+ python -m lidar_slam --result /working/result.json --no-model /working/61721308-a28a-4b5d-a02b-eba3020b5a7b Lidar SLAM 0.0.16 ===================================================== The recording path: /working/61721308-a28a-4b5d-a02b-eba3020b5a7b 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 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 177.335336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [0, True] SLAMing on 0.065336195 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.14, Z:-0.01 [[ 0.99953527 -0.03048347 0. 0.05930099] [ 0.03048347 0.99953527 0. -0.14299312] [ 0. 0. 1. -0.0091252 ] [ 0. 0. 0. 1. ]] SLAMing on 0.12533619499999998 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.14, Z:-0.00 [[ 0.99970164 -0.02442613 0. 0.12117432] [ 0.02442613 0.99970164 0. -0.13590242] [ 0. 0. 1. -0.0014979 ] [ 0. 0. 0. 1. ]] SLAMing on 0.18533619499999998 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.13, Z:-0.01 [[ 0.99990842 -0.01353361 0. 0.18284778] [ 0.01353361 0.99990842 0. -0.13188556] [ 0. 0. 1. -0.00995837] [ 0. 0. 0. 1. ]] SLAMing on 0.24533619499999998 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.13, Z:-0.01 [[ 0.99999304 -0.00373006 0. 0.24547224] [ 0.00373006 0.99999304 0. -0.1324258 ] [ 0. 0. 1. -0.01205725] [ 0. 0. 0. 1. ]] SLAMing on 0.305336195 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.12, Z:-0.01 [[ 0.99996423 0.00845794 0. 0.30617799] [-0.00845794 0.99996423 0. -0.12464736] [ 0. 0. 1. -0.00719434] [ 0. 0. 0. 1. ]] SLAMing on 0.365336195 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.12, Z:-0.01 [[ 0.99992917 0.01190165 0. 0.36425821] [-0.01190165 0.99992917 0. -0.11796547] [ 0. 0. 1. -0.00542525] [ 0. 0. 0. 1. ]] SLAMing on 0.425336195 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.12, Z:-0.01 [[ 0.99998455 0.00555892 0. 0.42341151] [-0.00555892 0.99998455 0. -0.12135673] [ 0. 0. 1. -0.01109771] [ 0. 0. 0. 1. ]] SLAMing on 0.48533619499999997 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.11, Z:-0.01 [[ 0.99997015 -0.00772596 0. 0.48280212] [ 0.00772596 0.99997015 0. -0.11444101] [ 0. 0. 1. -0.00760599] [ 0. 0. 0. 1. ]] SLAMing on 0.5453361950000001 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.11, Z:-0.00 [[ 0.99986098 -0.01667377 0. 0.54480394] [ 0.01667377 0.99986098 0. -0.11065152] [ 0. 0. 1. -0.00334485] [ 0. 0. 0. 1. ]] SLAMing on 0.605336195 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99969366 -0.02475044 0. 0.60834471] [ 0.02475044 0.99969366 0. -0.11688225] [ 0. 0. 1. -0.00765408] [ 0. 0. 0. 1. ]] SLAMing on 0.665336195 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.12, Z:-0.01 [[ 0.99966293 -0.02596197 0. 0.67027729] [ 0.02596197 0.99966293 0. -0.11727999] [ 0. 0. 1. -0.00830594] [ 0. 0. 0. 1. ]] SLAMing on 0.725336195 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.10, Z:-0.00 [[ 0.99972515 -0.02344392 0. 0.73386411] [ 0.02344392 0.99972515 0. -0.10240423] [ 0. 0. 1. -0.0030516 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7853361950000001 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.10, Z:-0.01 [[ 0.99984803 -0.01743321 0. 