+01] [ 3.76033040e-02 -1.10859427e-03 9.99292131e-01 1.03624083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.448623853 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:256.83, Y:94.77, Z:10.37 [[ 7.24676768e-01 -6.88520369e-01 -2.79872178e-02 2.56827393e+02] [ 6.88062080e-01 7.25216258e-01 -2.51386761e-02 9.47651999e+01] [ 3.76052759e-02 -1.03952881e-03 9.99292131e-01 1.03683404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50862385299996 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:256.87, Y:94.80, Z:10.37 [[ 7.27327614e-01 -6.85719699e-01 -2.79827635e-02 2.56873618e+02] [ 6.85259142e-01 7.27865170e-01 -2.51436333e-02 9.48001059e+01] [ 3.76091636e-02 -8.87785678e-04 9.99292131e-01 1.03708227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56862385299996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:256.92, Y:94.84, Z:10.37 [[ 7.30207249e-01 -6.82652622e-01 -2.79780707e-02 2.56918227e+02] [ 6.82189606e-01 7.30742688e-01 -2.51488541e-02 9.48379387e+01] [ 3.76127018e-02 -7.22473518e-04 9.99292131e-01 1.03682282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62862385299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:94.88, Z:10.37 [[ 7.34955187e-01 -6.77538464e-01 -2.79732585e-02 2.56963146e+02] [ 6.77071518e-01 7.35487203e-01 -2.51542056e-02 9.48752112e+01] [ 3.76169155e-02 -4.52682764e-04 9.99292131e-01 1.03699172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68862385299997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:257.01, Y:94.91, Z:10.37 [[ 7.37909793e-01 -6.74319585e-01 -2.79684585e-02 2.57007158e+02] [ 6.73850116e-01 7.38439583e-01 -2.51595415e-02 9.49127231e+01] [ 3.76185884e-02 -2.81076906e-04 9.99292131e-01 1.03729664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74862385299997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:257.05, Y:94.95, Z:10.38 [[ 7.41188600e-01 -6.70714164e-01 -2.79636980e-02 2.57051835e+02] [ 6.70241919e-01 7.41715917e-01 -2.51648315e-02 9.49499537e+01] [ 3.76195288e-02 -9.05563472e-05 9.99292131e-01 1.03755438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.808623853 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:257.10, Y:94.99, Z:10.38 [[ 7.43627308e-01 -6.68009525e-01 -2.79589220e-02 2.57096723e+02] [ 6.67535162e-01 7.44152721e-01 -2.51701367e-02 9.49865830e+01] [ 3.76195989e-02 5.36374591e-05 9.99292131e-01 1.03770755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.868623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:95.02, Z:10.38 [[ 7.46211520e-01 -6.65121749e-01 -2.79539941e-02 2.57139813e+02] [ 6.64645148e-01 7.46734903e-01 -2.51756084e-02 9.50241079e+01] [ 3.76190678e-02 2.06842534e-04 9.99292131e-01 1.03792240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.928623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:257.18, Y:95.06, Z:10.38 [[ 7.48077908e-01 -6.63022100e-01 -2.79488417e-02 2.57181317e+02] [ 6.62543816e-01 7.48599754e-01 -2.51813270e-02 9.50626092e+01] [ 3.76182724e-02 3.20262168e-04 9.99292131e-01 1.03809609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.988623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:95.10, Z:10.38 [[ 7.50754281e-01 -6.59990265e-01 -2.79438674e-02 2.57223000e+02] [ 6.59509669e-01 7.51273998e-01 -2.51868458e-02 9.51030621e+01] [ 3.76165741e-02 4.79881559e-04 9.99292131e-01 1.03825654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.048623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:95.14, Z:10.38 [[ 7.51721075e-01 -6.58889084e-01 -2.79392204e-02 2.57263787e+02] [ 6.58407535e-01 7.52239910e-01 -2.51919997e-02 9.51424258e+01] [ 3.76157302e-02 5.41963856e-04 9.99292131e-01 1.03845010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.30, Y:95.19, Z:10.39 [[ 7.52579375e-01 -6.57908776e-01 -2.79343350e-02 2.57304103e+02] [ 6.57426350e-01 7.53097394e-01 -2.51974157e-02 9.51850038e+01] [ 3.76148758e-02 5.98287449e-04 9.99292131e-01 1.03861262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.168623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:257.34, Y:95.23, Z:10.39 [[ 7.52658355e-01 -6.57818629e-01 -2.79294205e-02 2.57343200e+02] [ 6.57335939e-01 7.53176128e-01 -2.52028618e-02 9.52273711e+01] [ 3.76146848e-02 6.10132655e-04 9.99292131e-01 1.03861799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.228623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:257.38, Y:95.27, Z:10.39 [[ 7.51889413e-01 -6.58697537e-01 -2.79260835e-02 2.57382474e+02] [ 6.58215315e-01 7.52407621e-01 -2.52065589e-02 9.52708713e+01] [ 3.76152963e-02 5.71168924e-04 9.99292131e-01 1.03881470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.288623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:95.31, Z:10.39 [[ 7.50532579e-01 -6.60243317e-01 -2.79214916e-02 2.57422125e+02] [ 6.59761973e-01 7.51051604e-01 -2.52116443e-02 9.53121265e+01] [ 3.76163007e-02 5.00622050e-04 9.99292131e-01 1.03908847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.348623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.46, Y:95.36, Z:10.39 [[ 7.47564635e-01 -6.63602123e-01 -2.79166522e-02 2.57461496e+02] [ 6.63122911e-01 7.48085628e-01 -2.52170019e-02 9.53550584e+01] [ 3.76181023e-02 3.39167109e-04 9.99292131e-01 1.03941831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.408623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:257.50, Y:95.40, Z:10.40 [[ 7.45261621e-01 -6.66187693e-01 -2.79118949e-02 2.57501453e+02] [ 6.65710092e-01 7.45784091e-01 -2.52222665e-02 9.53974706e+01] [ 3.76190107e-02 2.15957110e-04 9.99292131e-01 1.03950639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.468623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:257.54, Y:95.44, Z:10.39 [[ 7.41906514e-01 -6.69922324e-01 -2.79070421e-02 2.57539689e+02] [ 6.69447151e-01 7.42431194e-01 -2.52276347e-02 9.54412980e+01] [ 3.76196142e-02 3.42566669e-05 9.99292131e-01 1.03949153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.528623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.58, Y:95.48, Z:10.40 [[ 7.38744388e-01 -6.73407898e-01 -2.79021838e-02 2.57577963e+02] [ 6.72934998e-01 7.39271117e-01 -2.52330069e-02 9.54837178e+01] [ 3.76193847e-02 -1.35613753e-04 9.99292131e-01 1.03956060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.588623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:257.62, Y:95.53, Z:10.40 [[ 7.35452697e-01 -6.77001539e-01 -2.78970612e-02 2.57616300e+02] [ 6.76530998e-01 7.35981534e-01 -2.52386690e-02 9.55272614e+01] [ 3.76183397e-02 -3.11379435e-04 9.99292131e-01 1.03968480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.648623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:257.66, Y:95.57, Z:10.40 [[ 7.33140228e-01 -6.79505282e-01 -2.78922522e-02 2.57656650e+02] [ 6.79036344e-01 7.33670488e-01 -2.52439826e-02 9.55683211e+01] [ 3.76171417e-02 -4.32473823e-04 9.99292131e-01 1.03994454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.708623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.70, Y:95.61, Z:10.40 [[ 7.29804894e-01 -6.83086465e-01 -2.78872275e-02 2.57695803e+02] [ 6.82619917e-01 7.30337258e-01 -2.52495322e-02 9.56103740e+01] [ 3.76146949e-02 -6.09144745e-04 9.99292131e-01 1.04022426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.768623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:95.65, Z:10.41 [[ 7.27565710e-01 -6.85471100e-01 -2.78838418e-02 2.57735986e+02] [ 6.85006153e-01 7.28099473e-01 -2.52532705e-02 9.56517871e+01] [ 3.76125976e-02 -7.27189570e-04 9.99292131e-01 1.04053606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.828623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:257.78, Y:95.69, Z:10.41 [[ 7.24585736e-01 -6.88620551e-01 -2.78791601e-02 2.57776772e+02] [ 6.88157726e-01 7.25121339e-01 -2.52584380e-02 9.56928947e+01] [ 3.76092534e-02 -8.83355485e-04 9.99292131e-01 1.04075459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.888623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.82, Y:95.73, Z:10.41 [[ 7.22066702e-01 -6.91261675e-01 -2.78742816e-02 2.57817874e+02] [ 6.90800600e-01 7.22603813e-01 -2.52638206e-02 9.57323505e+01] [ 3.76059731e-02 -1.01340689e-03 9.99292131e-01 1.04094120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.948623853 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:257.86, Y:95.77, Z:10.41 [[ 7.20537060e-01 -6.92856157e-01 -2.78691668e-02 2.57860589e+02] [ 6.92396053e-01 7.21075003e-01 -2.52694616e-02 9.57720533e+01] [ 3.76038616e-02 -1.08891749e-03 9.99292131e-01 1.04112832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00862385299996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:95.81, Z:10.41 [[ 7.19314198e-01 -6.94125831e-01 -2.78642199e-02 2.57903363e+02] [ 6.93666466e-01 7.19852772e-01 -2.52749153e-02 9.58095306e+01] [ 3.76021075e-02 -1.14786946e-03 9.99292131e-01 1.04104265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06862385299996 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:257.95, Y:95.85, Z:10.42 [[ 7.18669508e-01 -6.94793465e-01 -2.78600020e-02 2.57946923e+02] [ 6.94334420e-01 7.19208355e-01 -2.52795637e-02 9.58479822e+01] [ 3.76012219e-02 -1.17650669e-03 9.99292131e-01 1.04209494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12862385299997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:257.99, Y:95.89, Z:10.42 [[ 7.18820670e-01 -6.94637274e-01 -2.78550099e-02 2.57990890e+02] [ 6.94177900e-01 7.19359235e-01 -2.52850632e-02 9.58850376e+01] [ 3.76017060e-02 -1.16090617e-03 9.99292131e-01 1.04164348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18862385299997 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:258.04, Y:95.92, Z:10.42 [[ 7.20155665e-01 -6.93253319e-01 -2.78505729e-02 2.58035480e+02] [ 6.92792720e-01 7.20693184e-01 -2.52899494e-02 9.59220159e+01] [ 3.76040594e-02 -1.08197384e-03 9.99292131e-01 1.04195896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24862385299997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:258.08, Y:95.96, Z:10.43 [[ 7.21392078e-01 -6.91966816e-01 -2.78459043e-02 2.58080093e+02] [ 6.91505061e-01 7.21928604e-01 -2.52950889e-02 9.59589821e+01] [ 3.76061169e-02 -1.00790696e-03 9.99292132e-01 1.04268304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.308623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:258.12, Y:96.00, Z:10.42 [[ 7.24653385e-01 -6.88550899e-01 -2.78411958e-02 2.58124917e+02] [ 6.88086415e-01 7.25187550e-01 -2.53002702e-02 9.59956660e+01] [ 3.76106124e-02 -8.23222125e-04 9.99292132e-01 1.04238343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:258.17, Y:96.03, Z:10.43 [[ 7.28976947e-01 -6.83972032e-01 -2.78365030e-02 2.58169000e+02] [ 6.83503995e-01 7.29508001e-01 -2.53054324e-02 9.60320591e+01] [ 3.76151597e-02 -5.79284190e-04 9.99292132e-01 1.04270561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.428623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:258.21, Y:96.07, Z:10.44 [[ 7.32305994e-01 -6.80406743e-01 -2.78315473e-02 2.58211551e+02] [ 6.79935913e-01 7.32834575e-01 -2.53108816e-02 9.60708153e+01] [ 3.76176147e-02 -3.88358219e-04 9.99292132e-01 1.04382252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.488623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:258.25, Y:96.11, Z:10.43 [[ 7.37178821e-01 -6.75124472e-01 -2.78268382e-02 2.58254924e+02] [ 6.74649659e-01 7.37703826e-01 -2.53160578e-02 9.61100509e+01] [ 3.76194551e-02 -1.10905298e-04 9.99292132e-01 1.04322968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.548623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:258.30, Y:96.15, Z:10.43 [[ 7.40449203e-01 -6.71536236e-01 -2.78219702e-02 2.58296942e+02] [ 6.71058677e-01 7.40971712e-01 -2.53214065e-02 9.61499593e+01] [ 3.76195349e-02 7.90407547e-05 9.99292132e-01 1.04323408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.608623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:96.19, Z:10.43 [[ 7.41388096e-01 -6.70499739e-01 -2.78170938e-02 2.58338263e+02] [ 6.70021250e-01 7.41909752e-01 -2.53267624e-02 9.61892165e+01] [ 3.76193608e-02 1.38916161e-04 9.99292132e-01 1.04325067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.668623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:258.38, Y:96.23, Z:10.44 [[ 7.42120385e-01 -6.69689287e-01 -2.78135412e-02 2.58379926e+02] [ 6.69210081e-01 7.42641384e-01 -2.53306632e-02 9.62291616e+01] [ 3.76191605e-02 1.85299331e-04 9.99292132e-01 1.04355160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.728623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:258.42, Y:96.27, Z:10.44 [[ 7.42534754e-01 -6.69230013e-01 -2.78087828e-02 2.58420903e+02] [ 6.68750290e-01 7.43055276e-01 -2.53358861e-02 9.62701793e+01] [ 3.76189981e-02 2.15644439e-04 9.99292132e-01 1.04381300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.788623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:258.46, Y:96.31, Z:10.44 [[ 7.42751386e-01 -6.68989774e-01 -2.78039735e-02 2.58461270e+02] [ 6.68509685e-01 7.43271570e-01 -2.53411628e-02 9.63106900e+01] [ 3.76188818e-02 2.34958187e-04 9.99292132e-01 1.04410127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.848623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.50, Y:96.35, Z:10.44 [[ 7.42354349e-01 -6.69430470e-01 -2.78004777e-02 2.58501456e+02] [ 6.68950546e-01 7.42874685e-01 -2.53449972e-02 9.63508637e+01] [ 3.76189845e-02 2.17824143e-04 9.99292132e-01 1.04434638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.908623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:258.54, Y:96.39, Z:10.45 [[ 7.41008322e-01 -6.70920257e-01 -2.77970358e-02 2.58540742e+02] [ 6.70441238e-01 7.41529491e-01 -2.53487716e-02 9.63932045e+01] [ 3.76193262e-02 1.47371642e-04 9.99292132e-01 1.04466148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.968623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:96.43, Z:10.45 [[ 7.39921068e-01 -6.72119332e-01 -2.77924011e-02 2.58581481e+02] [ 6.71640966e-01 7.40442837e-01 -2.53538520e-02 9.64338856e+01] [ 3.76194984e-02 9.33340947e-05 9.99292132e-01 1.04488049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.028623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:258.62, Y:96.48, Z:10.45 [[ 7.38298193e-01 -6.73901786e-01 -2.77877792e-02 2.58621817e+02] [ 6.73424489e-01 7.38820941e-01 -2.53589167e-02 9.64762821e+01] [ 3.76196124e-02 9.47136275e-06 9.99292132e-01 1.04491694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.088623853 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:258.66, Y:96.52, Z:10.45 [[ 7.36526948e-01 -6.75837368e-01 -2.77832097e-02 2.58660719e+02] [ 6.75361256e-01 7.37050775e-01 -2.53639219e-02 9.65185095e+01] [ 3.76195225e-02 -8.24914024e-05 9.99292132e-01 1.04482691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:258.70, Y:96.56, Z:10.45 [[ 7.34828622e-01 -6.77683742e-01 -2.77784647e-02 2.58701895e+02] [ 6.77208750e-01 7.35353464e-01 -2.53691176e-02 9.65600229e+01] [ 3.76192288e-02 -1.69865657e-04 9.99292132e-01 1.04505527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.208623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:258.74, Y:96.60, Z:10.46 [[ 7.31962410e-01 -6.80778705e-01 -2.77738175e-02 2.58741494e+02] [ 6.80305739e-01 7.32489079e-01 -2.53742043e-02 9.66021351e+01] [ 3.76182360e-02 -3.21723754e-04 9.99292132e-01 1.04551899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.78, Y:96.64, Z:10.46 [[ 7.29674669e-01 -6.83230395e-01 -2.77687756e-02 2.58781036e+02] [ 6.82758989e-01 7.30202734e-01 -2.53797208e-02 9.66432898e+01] [ 3.76170325e-02 -4.40441817e-04 9.99292132e-01 1.04590592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.328623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:258.82, Y:96.68, Z:10.46 [[ 7.27974962e-01 -6.85041265e-01 -2.77654438e-02 2.58822474e+02] [ 6.84571033e-01 7.28504074e-01 -2.53833653e-02 9.66838796e+01] [ 3.76158916e-02 -5.28964199e-04 9.99292132e-01 1.04620746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.388623853 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:258.86, Y:96.72, Z:10.46 [[ 7.25631517e-01 -6.87523274e-01 -2.77605494e-02 2.58864013e+02] [ 6.87054648e-01 7.26162051e-01 -2.53887169e-02 9.67230672e+01] [ 3.76139913e-02 -6.50161361e-04 9.99292132e-01 1.04641731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.448623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.91, Y:96.76, Z:10.46 [[ 7.23638987e-01 -6.89620368e-01 -2.77554335e-02 2.58906308e+02] [ 6.89153064e-01 7.24170687e-01 -2.53943085e-02 9.67613110e+01] [ 3.76121037e-02 -7.51430318e-04 9.99292132e-01 1.04649298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50862385299996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:258.95, Y:96.80, Z:10.47 [[ 7.20263288e-01 -6.93145519e-01 -2.77504199e-02 2.58949630e+02] [ 6.92680605e-01 7.20797079e-01 -2.53997861e-02 9.67991226e+01] [ 3.76081695e-02 -9.27644160e-04 9.99292132e-01 1.04651149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56862385299996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:96.83, Z:10.47 [[ 7.17238625e-01 -6.96275048e-01 -2.77454950e-02 2.58994844e+02] [ 6.95812256e-01 7.17774256e-01 -2.54051647e-02 9.68347185e+01] [ 3.76039843e-02 -1.08409008e-03 9.99292132e-01 1.04692366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62862385299997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:259.04, Y:96.87, Z:10.47 [[ 7.15646419e-01 -6.97911639e-01 -2.77406967e-02 2.59040572e+02] [ 6.97449869e-01 7.16182932e-01 -2.54104030e-02 9.68704893e+01] [ 3.76016295e-02 -1.16288139e-03 9.99292132e-01 1.04723917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68862385299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:96.91, Z:10.47 [[ 7.15305367e-01 -6.98261389e-01 -2.77356196e-02 2.59084853e+02] [ 6.97799667e-01 7.15841920e-01 -2.54159435e-02 9.69061885e+01] [ 3.76012912e-02 -1.17374538e-03 9.99292132e-01 1.04729341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:96.94, Z:10.48 [[ 7.15822982e-01 -6.97730926e-01 -2.77310914e-02 2.59131740e+02] [ 6.97268615e-01 7.16359029e-01 -2.54208832e-02 9.69413485e+01] [ 3.76023541e-02 -1.13916720e-03 9.99292132e-01 1.04757085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:259.18, Y:96.98, Z:10.48 [[ 7.16035678e-01 -6.97512834e-01 -2.77264273e-02 2.59177970e+02] [ 6.97050163e-01 7.16571413e-01 -2.54259693e-02 9.69767888e+01] [ 3.76029051e-02 -1.12080948e-03 9.99292132e-01 1.04786260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.868623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:259.23, Y:97.01, Z:10.49 [[ 7.15826275e-01 -6.97727922e-01 -2.77216571e-02 2.59225903e+02] [ 6.97265211e-01 7.16361976e-01 -2.54311691e-02 9.70099726e+01] [ 3.76027779e-02 -1.12504801e-03 9.99292132e-01 1.04889987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.928623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:97.04, Z:10.48 [[ 7.16214517e-01 -6.97329580e-01 -2.77168219e-02 2.59274992e+02] [ 6.96866367e-01 7.16749785e-01 -2.54364378e-02 9.70411774e+01] [ 3.76036066e-02 -1.09697491e-03 9.99292132e-01 1.04818134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.988623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.32, Y:97.08, Z:10.48 [[ 7.16666120e-01 -6.96865587e-01 -2.77133068e-02 2.59319465e+02] [ 6.96401880e-01 7.17200959e-01 -2.54402670e-02 9.70782494e+01] [ 3.76044568e-02 -1.06742150e-03 9.99292132e-01 1.04848820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.048623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:97.11, Z:10.49 [[ 7.19278734e-01 -6.94168815e-01 -2.77084618e-02 2.59367338e+02] [ 6.93702900e-01 7.19811650e-01 -2.54455429e-02 9.71098329e+01] [ 3.76083759e-02 -9.19002412e-04 9.99292132e-01 1.04877112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.108623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:259.42, Y:97.14, Z:10.49 [[ 7.23623115e-01 -6.89639118e-01 -2.77033344e-02 2.59415005e+02] [ 6.89169652e-01 7.24152906e-01 -2.54511240e-02 9.71431074e+01] [ 3.76135408e-02 -6.75275631e-04 9.99292132e-01 1.04903784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.168623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:259.46, Y:97.18, Z:10.49 [[ 7.27046168e-01 -6.86029640e-01 -2.76984383e-02 2.59459818e+02] [ 6.85557340e-01 7.27573434e-01 -2.54564512e-02 9.71793511e+01] [ 3.76165280e-02 -4.80852401e-04 9.99292132e-01 