0.79612699] [ 0.01743321 0.99984803 0. -0.10117637] [ 0. 0. 1. -0.00549049] [ 0. 0. 0. 1. ]] SLAMing on 0.845336195 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:-0.01 [[ 0.99990176 -0.0140171 0. 0.85868747] [ 0.0140171 0.99990176 0. -0.10224622] [ 0. 0. 1. -0.01003511] [ 0. 0. 0. 1. ]] SLAMing on 0.905336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:-0.00 [[ 0.99991695 -0.01288786 0. 0.92223134] [ 0.01288786 0.99991695 0. -0.09268109] [ 0. 0. 1. -0.00473445] [ 0. 0. 0. 1. ]] SLAMing on 0.965336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.09, Z:-0.00 [[ 0.99990044 -0.01411083 0. 0.98513191] [ 0.01411083 0.99990044 0. -0.09020605] [ 0. 0. 1. -0.00406972] [ 0. 0. 0. 1. ]] SLAMing on 1.025336195 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.09, Z:-0.01 [[ 0.99978132 -0.02091221 0. 1.04793116] [ 0.02091221 0.99978132 0. -0.09397435] [ 0. 0. 1. -0.00528907] [ 0. 0. 0. 1. ]] SLAMing on 1.085336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.09, Z:-0.01 [[ 0.99972084 -0.0236273 0. 1.11001088] [ 0.0236273 0.99972084 0. -0.09276354] [ 0. 0. 1. -0.00575939] [ 0. 0. 0. 1. ]] SLAMing on 1.1453361949999998 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.09, Z:-0.01 [[ 0.99977058 -0.02141931 0. 1.17273789] [ 0.02141931 0.99977058 0. -0.09421946] [ 0. 0. 1. -0.00951148] [ 0. 0. 0. 1. ]] SLAMing on 1.2053361949999999 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.09, Z:-0.01 [[ 0.99985716 -0.01690153 0. 1.23457814] [ 0.01690153 0.99985716 0. -0.08610258] [ 0. 0. 1. -0.01258834] [ 0. 0. 0. 1. ]] SLAMing on 1.265336195 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.08, Z:-0.01 [[ 0.99985791 -0.01685686 0. 1.29649194] [ 0.01685686 0.99985791 0. -0.07975685] [ 0. 0. 1. -0.01446898] [ 0. 0. 0. 1. ]] SLAMing on 1.3253361949999998 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.09, Z:-0.01 [[ 0.99978498 -0.02073615 0. 1.35738008] [ 0.02073615 0.99978498 0. -0.09078645] [ 0. 0. 1. -0.01466278] [ 0. 0. 0. 1. ]] SLAMing on 1.3853361949999998 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.09, Z:-0.01 [[ 0.99964068 -0.02680499 0. 1.42050991] [ 0.02680499 0.99964068 0. -0.09049633] [ 0. 0. 1. -0.00872833] [ 0. 0. 0. 1. ]] SLAMing on 1.4453361949999999 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.09, Z:0.00 [[ 9.99352679e-01 -3.59753024e-02 0.00000000e+00 1.48388221e+00] [ 3.59753024e-02 9.99352679e-01 0.00000000e+00 -9.21237312e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20245726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505336195 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.10, Z:-0.01 [[ 0.99917194 -0.04068696 0. 1.54672244] [ 0.04068696 0.99917194 0. -0.10322524] [ 0. 0. 1. -0.00880083] [ 0. 0. 0. 1. ]] SLAMing on 1.565336195 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.11, Z:-0.01 [[ 0.99921387 -0.03964404 0. 1.60984896] [ 0.03964404 0.99921387 0. -0.11440115] [ 0. 0. 1. -0.00977789] [ 0. 0. 0. 1. ]] SLAMing on 1.6253361949999998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.12, Z:-0.01 [[ 0.9995532 -0.02988973 0. 1.67178174] [ 0.02988973 0.9995532 0. -0.11645431] [ 0. 0. 1. -0.00705536] [ 0. 0. 0. 1. ]] SLAMing on 1.6853361949999999 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.12, Z:-0.00 [[ 0.99978812 -0.02058419 0. 1.73436113] [ 0.02058419 0.99978812 0. -0.11737336] [ 0. 0. 1. -0.00473895] [ 0. 0. 0. 1. ]] SLAMing on 1.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.11, Z:-0.01 [[ 0.99997641 -0.00686855 0. 1.79725699] [ 0.00686855 0.99997641 0. -0.1144206 ] [ 0. 0. 1. -0.00520276] [ 0. 0. 0. 1. ]] SLAMing on 1.8053361949999998 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.12, Z:-0.01 [[ 9.99999883e-01 4.83154480e-04 0.00000000e+00 1.85887351e+00] [-4.83154480e-04 9.99999883e-01 0.00000000e+00 -1.15570010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28120148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8653361949999998 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.12, Z:-0.02 [[ 0.99999227 0.0039324 0. 1.91906299] [-0.0039324 0.99999227 0. -0.11902931] [ 0. 0. 1. -0.01508782] [ 0. 0. 0. 1. ]] SLAMing on 1.9253361949999999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.11, Z:-0.01 [[ 9.99999825e-01 -5.91166847e-04 0.00000000e+00 1.97820061e+00] [ 5.91166847e-04 9.99999825e-01 0.00000000e+00 -1.14454008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15427118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.985336195 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.13, Z:-0.01 [[ 0.99992476 -0.01226697 0. 2.03833761] [ 0.01226697 0.99992476 0. -0.12691704] [ 0. 0. 1. -0.01092652] [ 0. 0. 0. 1. ]] SLAMing on 2.045336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.14, Z:-0.00 [[ 0.99978176 -0.02089099 0. 2.10036918] [ 0.02089099 0.99978176 0. -0.13505352] [ 0. 0. 1. -0.00460823] [ 0. 0. 0. 1. ]] SLAMing on 2.105336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.14, Z:-0.00 [[ 9.99566513e-01 -2.94412377e-02 0.00000000e+00 2.16355273e+00] [ 2.94412377e-02 9.99566513e-01 0.00000000e+00 -1.44708468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91519714e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.165336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.16, Z:0.00 [[ 9.99587045e-01 -2.87356795e-02 0.00000000e+00 2.22515373e+00] [ 2.87356795e-02 9.99587045e-01 0.00000000e+00 -1.55850598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35956035e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2253361949999997 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.16, Z:-0.01 [[ 0.99976625 -0.02162052 0. 2.28854377] [ 0.02162052 0.99976625 0. -0.16468639] [ 0. 0. 1. -0.00770203] [ 0. 0. 0. 1. ]] SLAMing on 2.2853361949999997 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.16, Z:-0.01 [[ 0.99997531 -0.0070276 0. 2.34992036] [ 0.0070276 0.99997531 0. -0.16177972] [ 0. 0. 1. -0.01016727] [ 0. 0. 0. 1. ]] SLAMing on 2.345336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.16, Z:-0.01 [[ 0.99999374 0.00353844 0. 2.41230038] [-0.00353844 0.99999374 0. -0.15976901] [ 0. 0. 1. -0.01236037] [ 0. 0. 0. 1. ]] SLAMing on 2.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.15, Z:-0.01 [[ 0.9998869 0.01503983 0. 2.47114162] [-0.01503983 0.9998869 0. -0.14638074] [ 0. 0. 1. -0.00975514] [ 0. 0. 0. 