1.04913987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.228623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:97.21, Z:10.49 [[ 7.31715072e-01 -6.81047809e-01 -2.76935726e-02 2.59507009e+02] [ 6.80571720e-01 7.32238919e-01 -2.54617435e-02 9.72142995e+01] [ 3.76189763e-02 -2.16720798e-04 9.99292132e-01 1.04934417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.288623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:259.55, Y:97.25, Z:10.50 [[ 7.33731878e-01 -6.78874713e-01 -2.76885595e-02 2.59551582e+02] [ 6.78396865e-01 7.34254122e-01 -2.54671939e-02 9.72499811e+01] [ 3.76194728e-02 -9.77399686e-05 9.99292132e-01 1.05001186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.348623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:97.29, Z:10.50 [[ 7.35594473e-01 -6.76856268e-01 -2.76832747e-02 2.59598599e+02] [ 6.76376772e-01 7.36115203e-01 -2.54729373e-02 9.72851174e+01] [ 3.76195966e-02 1.34279248e-05 9.99292132e-01 1.05011101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.408623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:259.64, Y:97.32, Z:10.50 [[ 7.36080312e-01 -6.76328086e-01 -2.76784130e-02 2.59643600e+02] [ 6.75848017e-01 7.36600515e-01 -2.54782188e-02 9.73214230e+01] [ 3.76195682e-02 4.76147028e-05 9.99292132e-01 1.05034465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:97.36, Z:10.50 [[ 7.35739125e-01 -6.76699436e-01 -2.76733166e-02 2.59689782e+02] [ 6.76219422e-01 7.36259378e-01 -2.54837531e-02 9.73561811e+01] [ 3.76195802e-02 3.61600337e-05 9.99292132e-01 1.05033807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.528623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.74, Y:97.39, Z:10.51 [[ 7.35143031e-01 -6.77347116e-01 -2.76696204e-02 2.59735204e+02] [ 6.76867409e-01 7.35663567e-01 -2.54877656e-02 9.73910927e+01] [ 3.76195962e-02 8.48899253e-06 9.99292132e-01 1.05051046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.588623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:259.78, Y:97.43, Z:10.51 [[ 7.34731547e-01 -6.77793650e-01 -2.76644480e-02 2.59779154e+02] [ 6.77314048e-01 7.35252180e-01 -2.54933786e-02 9.74283732e+01] [ 3.76195958e-02 -6.72971710e-06 9.99292132e-01 1.05069466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.648623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:259.82, Y:97.46, Z:10.51 [[ 7.33724561e-01 -6.78883796e-01 -2.76597110e-02 2.59824359e+02] [ 6.78404774e-01 7.34245728e-01 -2.54985171e-02 9.74644412e+01] [ 3.76195547e-02 -5.55917365e-05 9.99292132e-01 1.05095071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.708623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:97.50, Z:10.51 [[ 7.32166812e-01 -6.80563707e-01 -2.76550072e-02 2.59869683e+02] [ 6.80085688e-01 7.32688899e-01 -2.55036176e-02 9.75013566e+01] [ 3.76193533e-02 -1.34872186e-04 9.99292132e-01 1.05136314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.91, Y:97.54, Z:10.52 [[ 7.31473288e-01 -6.81309254e-01 -2.76501288e-02 2.59914453e+02] [ 6.80831567e-01 7.31995678e-01 -2.55089055e-02 9.75389152e+01] [ 3.76192282e-02 -1.65997499e-04 9.99292133e-01 1.05160302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.828623853 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:97.58, Z:10.52 [[ 7.32397809e-01 -6.80315508e-01 -2.76452404e-02 2.59958184e+02] [ 6.79836912e-01 7.32919367e-01 -2.55142022e-02 9.75765352e+01] [ 3.76194395e-02 -1.07709116e-04 9.99292133e-01 1.05224159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.888623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:260.00, Y:97.61, Z:10.52 [[ 7.34286552e-01 -6.78276689e-01 -2.76404070e-02 2.60003023e+02] [ 6.77796448e-01 7.34806596e-01 -2.55194374e-02 9.76142285e+01] [ 3.76195929e-02 4.01001535e-06 9.99292133e-01 1.05161203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.948623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:260.05, Y:97.65, Z:10.52 [[ 7.36035240e-01 -6.76378887e-01 -2.76355934e-02 2.60046153e+02] [ 6.75897110e-01 7.36553860e-01 -2.55246490e-02 9.76529227e+01] [ 3.76194367e-02 1.08223467e-04 9.99292133e-01 1.05196826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00862385299996 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:260.09, Y:97.69, Z:10.53 [[ 7.38053065e-01 -6.74176691e-01 -2.76308156e-02 2.60087764e+02] [ 6.73693173e-01 7.38570063e-01 -2.55298200e-02 9.76908509e+01] [ 3.76189028e-02 2.27670075e-04 9.99292133e-01 1.05288146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06862385299996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:97.73, Z:10.52 [[ 7.39251194e-01 -6.72862903e-01 -2.76258193e-02 2.60130349e+02] [ 6.72378264e-01 7.39767141e-01 -2.55352254e-02 9.77307958e+01] [ 3.76183793e-02 3.01945464e-04 9.99292133e-01 1.05247084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12862385299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:260.17, Y:97.77, Z:10.53 [[ 7.40599695e-01 -6.71378569e-01 -2.76208059e-02 2.60171567e+02] [ 6.70892693e-01 7.41114478e-01 -2.55406472e-02 9.77707488e+01] [ 3.76176223e-02 3.84798679e-04 9.99292133e-01 1.05267732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18862385299997 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:260.21, Y:97.81, Z:10.53 [[ 7.42883156e-01 -6.68851251e-01 -2.76155711e-02 2.60212684e+02] [ 6.68363414e-01 7.43396081e-01 -2.55463060e-02 9.78109438e+01] [ 3.76159860e-02 5.20683021e-04 9.99292133e-01 1.05296641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24862385299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:260.25, Y:97.85, Z:10.53 [[ 7.44011281e-01 -6.67596333e-01 -2.76107035e-02 2.60252679e+02] [ 6.67107435e-01 7.44523195e-01 -2.55515659e-02 9.78533153e+01] [ 3.76149408e-02 5.91347663e-04 9.99292133e-01 1.05312230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.308623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:260.29, Y:97.89, Z:10.53 [[ 7.44045804e-01 -6.67558060e-01 -2.76057493e-02 2.60292955e+02] [ 6.67068938e-01 7.44557503e-01 -2.55569172e-02 9.78935044e+01] [ 3.76147938e-02 6.00579180e-04 9.99292133e-01 1.05331875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.368623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:260.33, Y:97.94, Z:10.54 [[ 7.42620856e-01 -6.69143024e-01 -2.76021483e-02 2.60332889e+02] [ 6.68654849e-01 7.43133459e-01 -2.55608057e-02 9.79353680e+01] [ 3.76159148e-02 5.25677102e-04 9.99292133e-01 1.05350368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.428623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:97.98, Z:10.54 [[ 7.39403675e-01 -6.72696509e-01 -2.75973183e-02 2.60372754e+02] [ 6.72210604e-01 7.39918430e-01 -2.55660196e-02 9.79782298e+01] [ 3.76179365e-02 3.52398856e-04 9.99292133e-01 1.05379968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.488623853 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:260.41, Y:98.02, Z:10.55 [[ 7.35003596e-01 -6.77501568e-01 -2.75923874e-02 2.60412955e+02] [ 6.77018828e-01 7.35521320e-01 -2.55713401e-02 9.80191002e+01] [ 3.76194122e-02 1.14461151e-04 9.99292133e-01 1.05477879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.548623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:98.06, Z:10.54 [[ 7.31943355e-01 -6.80806772e-01 -2.75874080e-02 2.60453813e+02] [ 6.80326168e-01 7.32463062e-01 -2.55767110e-02 9.80591370e+01] [ 3.76195554e-02 -4.77319486e-05 9.99292133e-01 1.05426987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.608623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:98.10, Z:10.54 [[ 7.28144400e-01 -6.84868569e-01 -2.75821679e-02 2.60494540e+02] [ 6.84390650e-01 7.28666578e-01 -2.55823607e-02 9.81003855e+01] [ 3.76187587e-02 -2.49325146e-04 9.99292133e-01 1.05449483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.668623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:260.54, Y:98.14, Z:10.55 [[ 7.25554288e-01 -6.87612151e-01 -2.75772405e-02 2.60536135e+02] [ 6.87136005e-01 7.26078083e-01 -2.55876713e-02 9.81407459e+01] [ 3.76176236e-02 -3.84070256e-04 9.99292133e-01 1.05469820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.728623853 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:260.58, Y:98.18, Z:10.55 [[ 7.21697874e-01 -6.91658842e-01 -2.75721905e-02 2.60577011e+02] [ 6.91185424e-01 7.22224135e-01 -2.55931117e-02 9.81806214e+01] [ 3.76150035e-02 -5.87001889e-04 9.99292133e-01 1.05483254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.788623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:260.62, Y:98.22, Z:10.55 [[ 7.19029240e-01 -6.94432876e-01 -2.75668756e-02 2.60619481e+02] [ 6.93961270e-01 7.19557125e-01 -2.55988353e-02 9.82199217e+01] [ 3.76126146e-02 -7.24032897e-04 9.99292133e-01 1.05499746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.848623853 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:260.66, Y:98.26, Z:10.56 [[ 7.15542554e-01 -6.98025207e-01 -2.75620004e-02 2.60662112e+02] [ 6.97556048e-01 7.16072615e-01 -2.56040833e-02 9.82583775e+01] [ 3.76086893e-02 -9.05228934e-04 9.99292133e-01 1.05611456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.908623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:260.70, Y:98.30, Z:10.55 [[ 7.14288824e-01 -6.99308288e-01 -2.75571040e-02 2.60704682e+02] [ 6.98839878e-01 7.14819548e-01 -2.56093521e-02 9.82966371e+01] [ 3.76071888e-02 -9.65529162e-04 9.99292133e-01 1.05546832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.968623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:260.75, Y:98.33, Z:10.56 [[ 7.11709756e-01 -7.01933125e-01 -2.75519751e-02 2.60748628e+02] [ 7.01466459e-01 7.12242013e-01 -2.56148688e-02 9.83343707e+01] [ 3.76035992e-02 -1.09643442e-03 9.99292133e-01 1.05583021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.028623853 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:260.79, Y:98.37, Z:10.56 [[ 7.10961563e-01 -7.02691132e-01 -2.75468483e-02 2.60792640e+02] [ 7.02224820e-01 7.11494131e-01 -2.56203812e-02 9.83716955e+01] [ 3.76026355e-02 -1.12897431e-03 9.99292133e-01 1.05605214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.088623853 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:260.84, Y:98.41, Z:10.56 [[ 7.11166811e-01 -7.02483608e-01 -2.75417376e-02 