1. ]] SLAMing on 2.465336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.14, Z:-0.01 [[ 0.99981367 0.01930334 0. 2.52950606] [-0.01930334 0.99981367 0. -0.1425321 ] [ 0. 0. 1. -0.0070325 ] [ 0. 0. 0. 1. ]] SLAMing on 2.525336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.13, Z:-0.01 [[ 0.99983879 0.01795542 0. 2.58749816] [-0.01795542 0.99983879 0. -0.12867738] [ 0. 0. 1. -0.01270131] [ 0. 0. 0. 1. ]] SLAMing on 2.585336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.12, Z:-0.01 [[ 0.99988429 0.01521211 0. 2.64499888] [-0.01521211 0.99988429 0. -0.11698957] [ 0. 0. 1. -0.00715362] [ 0. 0. 0. 1. ]] SLAMing on 2.6453361949999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.11, Z:-0.01 [[ 0.99998005 0.00631699 0. 2.7042885 ] [-0.00631699 0.99998005 0. -0.10957679] [ 0. 0. 1. -0.01302933] [ 0. 0. 0. 1. ]] SLAMing on 2.7053361949999997 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.10, Z:-0.01 [[ 0.99997632 -0.00688148 0. 2.76302675] [ 0.00688148 0.99997632 0. -0.09856732] [ 0. 0. 1. -0.01202164] [ 0. 0. 0. 1. ]] SLAMing on 2.7653361949999997 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.09, Z:-0.01 [[ 0.99989616 -0.01441107 0. 2.82412824] [ 0.01441107 0.99989616 0. -0.08991158] [ 0. 0. 1. -0.01065009] [ 0. 0. 0. 1. ]] SLAMing on 2.8253361949999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.09, Z:-0.01 [[ 0.99977978 -0.02098531 0. 2.88726966] [ 0.02098531 0.99977978 0. -0.0865234 ] [ 0. 0. 1. -0.01140664] [ 0. 0. 0. 1. ]] SLAMing on 2.885336195 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.09, Z:-0.01 [[ 0.9995809 -0.02894861 0. 2.94981736] [ 0.02894861 0.9995809 0. -0.08833175] [ 0. 0. 1. -0.01182829] [ 0. 0. 0. 1. ]] SLAMing on 2.945336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.09, Z:-0.01 [[ 0.99931687 -0.03695653 0. 3.01217797] [ 0.03695653 0.99931687 0. -0.08803094] [ 0. 0. 1. -0.00853626] [ 0. 0. 0. 1. ]] SLAMing on 3.005336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.08, Z:-0.01 [[ 0.99893361 -0.04616962 0. 3.07494225] [ 0.04616962 0.99893361 0. -0.08131805] [ 0. 0. 1. -0.00554339] [ 0. 0. 0. 1. ]] SLAMing on 3.065336195 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.09, Z:-0.01 [[ 0.99902247 -0.04420529 0. 3.13703017] [ 0.04420529 0.99902247 0. -0.08845531] [ 0. 0. 1. -0.01426416] [ 0. 0. 0. 1. ]] SLAMing on 3.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.09, Z:-0.02 [[ 0.999172 -0.04068544 0. 3.1989597 ] [ 0.04068544 0.999172 0. -0.08920942] [ 0. 0. 1. -0.01769803] [ 0. 0. 0. 1. ]] SLAMing on 3.1853361949999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.07, Z:-0.01 [[ 0.99944419 -0.0333363 0. 3.26032258] [ 0.0333363 0.99944419 0. -0.07083842] [ 0. 0. 1. -0.0130987 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2453361949999997 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.07, Z:-0.01 [[ 0.99965466 -0.0262787 0. 3.322449 ] [ 0.0262787 0.99965466 0. -0.06997801] [ 0. 0. 1. -0.01278886] [ 0. 0. 0. 1. ]] SLAMing on 3.3053361949999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.07, Z:-0.01 [[ 0.99987424 -0.0158588 0. 3.38502626] [ 0.0158588 0.99987424 0. -0.07388481] [ 0. 0. 1. -0.01333318] [ 0. 0. 0. 1. ]] SLAMing on 3.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.07, Z:-0.01 [[ 0.99991074 -0.01336048 0. 3.44780242] [ 0.01336048 0.99991074 0. -0.06557584] [ 0. 0. 1. -0.00908477] [ 0. 0. 0. 1. ]] SLAMing on 3.425336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.07, Z:-0.01 [[ 0.99982782 -0.01855638 0. 3.50973582] [ 0.01855638 0.99982782 0. -0.06839932] [ 0. 0. 1. -0.0107325 ] [ 0. 0. 0. 1. ]] SLAMing on 3.485336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.08, Z:-0.02 [[ 0.99971041 -0.02406425 0. 3.57046823] [ 0.02406425 0.99971041 0. -0.07842332] [ 0. 0. 1. -0.01925839] [ 0. 0. 0. 1. ]] SLAMing on 3.545336195 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.09, Z:-0.02 [[ 0.99937455 -0.03536247 0. 3.63211038] [ 0.03536247 0.99937455 0. -0.08603759] [ 0. 0. 1. -0.01844027] [ 0. 0. 0. 1. ]] SLAMing on 3.6053361949999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.10, Z:-0.01 [[ 0.99904784 -0.04362815 0. 3.69366892] [ 0.04362815 0.99904784 0. -0.10168531] [ 0. 0. 1. -0.01184543] [ 0. 0. 0. 1. ]] SLAMing on 3.6653361949999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.12, Z:-0.01 [[ 0.99903583 -0.04390229 0. 3.75684658] [ 0.04390229 0.99903583 0. -0.11693724] [ 0. 0. 1. -0.01222094] [ 0. 0. 0. 1. ]] SLAMing on 3.7253361949999997 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.13, Z:-0.02 [[ 0.99944502 -0.03331147 0. 3.81796722] [ 0.03331147 0.99944502 0. -0.13307397] [ 0. 0. 1. -0.01637042] [ 0. 0. 0. 1. ]] SLAMing on 3.7853361949999997 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.14, Z:-0.02 [[ 0.99979681 -0.02015772 0. 3.88037566] [ 0.02015772 0.99979681 0. -0.1418098 ] [ 0. 0. 1. -0.01822391] [ 0. 0. 0. 1. ]] SLAMing on 3.845336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.14, Z:-0.01 [[ 0.99999078 0.00429425 0. 3.94298721] [-0.00429425 0.99999078 0. -0.14265885] [ 0. 0. 1. -0.01023842] [ 0. 0. 0. 1. ]] SLAMing on 3.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.15, Z:-0.01 [[ 0.99958394 0.02884348 0. 4.00048203] [-0.02884348 0.99958394 0. -0.14650328] [ 0. 0. 1. -0.011446 ] [ 0. 0. 0. 1. ]] SLAMing on 3.965336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.15, Z:-0.01 [[ 0.99918279 0.04041958 0. 4.05844876] [-0.04041958 0.99918279 0. -0.147021 ] [ 0. 0. 1. -0.01266944] [ 0. 0. 0. 1. ]] SLAMing on 4.0253361949999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.13, Z:-0.01 [[ 0.99929698 0.03749064 0. 4.11768745] [-0.03749064 0.99929698 0. -0.12961067] [ 0. 0. 1. -0.00811943] [ 0. 0. 0. 1. ]] SLAMing on 4.085336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.13, Z:-0.02 [[ 0.9997991 0.02004391 0. 4.17668064] [-0.02004391 0.9997991 0. -0.13249021] [ 0. 0. 1. -0.01887075] [ 0. 0. 0. 1. ]] SLAMing on 4.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.14, Z:-0.03 [[ 0.99997827 0.00659166 0. 4.234868 ] [-0.00659166 0.99997827 0. -0.14149569] [ 0. 0. 1. -0.02578432] [ 0. 0. 0. 1. ]] SLAMing on 4.205336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.14, Z:-0.02 [[ 0.99992569 -0.01219079 0. 4.29447679] [ 0.01219079 0.99992569 0. -0.1435719 ] [ 0. 0. 1. -0.0186318 ] [ 0. 0. 0. 1. ]] SLAMing on 4.