2.60837470e+02] [ 7.02016928e-01 7.11699057e-01 -2.56258739e-02 9.84072964e+01] [ 3.76031851e-02 -1.11049498e-03 9.99292133e-01 1.05618275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.148623853 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:260.88, Y:98.44, Z:10.57 [[ 7.12089645e-01 -7.01548349e-01 -2.75363566e-02 2.60879726e+02] [ 7.01080747e-01 7.12621081e-01 -2.56316548e-02 9.84436730e+01] [ 3.76048333e-02 -1.05317347e-03 9.99292133e-01 1.05650322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.208623853 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:98.48, Z:10.57 [[ 7.14121403e-01 -6.99480292e-01 -2.75307590e-02 2.60924310e+02] [ 6.99010919e-01 7.14651275e-01 -2.56376657e-02 9.84812996e+01] [ 3.76079340e-02 -9.35895342e-04 9.99292133e-01 1.05674678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.268623853 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:260.97, Y:98.52, Z:10.58 [[ 7.16087318e-01 -6.97467763e-01 -2.75258480e-02 2.60968514e+02] [ 6.96996698e-01 7.16615687e-01 -2.56429373e-02 9.85162834e+01] [ 3.76105766e-02 -8.22842952e-04 9.99292133e-01 1.05775258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.328623853 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:261.01, Y:98.55, Z:10.57 [[ 7.17029118e-01 -6.96499716e-01 -2.75207004e-02 2.61013306e+02] [ 6.96027726e-01 7.17556660e-01 -2.56484607e-02 9.85536492e+01] [ 3.76118075e-02 -7.64477312e-04 9.99292133e-01 1.05716301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.388623853 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:261.06, Y:98.59, Z:10.57 [[ 7.18815775e-01 -6.94655856e-01 -2.75158755e-02 2.61058549e+02] [ 6.94182314e-01 7.19341925e-01 -2.56536359e-02 9.85897967e+01] [ 3.76137712e-02 -6.60795994e-04 9.99292133e-01 1.05724243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.448623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:98.63, Z:10.58 [[ 7.20797515e-01 -6.92599514e-01 -2.75110128e-02 2.61103747e+02] [ 6.92124272e-01 7.21322130e-01 -2.56588496e-02 9.86265913e+01] [ 3.76156091e-02 -5.46204686e-04 9.99292133e-01 1.05751995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50862385299996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:261.15, Y:98.66, Z:10.58 [[ 7.21679053e-01 -6.91681110e-01 -2.75061148e-02 2.61147158e+02] [ 6.91205001e-01 7.22202881e-01 -2.56640991e-02 9.86638184e+01] [ 3.76163679e-02 -4.91121361e-04 9.99292133e-01 1.05776122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56862385299996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:261.19, Y:98.70, Z:10.58 [[ 7.22837392e-01 -6.90470710e-01 -2.75009658e-02 2.61191893e+02] [ 6.89993514e-01 7.23360229e-01 -2.56696155e-02 9.86994417e+01] [ 3.76172226e-02 -4.20530112e-04 9.99292133e-01 1.05817146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62862385299997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:261.24, Y:98.74, Z:10.58 [[ 7.23924590e-01 -6.89330968e-01 -2.74955321e-02 2.61236572e+02] [ 6.88852728e-01 7.24446473e-01 -2.56754344e-02 9.87363743e+01] [ 3.76179133e-02 -3.53293915e-04 9.99292133e-01 1.05832342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68862385299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:261.28, Y:98.77, Z:10.59 [[ 7.24613411e-01 -6.88607051e-01 -2.74906011e-02 2.61280509e+02] [ 6.88128089e-01 7.25134631e-01 -2.56807128e-02 9.87748821e+01] [ 3.76183069e-02 -3.08465895e-04 9.99292133e-01 1.05852742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74862385299997 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:261.32, Y:98.81, Z:10.59 [[ 7.25545025e-01 -6.87625592e-01 -2.74856692e-02 2.61323911e+02] [ 6.87145725e-01 7.26065412e-01 -2.56859903e-02 9.88134731e+01] [ 3.76187380e-02 -2.50317592e-04 9.99292133e-01 1.05884724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.808623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:261.37, Y:98.85, Z:10.59 [[ 7.26048578e-01 -6.87094077e-01 -2.74807534e-02 2.61367224e+02] [ 6.86613630e-01 7.26568429e-01 -2.56912485e-02 9.88514669e+01] [ 3.76189525e-02 -2.15565435e-04 9.99292133e-01 1.05902789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.868623853 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:261.41, Y:98.89, Z:10.59 [[ 7.27605008e-01 -6.85445864e-01 -2.74758075e-02 2.61411001e+02] [ 6.84964039e-01 7.28123584e-01 -2.56965369e-02 9.88901221e+01] [ 3.76193683e-02 -1.23011197e-04 9.99292133e-01 1.05919524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.928623853 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:261.45, Y:98.93, Z:10.60 [[ 7.28772787e-01 -6.84204338e-01 -2.74708490e-02 2.61452671e+02] [ 6.83721431e-01 7.29290354e-01 -2.57018367e-02 9.89282747e+01] [ 3.76195334e-02 -5.16090393e-05 9.99292133e-01 1.05974661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.988623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:261.50, Y:98.97, Z:10.59 [[ 7.30212733e-01 -6.82667565e-01 -2.74656186e-02 2.61495370e+02] [ 6.82183358e-01 7.30729084e-01 -2.57074248e-02 9.89683263e+01] [ 3.76195514e-02 3.53010392e-05 9.99292134e-01 1.05944947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.048623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:261.54, Y:99.01, Z:10.60 [[ 7.30678946e-01 -6.82168741e-01 -2.74606505e-02 2.61536744e+02] [ 6.81683982e-01 7.31194779e-01 -2.57127307e-02 9.90080954e+01] [ 3.76195053e-02 6.82653847e-05 9.99292134e-01 1.05961136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.108623853 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:261.58, Y:99.05, Z:10.60 [[ 7.30314912e-01 -6.82558663e-01 -2.74554285e-02 2.61578170e+02] [ 6.82073970e-01 7.30830807e-01 -2.57183053e-02 9.90481311e+01] [ 3.76195251e-02 5.58287621e-05 9.99292134e-01 1.06004471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.168623853 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:99.09, Z:10.61 [[ 7.29469038e-01 -6.83462804e-01 -2.74503063e-02 2.61619390e+02] [ 6.82978544e-01 7.29985340e-01 -2.57237713e-02 9.90880880e+01] [ 3.76195620e-02 1.67244979e-05 9.99292134e-01 1.06104980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.228623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:99.13, Z:10.61 [[ 7.28592176e-01 -6.84397692e-01 -2.74452151e-02 2.61660426e+02] [ 6.83913890e-01 7.29108907e-01 -2.57292021e-02 9.91284148e+01] [ 3.76195573e-02 -2.40684644e-05 9.99292134e-01 1.06053328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.288623853 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:261.70, Y:99.17, Z:10.61 [[ 7.27444829e-01 -6.85617229e-01 -2.74415136e-02 2.61700249e+02] [ 6.85134145e-01 7.27962230e-01 -2.57331493e-02 9.91689855e+01] [ 3.76194760e-02 -8.16715417e-05 9.99292134e-01 1.06066015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.348623853 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:261.74, Y:99.21, Z:10.61 [[ 7.26802304e-01 -6.86298523e-01 -2.74362491e-02 2.61740869e+02] [ 6.85815712e-01 7.27319961e-01 -2.57387611e-02 9.92084507e+01] [ 3.76194053e-02 -1.09219862e-04 9.99292134e-01 1.06088425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.408623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:261.78, Y:99.25, Z:10.61 [[ 7.25215430e-01 -6.87975376e-01 -2.74310456e-02 2.61782344e+02] [ 6.87493552e-01 7.25734005e-01 -2.57443055e-02 9.92496036e+01] [ 3.76190908e-02 -1.88499367e-04 9.99292134e-01 1.06119685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.468623853 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:261.82, Y:99.29, Z:10.61 [[ 7.23303077e-01 -6.89985843e-01 -2.74261888e-02 2.61823544e+02] [ 6.89505264e-01 7.23822806e-01 -2.57494785e-02 9.92898654e+01] [ 3.76184766e-02 -2.85824523e-04 9.99292134e-01 1.06136313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.528623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:261.86, Y:99.33, Z:10.61 [[ 7.22052432e-01 -6.91294698e-01 -2.74212849e-02 2.61864834e+02] [ 6.90814863e-01 7.22572848e-01 -2.57546997e-02 9.93291117e+01] [ 3.76179633e-02 -3.46787627e-04 9.99292134e-01 1.06147427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.588623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:261.91, Y:99.37, Z:10.62 [[ 7.20764580e-01 -6.92637550e-01 -2.74161325e-02 2.61907073e+02] [ 6.92158476e-01 7.21285697e-01 -2.57601833e-02 9.93686148e+01] [ 3.76173345e-02 -4.09280795e-04 9.99292134e-01 1.06176361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.648623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:99.41, Z:10.62 [[ 7.19294264e-01 -6.94164533e-01 -2.74110175e-02 2.61948301e+02] [ 6.93686358e-01 7.19816206e-01 -2.57656251e-02 9.94079793e+01] [ 3.76164777e-02 -4.81582563e-04 9.99292134e-01 1.06199732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.708623853 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:261.99, Y:99.45, Z:10.62 [[ 7.18118661e-01 -6.95380845e-01 -2.74056467e-02 2.61989095e+02] [ 6.94903336e-01 7.18641212e-01 -2.57713364e-02 9.94465689e+01] [ 3.76157209e-02 -5.37397691e-04 9.99292134e-01 1.06220755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.768623853 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:99.49, Z:10.62 [[ 7.17612073e-01 -6.95903840e-01 -2.73999556e-02 2.62030333e+02] [ 6.95426482e-01 7.18134761e-01 -2.57773857e-02 9.94856841e+01] [ 3.76154423e-02 -5.56491523e-04 9.99292134e-01 1.06236437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.828623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:99.52, Z:10.62 [[ 7.16986454e-01 -6.96548610e-01 -2.73945157e-02 2.62073247e+02] [ 6.96071500e-01 7.17509370e-01 -2.57831656e-02 9.95243317e+01] [ 3.76150499e-02 -5.82361187e-04 9.99292134e-01 1.06226675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.888623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:262.12, Y:99.56, Z:10.63 [[ 7.17348526e-01 -6.96175925e-01 -2.73893137e-02 2.62115802e+02] [ 6.95698332e-01 7.17871001e-01 -2.57886905e-02 9.95641511e+01] [ 3.76154595e-02 -5.55220747e-04 9.99292134e-01 1.06252543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.948623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:262.16, Y:99.60, Z:10.64 [[ 7.19095819e-01 -6.94371156e-01 -2.73843106e-02 2.62157499e+02] [ 6.93892051e-01 7.19616906e-01 -2.57940021e-02 9.96030932e+01] [ 3.76168239e-02 -4.53396400e-04 9.99292134e-01 1.06360299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00862385299996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:262.20, Y:99.64, Z:10.63 [[ 7.20009481e-01 -6.93423921e-01 -2.73790461e-02 2.62199857e+02] [ 6.92943918e-01 7.20529741e-01 -2.57995888e-02 9.96432660e+01] [ 3.76174691e-02 -3.96194938e-04 9.99292134e-01 1.06322456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06862385299996 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:262.24, Y:99.68, Z:10.64 [[ 7.21272114e-01 -6.92110693e-01 -2.73738174e-02 2.62241320e+02] [ 6.91629531e-01 7.21791304e-01 -2.58051354e-02 9.96824627e+01] [ 3.76181935e-02 -3.20015906e-04 9.99292134e-01 1.06355528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12862385299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:262.28, Y:99.72, Z:10.64 [[ 7.21975945e-01 -6.91376677e-01 -2.73683305e-02 2.62283089e+02] [ 6.90894767e-01 7.22494440e-01 -2.58109534e-02 9.97226255e+01] [ 3.76185578e-02 -2.73748898e-04 9.99292134e-01 1.06396434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18862385299997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:99.76, Z:10.64 [[ 7.23017575e-01 -6.90287506e-01 -2.73632199e-02 2.62324265e+02] [ 6.89804610e-01 7.23535152e-01 -2.58163702e-02 9.97618371e+01] [ 3.76189692e-02 -2.09585813e-04 9.99292134e-01 1.06398244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24862385299997 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:262.37, Y:99.80, Z:10.65 [[ 7.23661344e-01 -6.89612730e-01 -2.73595063e-02 2.62365944e+02] [ 6.89129202e-01 7.24178331e-01 -2.58203051e-02 9.98012867e+01] [ 3.76191727e-02 -1.69078040e-04 9.99292134e-01 1.06484442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.308623853 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:262.41, Y:99.84, Z:10.65 [[ 7.24001938e-01 -6.89255339e-01 -2.73545489e-02 2.62408370e+02] [ 6.88771358e-01 7.24518501e-01 -2.58255561e-02 9.98413227e+01] [ 3.76192791e-02 -1.43277054e-04 9.99292134e-01 1.06484129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.368623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.45, Y:99.88, Z:10.64 [[ 7.23980367e-01 -6.89278193e-01 -2.73496191e-02 2.62449770e+02] [ 6.88794031e-01 7.24496759e-01 -2.58307758e-02 9.98814428e+01] [ 3.76193008e-02 -1.37279847e-04 9.99292134e-01 1.06446679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.428623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:262.49, Y:99.92, Z:10.65 [[ 7.23337435e-01 -6.89953068e-01 -2.73444346e-02 2.62491621e+02] [ 6.89469181e-01 7.23854085e-01 -2.58362629e-02 9.99221275e+01] [ 3.76191895e-02 -1.64808819e-04 9.99292134e-01 1.06485074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.488623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:262.53, Y:99.96, Z:10.66 [[ 7.20877925e-01 -6.92522613e-01 -2.73394938e-02 2.62534066e+02] [ 6.92040369e-01 7.21396108e-01 -2.58414901e-02 9.99608386e+01] [ 3.76184207e-02 -2.91473620e-04 9.99292134e-01 1.06577884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.548623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:100.00, Z:10.65 [[ 7.17841500e-01 -6.95669763e-01 -2.73342423e-02 2.62577482e+02] [ 6.95189579e-01 7.18361594e-01 -2.58470438e-02 9.99979234e+01] [ 3.76168767e-02 -4.48399656e-04 9.99292134e-01 1.06518779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.608623853 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:262.62, Y:100.04, Z:10.66 [[ 7.15663562e-01 -6.97910314e-01 -2.73287297e-02 2.62619970e+02] [ 6.97431535e-01 7.16184950e-01 -2.58528711e-02 1.00035609e+02] [ 3.76154103e-02 -5.57960054e-04 9.99292134e-01 1.06598960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.668623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.66, Y:100.07, Z:10.66 [[ 7.12937008e-01 -7.00695551e-01 -2.73233934e-02 2.62664257e+02] [ 7.00218593e-01 7.13460061e-01 -2.58585097e-02 1.00072723e+02] [ 3.76130926e-02 -6.96859597e-04 9.99292134e-01 1.06592834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.728623853 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:262.71, Y:100.11, Z:10.66 [[ 7.11155308e-01 -7.02503975e-01 -2.73183611e-02 2.62707940e+02] [ 7.02028143e-01 7.11679386e-01 -2.58638250e-02 1.00108772e+02] [ 3.76113543e-02 -7.85061888e-04 9.99292134e-01 1.06587551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.788623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:262.75, Y:100.14, Z:10.66 [[ 7.09567377e-01 -7.04108065e-01 -2.73124503e-02 2.62753258e+02] [ 7.03633178e-01 7.10092311e-01 -2.58700653e-02 1.00143204e+02] [ 3.76096826e-02 -8.61391836e-04 9.99292134e-01 1.06610734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.848623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:262.80, Y:100.18, Z:10.67 [[ 7.09658406e-01 -7.04016485e-01 -2.73081615e-02 2.62797726e+02] [ 7.03541356e-01 7.10183122e-01 -2.58745917e-02 1.00180883e+02] [ 3.76099345e-02 -8.50299462e-04 9.99292134e-01 1.06685256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.908623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.84, Y:100.22, Z:10.67 [[ 7.11963019e-01 -7.01685973e-01 -2.73030246e-02 2.62843500e+02] [ 7.01208918e-01 7.12485984e-01 -2.58800111e-02 1.00216695e+02] [ 3.76126631e-02 -7.19513573e-04 9.99292134e-01 1.06657876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.968623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:262.89, Y:100.25, Z:10.67 [[ 7.14683361e-01 -6.98915243e-01 -2.72979100e-02 2.62887616e+02] [ 6.98435955e-01 7.15204280e-01 -2.58854048e-02 1.00253994e+02] [ 3.76152861e-02 -5.65973755e-04 9.99292134e-01 1.06686029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.028623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:262.93, Y:100.29, Z:10.67 [[ 7.19408320e-01 -6.94050985e-01 -2.72928421e-02 2.62929884e+02] [ 6.93567971e-01 7.19925787e-01 -2.58907471e-02 1.00290797e+02] [ 3.76183194e-02 -3.03422204e-04 9.99292134e-01 1.06706760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.088623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.97, Y:100.33, Z:10.67 [[ 7.23821341e-01 -6.89447672e-01 -2.72868825e-02 2.62973100e+02] [ 6.88961130e-01 7.24335492e-01 -2.58970266e-02 1.00328610e+02] [ 3.76195022e-02 -5.47808938e-05 9.99292134e-01 1.06729732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.148623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:100.37, Z:10.67 [[ 7.26365422e-01 -6.86767065e-01 -2.72813571e-02 2.63015304e+02] [ 6.86278408e-01 7.26877562e-01 -2.59028461e-02 1.00368786e+02] [ 3.76194279e-02 9.23254380e-05 9.99292135e-01 1.06747114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.208623853 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:100.41, Z:10.69 [[ 7.29418009e-01 -6.83524222e-01 -2.72764704e-02 2.63056772e+02] [ 6.83033095e-01 7.29927782e-01 -2.59079909e-02 1.00408857e+02] [ 3.76185928e-02 2.67023122e-04 9.99292135e-01 1.06879951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.268623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:263.10, Y:100.45, Z:10.68 [[ 7.30930101e-01 -6.81907218e-01 -2.72714665e-02 2.63097855e+02] [ 6.81414768e-01 7.31438595e-01 -2.59132571e-02 1.00449214e+02] [ 3.76178402e-02 3.57599623e-04 9.99292135e-01 1.06810213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.328623853 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:263.14, Y:100.49, Z:10.69 [[ 7.31875151e-01 -6.80892964e-01 -2.72678280e-02 2.63138201e+02] [ 6.80399666e-01 7.32382823e-01 -2.59170852e-02 1.00490670e+02] [ 3.76172498e-02 4.15049640e-04 9.99292135e-01 1.06917212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.388623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:100.53, Z:10.68 [[ 7.31794177e-01 -6.80980188e-01 -2.72629048e-02 2.63177709e+02] [ 6.80486757e-01 7.32301720e-01 -2.59222630e-02 1.00532393e+02] [ 3.76172196e-02 4.17715492e-04 9.99292135e-01 1.06848543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.448623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:263.22, Y:100.57, Z:10.69 [[ 7.31176263e-01 -6.81643814e-01 -2.72577189e-02 2.63218295e+02] [ 6.81150641e-01 7.31684056e-01 -2.59277149e-02 1.00574616e+02] [ 3.76175048e-02 3.91117017e-04 9.99292135e-01 1.06861462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50862385299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.26, Y:100.62, Z:10.69 [[ 7.29596610e-01 -6.83334511e-01 -2.72531343e-02 2.63257806e+02] [ 6.82842335e-01 7.30105369e-01 -2.59325330e-02 1.00617003e+02] [ 3.76182544e-02 3.10694338e-04 9.99292135e-01 1.06905390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56862385299996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:263.30, Y:100.66, Z:10.69 [[ 7.27781970e-01 -6.85267062e-01 -2.72480713e-02 2.63295972e+02] [ 6.84776038e-01 7.28291841e-01 -2.59378517e-02 1.00660713e+02] [ 3.76189035e-02 2.18274505e-04 9.99292135e-01 1.06942904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.34, Y:100.70, Z:10.70 [[ 7.26383096e-01 -6.86749896e-01 -2.72429483e-02 2.63335150e+02] [ 6.86259710e-01 7.26893774e-01 -2.59432314e-02 1.00702734e+02] [ 3.76192410e-02 1.48986901e-04 9.99292135e-01 1.06959089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:100.74, Z:10.70 [[ 7.25640784e-01 -6.87534347e-01 -2.72392233e-02 2.63374814e+02] [ 6.87044567e-01 7.26151850e-01 -2.59471418e-02 1.00743051e+02] [ 3.76193636e-02 1.13743947e-04 9.99292135e-01 1.06970309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74862385299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:100.79, Z:10.70 [[ 7.23582259e-01 -6.89700615e-01 -2.72355543e-02 2.63412917e+02] [ 6.89212220e-01 7.24094650e-01 -2.59509925e-02 1.00787345e+02] [ 3.76195346e-02 6.60094762e-06 9.99292135e-01 1.07008091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.808623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:263.45, Y:100.83, Z:10.70 [[ 7.21979012e-01 -6.91378916e-01 -2.72305189e-02 2.63450696e+02] [ 6.90891513e-01 7.22492346e-01 -2.59562751e-02 1.00832107e+02] [ 3.76194628e-02 -7.34484826e-05 9.99292135e-01 1.07049888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:100.88, Z:10.71 [[ 7.20744065e-01 -6.92666416e-01 -2.72255048e-02 2.63490266e+02] [ 6.92179732e-01 7.21258080e-01 -2.59615333e-02 1.00875216e+02] [ 3.76192976e-02 -1.33321503e-04 9.99292135e-01 1.07078481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.928623853 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:263.53, Y:100.92, Z:10.72 [[ 7.19253222e-01 -6.94214558e-01 -2.72203981e-02 2.63527399e+02] [ 6.93728777e-01 7.19768091e-01 -2.59668865e-02 1.00920482e+02] [ 3.76189646e-02 -2.06806691e-04 9.99292135e-01 1.07163357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.988623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:263.57, Y:100.96, Z:10.72 [[ 7.18261147e-01 -6.95241146e-01 -2.72153117e-02 2.63566187e+02] [ 6.94755899e-01 7.18776519e-01 -2.59722164e-02 1.00963253e+02] [ 3.76186805e-02 -2.53164439e-04 9.99292135e-01 1.07183640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.048623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:263.60, Y:101.01, Z:10.71 [[ 7.16723116e-01 -6.96826794e-01 -2.72101885e-02 2.63604284e+02] [ 6.96342483e-01 7.17239368e-01 -2.59775827e-02 1.01006367e+02] [ 3.76180941e-02 -3.28876256e-04 9.99292135e-01 1.07124739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:101.05, Z:10.71 [[ 7.16175519e-01 -6.97389730e-01 -2.72064479e-02 2.63643050e+02] [ 6.96905676e-01 7.16692012e-01 -2.59814996e-02 1.01048401e+02] [ 3.76178749e-02 -3.53013985e-04 9.99292135e-01 1.07134547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.68, Y:101.09, Z:10.71 [[ 7.15913744e-01 -6.97658600e-01 -2.72027545e-02 2.63680189e+02] [ 6.97174593e-01 7.16430281e-01 -2.59853661e-02 1.01091085e+02] [ 3.76177912e-02 -3.61788623e-04 9.99292135e-01 1.07125121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.228623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.72, Y:101.13, Z:10.72 [[ 7.15834533e-01 -6.97740102e-01 -2.71969210e-02 2.63720384e+02] [ 6.97255922e-01 7.16350907e-01 -2.59914701e-02 1.01133090e+02] [ 3.76178300e-02 -3.57622393e-04 9.99292135e-01 1.07160981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.288623853 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:101.18, Z:10.72 [[ 7.16103233e-01 -6.97464527e-01 -2.71917698e-02 2.63758794e+02] [ 6.96979945e-01 7.16619230e-01 -2.59968581e-02 1.01176554e+02] [ 3.76180315e-02 -3.35684071e-04 9.99292135e-01 1.07231427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.348623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.80, Y:101.22, Z:10.72 [[ 7.17462107e-01 -6.96066817e-01 -2.71865979e-02 2.63798054e+02] [ 6.95581024e-01 7.17976965e-01 -2.60022655e-02 1.01218002e+02] [ 3.76186653e-02 -2.54841414e-04 9.99292135e-01 1.07182671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:101.26, Z:10.72 [[ 7.19527288e-01 -6.93932033e-01 -2.71811810e-02 2.63836673e+02] [ 6.93444498e-01 7.20040496e-01 -2.60079268e-02 1.01261587e+02] [ 3.76192846e-02 -1.35227351e-04 9.99292135e-01 1.07178159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.468623853 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:263.87, Y:101.31, Z:10.72 [[ 7.20842065e-01 -6.92566373e-01 -2.71760376e-02 2.63873228e+02] [ 6.92077663e-01 7.21354154e-01 -2.60133001e-02 1.01305994e+02] [ 3.76194845e-02 -5.64476082e-05 9.99292135e-01 1.07240826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.528623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:263.91, Y:101.35, Z:10.72 [[ 7.21120184e-01 -6.92276983e-01 -2.71709086e-02 2.63913783e+02] [ 6.91787867e-01 7.21631885e-01 -2.60186563e-02 1.01348754e+02] [ 3.76195109e-02 -3.39267052e-05 9.99292135e-01 1.07153646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.588623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.95, Y:101.39, Z:10.72 [[ 7.20457046e-01 -6.92967275e-01 -2.71661795e-02 2.63951065e+02] [ 6.92478462e-01 7.20969037e-01 -2.60235930e-02 1.01391725e+02] [ 3.76194726e-02 -6.31132607e-05 9.99292135e-01 1.07153211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.648623853 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:263.99, Y:101.43, Z:10.72 [[ 7.19418420e-01 -6.94045692e-01 -2.71608836e-02 2.63990583e+02] [ 6.93557438e-01 7.19930944e-01 -2.60291192e-02 1.01433793e+02] [ 3.76193586e-02 -1.11805052e-04 9.99292135e-01 1.07182203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.708623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.03, Y:101.48, Z:10.72 [[ 7.16922010e-01 -6.96624284e-01 -2.71558283e-02 2.64030226e+02] [ 6.96137674e-01 7.17436094e-01 -2.60343922e-02 1.01476091e+02] [ 3.76187613e-02 -2.39566409e-04 9.99292135e-01 1.07180798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.768623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.09, Y:101.50, Z:10.73 [[ 7.46986002e-01 -6.64285141e-01 -2.71507777e-02 2.64087977e+02] [ 6.63776112e-01 7.47477899e-01 -2.60396584e-02 1.01497263e+02] [ 3.75923644e-02 1.42922267e-03 9.99292135e-01 1.07334696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.828623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.13, Y:101.54, Z:10.74 [[ 7.43293824e-01 -6.68413976e-01 -2.71486156e-02 2.64125370e+02] [ 6.67907599e-01 7.43788450e-01 -2.60419123e-02 1.01542549e+02] [ 3.75996049e-02 1.22402593e-03 9.99292135e-01 1.07394512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.888623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.16, Y:101.58, Z:10.74 [[ 7.39595783e-01 -6.72503748e-01 -2.71438250e-02 2.64163217e+02] [ 6.71999923e-01 7.40093009e-01 -2.60469047e-02 1.01584640e+02] [ 3.76055961e-02 1.02353251e-03 9.99292135e-01 1.07419532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.948623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.20, Y:101.63, Z:10.74 [[ 7.31761738e-01 -6.81019931e-01 -2.71406078e-02 2.64202217e+02] [ 6.80521772e-01 7.32264639e-01 -2.60502566e-02 1.01627563e+02] [ 3.76148513e-02 5.92806528e-04 9.99292135e-01 1.07434134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00862385299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.24, Y:101.67, Z:10.74 [[ 7.25843377e-01 -6.87324555e-01 -2.71357360e-02 2.64243031e+02] [ 6.86830575e-01 7.26350384e-01 -2.60553304e-02 1.01667958e+02] [ 3.76185206e-02 2.74435833e-04 9.99292135e-01 1.07440172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06862385299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.28, Y:101.71, Z:10.75 [[ 7.17359380e-01 -6.96174871e-01 -2.71305762e-02 2.64284311e+02] [ 6.95686944e-01 7.17872214e-01 -2.60607019e-02 1.01707915e+02] [ 3.76190927e-02 -1.79498674e-04 9.99292135e-01 1.07479965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.33, Y:101.75, Z:10.75 [[ 7.10611953e-01 -7.03061059e-01 -2.71256229e-02 2.64325022e+02] [ 7.02577904e-01 7.11129285e-01 -2.60658566e-02 1.01749063e+02] [ 3.76157136e-02 -5.35154022e-04 9.99292135e-01 1.07500122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:101.79, Z:10.75 [[ 7.07538080e-01 -7.06154614e-01 -2.71205763e-02 2.64365757e+02] [ 7.05673519e-01 7.08057329e-01 -2.60711064e-02 1.01788459e+02] [ 3.76131549e-02 -6.91971932e-04 9.99292135e-01 1.07496708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24862385299997 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:264.41, Y:101.83, Z:10.76 [[ 7.04551489e-01 -7.09134594e-01 -2.71169226e-02 2.64406704e+02] [ 7.08655548e-01 7.05072630e-01 -2.60749061e-02 1.01827983e+02] [ 3.76100179e-02 -8.45443691e-04 9.99292135e-01 1.07592435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.308623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.45, Y:101.87, Z:10.76 [[ 7.03861119e-01 -7.09820036e-01 -2.71116673e-02 2.64448243e+02] [ 7.09341287e-01 7.04382533e-01 -2.60803692e-02 1.01867194e+02] [ 3.76093535e-02 -8.74467150e-04 9.99292135e-01 1.07554138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.368623853 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:264.49, Y:101.91, Z:10.76 [[ 7.04292924e-01 -7.09391805e-01 -2.71061704e-02 2.64488964e+02] [ 7.08912520e-01 7.04813845e-01 -2.60860811e-02 1.01907930e+02] [ 3.76100563e-02 -8.43661204e-04 9.99292135e-01 1.07646955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.428623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.53, Y:101.95, Z:10.76 [[ 7.05741931e-01 -7.07950459e-01 -2.71011909e-02 2.64530673e+02] [ 7.07469912e-01 7.06261687e-01 -2.60912534e-02 1.01947801e+02] [ 3.76118476e-02 -7.59585614e-04 9.99292135e-01 1.07625387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.488623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.57, Y:101.99, Z:10.76 [[ 7.07216750e-01 -7.06477368e-01 -2.70960788e-02 2.64571917e+02] [ 7.05995534e-01 7.07735314e-01 -2.60965612e-02 1.01988494e+02] [ 3.76134817e-02 -6.73785408e-04 9.99292135e-01 1.07644099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.548623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.61, Y:102.03, Z:10.76 [[ 7.10243984e-01 -7.03434121e-01 -2.70909639e-02 2.64612559e+02] [ 7.02949863e-01 7.10760285e-01 -2.61018700e-02 1.02029239e+02] [ 3.76161272e-02 -5.04893258e-04 9.99292135e-01 1.07642875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.608623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.65, Y:102.07, Z:10.77 [[ 7.11363998e-01 -7.02301656e-01 -2.70859086e-02 2.64654330e+02] [ 7.01816377e-01 7.11879338e-01 -2.61071148e-02 1.02069602e+02] [ 3.76169687e-02 -4.37672747e-04 9.99292136e-01 1.07654919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.668623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.69, Y:102.11, Z:10.77 [[ 7.15269212e-01 -6.98324122e-01 -2.70809049e-02 2.64694763e+02] [ 6.97835780e-01 7.15781651e-01 -2.61123042e-02 1.02110224e+02] [ 3.76188667e-02 -2.20697169e-04 9.99292136e-01 1.07652349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.728623853 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:264.73, Y:102.15, Z:10.77 [[ 7.17832404e-01 -6.95689260e-01 -2.70756737e-02 2.64734524e+02] [ 6.95198833e-01 7.18342848e-01 -2.61177272e-02 1.02152578e+02] [ 3.76194389e-02 -7.48257943e-05 9.99292136e-01 1.07728966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.788623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.77, Y:102.19, Z:10.77 [[ 7.22188084e-01 -6.91166802e-01 -2.70706935e-02 2.64773542e+02] [ 6.90672985e-01 7.22695249e-01 -2.61228881e-02 1.02193970e+02] [ 3.76191346e-02 1.68641818e-04 9.99292136e-01 1.07683667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.848623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:102.24, Z:10.77 [[ 7.24378436e-01 -6.88871064e-01 -2.70654619e-02 2.64813151e+02] [ 6.88375437e-01 7.24883832e-01 -2.61283073e-02 1.02236274e+02] [ 3.76183506e-02 2.95583249e-04 9.99292136e-01 1.07725456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.908623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.85, Y:102.28, Z:10.78 [[ 7.27515018e-01 -6.85557900e-01 -2.70603741e-02 2.64850444e+02] [ 6.85059775e-01 7.28017953e-01 -2.61335756e-02 1.02280102e+02] [ 3.76165174e-02 4.74594912e-04 9.99292136e-01 1.07772130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.968623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.89, Y:102.33, Z:10.78 [[ 7.29775487e-01 -6.83151347e-01 -2.70550326e-02 2.64886984e+02] [ 6.82651360e-01 7.30276570e-01 -2.61391042e-02 1.02325777e+02] [ 3.76146207e-02 6.06522743e-04 9.99292136e-01 1.07816998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.028623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:102.37, Z:10.78 [[ 7.30252312e-01 -6.82641827e-01 -2.70499181e-02 2.64924983e+02] [ 6.82141293e-01 7.30752849e-01 -2.61443959e-02 1.02369016e+02] [ 3.76140629e-02 6.40139463e-04 9.99292136e-01 1.07811756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.088623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.96, Y:102.41, Z:10.78 [[ 7.28973276e-01 -6.84007715e-01 -2.70445721e-02 2.64962250e+02] [ 6.83507914e-01 7.29474545e-01 -2.61499248e-02 1.02412444e+02] [ 3.76150772e-02 5.77417263e-04 9.99292136e-01 1.07790984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.148623853 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:265.00, Y:102.46, Z:10.79 [[ 7.25344565e-01 -6.87854735e-01 -2.70393385e-02 2.64999682e+02] [ 6.87357391e-01 7.25848273e-01 -2.61553353e-02 1.02457318e+02] [ 3.76175283e-02 3.85941182e-04 9.99292136e-01 1.07885661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.208623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.04, Y:102.50, Z:10.78 [[ 7.22369925e-01 -6.90978180e-01 -2.70341637e-02 2.65038394e+02] [ 6.90482814e-01 7.22875578e-01 -2.61606828e-02 1.02499172e+02] [ 3.76187977e-02 2.31065046e-04 9.99292136e-01 1.07837665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.268623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.08, Y:102.54, Z:10.79 [[ 7.17480081e-01 -6.96054374e-01 -2.70303864e-02 2.65077649e+02] [ 6.95562439e-01 7.17989072e-01 -2.61645852e-02 1.02541491e+02] [ 3.76194960e-02 -2.87527752e-05 9.99292136e-01 1.07880241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.328623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.12, Y:102.58, Z:10.79 [[ 7.14570965e-01 -6.99040752e-01 -2.70252088e-02 2.65117212e+02] [ 6.98550743e-01 7.15081810e-01 -2.61699319e-02 1.02582850e+02] [ 3.76190841e-02 -1.78206178e-04 9.99292136e-01 1.07911216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.388623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.16, Y:102.63, Z:10.79 [[ 7.10657312e-01 -7.03019287e-01 -2.70197681e-02 2.65156956e+02] [ 7.02531923e-01 7.11170681e-01 -2.61755481e-02 1.02625658e+02] [ 3.76175821e-02 -3.80404976e-04 9.99292136e-01 1.07932666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.448623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.20, Y:102.67, Z:10.79 [[ 7.07152923e-01 -7.06544372e-01 -2.70147011e-02 2.65197721e+02] [ 7.06059367e-01 7.07668522e-01 -2.61807765e-02 1.02665271e+02] [ 3.76153339e-02 -5.60170080e-04 9.99292136e-01 1.07920446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50862385299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:102.71, Z:10.79 [[ 7.05461496e-01 -7.08233413e-01 -2.70094589e-02 2.65239410e+02] [ 7.07749436e-01 7.05978059e-01 -2.61861835e-02 1.02705980e+02] [ 3.76140155e-02 -6.42585123e-04 9.99292136e-01 1.07943827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56862385299996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.28, Y:102.75, Z:10.79 [[ 7.03840894e-01 -7.09844184e-01 -2.70042553e-02 2.65278888e+02] [ 7.09361184e-01 7.04358370e-01 -2.61915486e-02 1.02746494e+02] [ 3.76125917e-02 -7.21087460e-04 9.99292136e-01 1.07947563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62862385299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:265.32, Y:102.79, Z:10.80 [[ 7.02787804e-01 -7.10887028e-01 -2.69988077e-02 2.65320882e+02] [ 7.10404580e-01 7.03305795e-01 -2.61971629e-02 1.02786803e+02] [ 3.76116412e-02 -7.69030052e-04 9.99292136e-01 1.07951058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:102.83, Z:10.80 [[ 7.01344244e-01 -7.12311441e-01 -2.69937565e-02 2.65364091e+02] [ 7.11829845e-01 7.01863027e-01 -2.62023667e-02 1.02825923e+02] [ 3.76101652e-02 -8.38082404e-04 9.99292136e-01 1.07976774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74862385299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:102.87, Z:10.80 [[ 7.00677823e-01 -7.12967180e-01 -2.69886902e-02 2.65405672e+02] [ 7.12485868e-01 7.01196870e-01 -2.62075840e-02 1.02865705e+02] [ 3.76095323e-02 -8.65987460e-04 9.99292136e-01 1.08003982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.808623853 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:265.45, Y:102.91, Z:10.80 [[ 7.00610601e-01 -7.13033431e-01 -2.69835553e-02 2.65446595e+02] [ 7.12551964e-01 7.01129506e-01 -2.62128698e-02 1.02905272e+02] [ 3.76096193e-02 -8.62170835e-04 9.99292136e-01 1.08014781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.868623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.49, Y:102.94, Z:10.80 [[ 7.01077541e-01 -7.12574466e-01 -2.69798319e-02 2.65488803e+02] [ 7.12092513e-01 7.01595993e-01 -2.62167016e-02 1.02944710e+02] [ 3.76102941e-02 -8.32195665e-04 9.99292136e-01 1.08040921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.928623853 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:265.53, Y:102.98, Z:10.81 [[ 7.01271423e-01 -7.12383845e-01 -2.69749606e-02 2.65531235e+02] [ 7.11901559e-01 7.01789564e-01 -2.62217128e-02 1.02983490e+02] [ 3.76106705e-02 -8.14978674e-04 9.99292136e-01 1.08111293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.988623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.57, Y:103.02, Z:10.81 [[ 7.01133278e-01 -7.12520004e-01 -2.69697980e-02 2.65573660e+02] [ 7.12037614e-01 7.01651323e-01 -2.62270217e-02 1.03022207e+02] [ 3.76106721e-02 -8.14872924e-04 9.99292136e-01 1.08076919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.048623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:103.06, Z:10.81 [[ 7.00757814e-01 -7.12889416e-01 -2.69660357e-02 2.65617072e+02] [ 7.12407150e-01 7.01275975e-01 -2.62308894e-02 1.03059586e+02] [ 3.76103564e-02 -8.29295906e-04 9.99292136e-01 1.08089762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.108623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.66, Y:103.10, Z:10.81 [[ 7.00310165e-01 -7.13329367e-01 -2.69608495e-02 2.65660980e+02] [ 7.12847222e-01 7.00828438e-01 -2.62362188e-02 1.03097421e+02] [ 3.76099954e-02 -8.45475967e-04 9.99292136e-01 1.08122281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.168623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.70, Y:103.14, Z:10.81 [[ 7.00336345e-01 -7.13303854e-01 -2.69557933e-02 2.65703796e+02] [ 7.12821491e-01 7.00854415e-01 -2.62414127e-02 1.03135819e+02] [ 3.76101876e-02 -8.36853664e-04 9.99292136e-01 1.08126913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.228623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:265.75, Y:103.17, Z:10.82 [[ 7.02034617e-01 -7.11632617e-01 -2.69521058e-02 2.65747336e+02] [ 7.11148874e-01 7.02551399e-01 -2.62451995e-02 1.03173835e+02] [ 3.76121797e-02 -7.41921174e-04 9.99292136e-01 1.08153530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.288623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.79, Y:103.21, Z:10.82 [[ 7.03871695e-01 -7.09815820e-01 -2.69469588e-02 2.65790284e+02] [ 7.09330541e-01 7.04387035e-01 -2.62504831e-02 1.03212108e+02] [ 3.76140966e-02 -6.37328838e-04 9.99292136e-01 1.08175861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.348623853 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.83, Y:103.25, Z:10.82 [[ 7.07817291e-01 -7.05881591e-01 -2.69418168e-02 2.65833745e+02] [ 7.05393247e-01 7.08329727e-01 -2.62557595e-02 1.03251049e+02] [ 3.76171470e-02 -4.20295090e-04 9.99292136e-01 1.08191393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.408623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:103.29, Z:10.82 [[ 7.10618150e-01 -7.03062059e-01 -2.69367089e-02 2.65876185e+02] [ 7.02571483e-01 7.11128449e-01 -2.62609987e-02 1.03290345e+02] [ 3.76185719e-02 -2.63421213e-04 9.99292136e-01 1.08205490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.468623853 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:103.33, Z:10.82 [[ 7.14534460e-01 -6.99081679e-01 -2.69316245e-02 2.65917924e+02] [ 6.98588063e-01 7.15041820e-01 -2.62662120e-02 1.03329478e+02] [ 3.76194654e-02 -4.59978281e-05 9.99292136e-01 1.08206465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.528623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:265.96, Y:103.37, Z:10.83 [[ 7.15621367e-01 -6.97969218e-01 -2.69263645e-02 2.65958993e+02] [ 6.97474611e-01 7.16127761e-01 -2.62716030e-02 1.03369954e+02] [ 3.76194874e-02 2.00648357e-05 9.99292136e-01 1.08252569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.588623853 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:103.41, Z:10.83 [[ 7.19527914e-01 -6.93941512e-01 -2.69213393e-02 2.66001000e+02] [ 6.93443877e-01 7.20031334e-01 -2.62767516e-02 1.03409851e+02] [ 3.76187365e-02 2.38418359e-04 9.99292136e-01 1.08256444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.648623853 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:266.04, Y:103.45, Z:10.83 [[ 7.22059293e-01 -6.91307379e-01 -2.69162621e-02 2.66042324e+02] [ 6.90807715e-01 7.22560697e-01 -2.62819513e-02 1.03450131e+02] [ 3.76175400e-02 3.83165708e-04 9.99292136e-01 1.08289369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.708623853 meters Centerline goodness : 0.998251 with order 1 Centerline is valid? [True, True] Translation: X:266.08, Y:103.49, Z:10.83 [[ 7.25130055e-01 -6.88085894e-01 -2.69110653e-02 2.66082636e+02] [ 6.87583805e-01 7.25629031e-01 -2.62872714e-02 1.03491220e+02] [ 3.76153509e-02 5.58077850e-04 9.99292136e-01 1.08317893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.768623853 meters Centerline goodness : 0.996983 with order 1 Centerline is valid? [True, True] Translation: X:266.12, Y:103.53, Z:10.84 [[ 7.25969666e-01 -6.87200202e-01 -2.69058928e-02 2.66122531e+02] [ 6.86697307e-01 7.26467831e-01 -2.62925645e-02 1.03533140e+02] [ 3.76145213e-02 6.11400124e-04 9.99292136e-01 1.08378265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.828623853 meters Centerline goodness : 0.993692 with order 1 Centerline is valid? [True, True] Translation: X:266.16, Y:103.57, Z:10.84 [[ 7.27308110e-01 -6.85783687e-01 -2.69007025e-02 2.66161923e+02] [ 6.85279627e-01 7.27805094e-01 -2.62978738e-02 1.03573904e+02] [ 3.76131212e-02 6.92153549e-04 9.99292136e-01 1.08362268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.888623853 meters Centerline goodness : 0.988428 with order 1 Centerline is valid? [True, True] Translation: X:266.20, Y:103.62, Z:10.84 [[ 7.27491020e-01 -6.85589798e-01 -2.68969167e-02 2.66200926e+02] [ 6.85085462e-01 7.27987725e-01 -2.63017453e-02 1.03617009e+02] [ 3.76128335e-02 7.07596896e-04 9.99292136e-01 1.08394935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.948623853 meters Centerline goodness : 0.984097 with order 1 Centerline is valid? [True, True] Translation: X:266.24, Y:103.66, Z:10.84 [[ 7.26827368e-01 -6.86293528e-01 -2.68918415e-02 2.66240261e+02] [ 6.85789481e-01 7.27324366e-01 -2.63069334e-02 1.03659255e+02] [ 3.76133697e-02 6.78457182e-04 9.99292137e-01 1.08423537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00862385299996 meters Centerline goodness : 0.976826 with order 1 Centerline is valid? [True, True] Translation: X:266.28, Y:103.70, Z:10.84 [[ 7.25734236e-01 -6.87449582e-01 -2.68866398e-02 2.66278820e+02] [ 6.86946130e-01 7.26231837e-01 -2.63122486e-02 1.03701271e+02] [ 3.76142781e-02 6.26026425e-04 9.99292137e-01 1.08438205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06862385299996 meters Centerline goodness : 0.971334 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:103.74, Z:10.85 [[ 7.25116184e-01 -6.88101681e-01 -2.68811654e-02 2.66317569e+02] [ 6.87598469e-01 7.25614027e-01 -2.63178402e-02 1.03743426e+02] [ 3.76147008e-02 6.00043653e-04 9.99292137e-01 1.08455805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12862385299997 meters Centerline goodness : 0.967596 with order 1 Centerline is valid? [True, True] Translation: X:266.37, Y:103.78, Z:10.86 [[ 7.26989198e-01 -6.86122664e-01 -2.68774373e-02 2.66366304e+02] [ 6.85617956e-01 7.27485525e-01 -2.63216471e-02 1.03776361e+02] [ 3.76128252e-02 7.07899486e-04 9.99292137e-01 1.08569335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18862385299997 meters Centerline goodness : 0.964841 with order 1 Centerline is valid? [True, True] Translation: X:266.41, Y:103.82, Z:10.86 [[ 7.25619275e-01 -6.87571465e-01 -2.68728273e-02 2.66406361e+02] [ 6.87067574e-01 7.26116431e-01 -2.63263527e-02 1.03818075e+02] [ 3.76140504e-02 6.39460637e-04 9.99292137e-01 1.08581791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24862385299997 meters Centerline goodness : 0.959478 with order 1 Centerline is valid? [True, True] Translation: X:266.45, Y:103.86, Z:10.86 [[ 7.20916792e-01 -6.92500628e-01 -2.68674230e-02 2.66445983e+02] [ 6.91999932e-01 7.21417166e-01 -2.63318670e-02 1.03859463e+02] [ 3.76174545e-02 3.90830201e-04 9.99292137e-01 1.08593091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.308623853 meters Centerline goodness : 0.952742 with order 1 Centerline is valid? [True, True] Translation: X:266.49, Y:103.90, Z:10.86 [[ 7.16307915e-01 -6.97267074e-01 -2.68626003e-02 2.66487324e+02] [ 6.96769523e-01 7.16811416e-01 -2.63367859e-02 1.03900728e+02] [ 3.76191922e-02 1.48207016e-04 9.99292137e-01 1.08595363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.368623853 meters Centerline goodness : 0.957388 with order 2 Centerline is valid? [True, True] Translation: X:266.54, Y:103.95, Z:10.85 [[ 7.13617481e-01 -7.00020548e-01 -2.68574606e-02 2.66538530e+02] [ 6.99524743e-01 7.14122701e-01 -2.63420262e-02 1.03952322e+02] [ 3.76194819e-02 1.06721298e-05 9.99292137e-01 1.08507601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.428623853 meters Centerline goodness : 0.948865 with order 2 Centerline is valid? [True, False] Translation: X:266.44, Y:103.82, Z:10.86 [[ 7.14582988e-01 -6.97577438e-01 -5.25059201e-02 2.66444916e+02] [ 6.98223932e-01 7.15836342e-01 -7.85317399e-03 1.03823903e+02] [ 4.30638428e-02 -3.10491454e-02 9.98589734e-01 1.08583003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.488623853 meters Centerline goodness : 0.937959 with order 3 Centerline is valid? [False, False] Translation: X:266.31, Y:103.67, Z:10.87 [[ 7.18578666e-01 -6.91808589e-01 -7.10322286e-02 2.66314147e+02] [ 6.93742307e-01 7.20214142e-01 3.63345479e-03 1.03665447e+02] [ 4.86447603e-02 -5.18889852e-02 9.97467403e-01 1.08652274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.548623853 meters Centerline goodness : 0.928487 with order 2 Centerline is valid? [False, False] Translation: X:266.24, Y:103.57, Z:10.87 [[ 7.20767130e-01 -6.87360581e-01 -8.96112515e-02 2.66236409e+02] [ 6.91027169e-01 7.22676284e-01 1.48472283e-02 1.03566995e+02] [ 5.45545268e-02 -7.26252036e-02 9.95866147e-01 1.08709235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.608623853 meters Centerline goodness : 0.897252 with order 3 Centerline is valid? [False, False] Translation: X:266.12, Y:103.43, Z:10.88 [[ 7.26452712e-01 -6.79825293e-01 -1.00518794e-01 2.66116108e+02] [ 6.84445222e-01 7.28864217e-01 1.70789673e-02 1.03433210e+02] [ 6.16538384e-02 -8.12066706e-02 9.94788561e-01 1.08760170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.668623853 meters Centerline goodness : 0.894667 with order 3 Centerline is valid? [False, False] Translation: X:266.06, Y:103.39, Z:10.88 [[ 7.27000868e-01 -6.79846101e-01 -9.63276552e-02 2.66062763e+02] [ 6.83367596e-01 7.30057305e-01 5.00606227e-03 1.03394427e+02] [ 6.69213564e-02 -6.94666097e-02 9.95337090e-01 1.08788465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.728623853 meters Centerline goodness : 0.883820 with order 3 Centerline is valid? [False, False] Translation: X:265.96, Y:103.31, Z:10.88 [[ 7.27456230e-01 -6.79407660e-01 -9.59826281e-02 2.65959689e+02] [ 6.82312882e-01 7.31052208e-01 -3.43513641e-03 1.03305227e+02] [ 7.25021702e-02 -6.29912722e-02 9.95377082e-01 1.08779687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.788623853 meters Centerline goodness : 0.903319 with order 3 Centerline is valid? [False, False] Translation: X:265.89, Y:103.25, Z:10.88 [[ 7.29560845e-01 -6.77713179e-01 -9.19011494e-02 2.65892207e+02] [ 6.79171156e-01 7.33729607e-01 -1.91677924e-02 1.03253260e+02] [ 8.04208598e-02 -4.84325391e-02 9.95583635e-01 1.08834316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.848623853 meters Centerline goodness : 0.898094 with order 3 Centerline is valid? [False, False] Translation: X:265.89, Y:103.26, Z:10.89 [[ 7.32576999e-01 -6.75283672e-01 -8.55739658e-02 2.65887056e+02] [ 6.75242588e-01 7.36819493e-01 -3.38302006e-02 1.03257049e+02] [ 8.58975482e-02 -3.29999593e-02 9.95757307e-01 1.08909652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.908623853 meters Centerline goodness : 0.889304 with order 3 Centerline is valid? [False, False] Translation: X:265.81, Y:103.19, Z:10.89 [[ 7.33682901e-01 -6.74082326e-01 -8.55711292e-02 2.65814981e+02] [ 6.73115033e-01 7.38223854e-01 -4.40646646e-02 1.03194295e+02] [ 9.28738605e-02 -2.52697225e-02 9.95357166e-01 1.08931735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.968623853 meters Centerline goodness : 0.878945 with order 3 Centerline is valid? [False, False] Translation: X:265.74, Y:103.13, Z:10.90 [[ 7.34991488e-01 -6.71780155e-01 -9.21896676e-02 2.65742886e+02] [ 6.70605959e-01 7.40270317e-01 -4.78278845e-02 1.03128838e+02] [ 1.00375098e-01 -2.66698524e-02 9.94592157e-01 1.08966611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.028623853 meters Centerline goodness : 0.854386 with order 1 Centerline is valid? [False, False] Translation: X:265.71, Y:103.10, Z:10.90 [[ 7.35977551e-01 -6.70533897e-01 -9.33881074e-02 2.65709743e+02] [ 6.68815548e-01 7.41515103e-01 -5.33021070e-02 1.03095506e+02] [ 1.04989562e-01 -2.32302641e-02 9.94201965e-01 1.08989117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.088623853 meters Centerline goodness : 0.867026 with order 2 Centerline is valid? [False, False] Translation: X:265.67, Y:103.06, Z:10.90 [[ 7.35847531e-01 -6.70324600e-01 -9.58819209e-02 2.65670198e+02] [ 6.68041706e-01 7.41781003e-01 -5.90018887e-02 1.03059428e+02] [ 1.10673805e-01 -2.06367279e-02 9.93642508e-01 1.09024292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.148623853 meters Centerline goodness : 0.867828 with order 3 Centerline is valid? [False, False] Translation: X:265.64, Y:103.03, Z:10.91 [[ 7.33708102e-01 -6.71988771e-01 -1.00516230e-01 2.65642186e+02] [ 6.69319212e-01 7.40269258e-01 -6.33499666e-02 1.03031086e+02] [ 1.16979541e-01 -2.07970598e-02 9.92916547e-01 1.09077325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.208623853 meters Centerline goodness : 0.839788 with order 1 Centerline is valid? [False, False] Translation: X:265.63, Y:103.01, Z:10.91 [[ 7.31082975e-01 -6.73800200e-01 -1.07289207e-01 2.65627639e+02] [ 6.71297380e-01 7.38468417e-01 -6.34367834e-02 1.03011576e+02] [ 1.21973409e-01 -2.56454115e-02 9.92201996e-01 1.09118269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3410.02 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%| | 0/10308 [00:00