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.14, Z:-0.01 [[ 0.99976028 -0.02189486 0. 4.35781951] [ 0.02189486 0.99976028 0. -0.1394991 ] [ 0. 0. 1. -0.01423385] [ 0. 0. 0. 1. ]] SLAMing on 4.325336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.15, Z:-0.02 [[ 0.99947143 -0.03250944 0. 4.4202933 ] [ 0.03250944 0.99947143 0. -0.15289904] [ 0. 0. 1. -0.02141987] [ 0. 0. 0. 1. ]] SLAMing on 4.385336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.16, Z:-0.02 [[ 0.99935231 -0.03598568 0. 4.48267449] [ 0.03598568 0.99935231 0. -0.16265784] [ 0. 0. 1. -0.01551148] [ 0. 0. 0. 1. ]] SLAMing on 4.445336194999999 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.16, Z:-0.01 [[ 0.99946865 -0.03259463 0. 4.54462514] [ 0.03259463 0.99946865 0. -0.15541947] [ 0. 0. 1. -0.00544789] [ 0. 0. 0. 1. ]] SLAMing on 4.505336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.16, Z:-0.01 [[ 0.99970469 -0.02430107 0. 4.60704072] [ 0.02430107 0.99970469 0. -0.15897157] [ 0. 0. 1. -0.01190286] [ 0. 0. 0. 1. ]] SLAMing on 4.5653361949999995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.17, Z:-0.02 [[ 0.99988109 -0.01542115 0. 4.66863707] [ 0.01542115 0.99988109 0. -0.1717974 ] [ 0. 0. 1. -0.02294516] [ 0. 0. 0. 1. ]] SLAMing on 4.625336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.16, Z:-0.02 [[ 0.99997546 -0.0070057 0. 4.73013537] [ 0.0070057 0.99997546 0. -0.16195223] [ 0. 0. 1. -0.0170834 ] [ 0. 0. 0. 1. ]] SLAMing on 4.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.17, Z:-0.02 [[ 9.99999947e-01 3.25285362e-04 0.00000000e+00 4.79263831e+00] [-3.25285362e-04 9.99999947e-01 0.00000000e+00 -1.68914003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98097817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.17, Z:-0.02 [[ 0.99997504 0.00706533 0. 4.85349147] [-0.00706533 0.99997504 0. -0.17495054] [ 0. 0. 1. -0.02110038] [ 0. 0. 0. 1. ]] SLAMing on 4.805336195 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.17, Z:-0.02 [[ 0.99995517 0.00946906 0. 4.9125105 ] [-0.00946906 0.99995517 0. -0.17204055] [ 0. 0. 1. -0.01960899] [ 0. 0. 0. 1. ]] SLAMing on 4.865336194999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.16, Z:-0.01 [[ 0.99977441 0.02124 0. 4.97165659] [-0.02124 0.99977441 0. -0.16010112] [ 0. 0. 1. -0.01003927] [ 0. 0. 0. 1. ]] SLAMing on 4.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.16, Z:-0.02 [[ 0.99975976 0.02191852 0. 5.02897194] [-0.02191852 0.99975976 0. -0.16324006] [ 0. 0. 1. -0.01611041] [ 0. 0. 0. 1. ]] SLAMing on 4.9853361949999995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.15, Z:-0.01 [[ 0.99974401 0.02262545 0. 5.08780988] [-0.02262545 0.99974401 0. -0.1512264 ] [ 0. 0. 1. -0.00995558] [ 0. 0. 0. 1. ]] SLAMing on 5.045336195 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.14, Z:-0.02 [[ 0.99970788 0.02416937 0. 5.14637091] [-0.02416937 0.99970788 0. -0.13905673] [ 0. 0. 1. -0.01547269] [ 0. 0. 0. 1. ]] SLAMing on 5.105336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.14, Z:-0.02 [[ 0.99980051 0.01997362 0. 5.2054596 ] [-0.01997362 0.99980051 0. -0.1350869 ] [ 0. 0. 1. -0.02162409] [ 0. 0. 0. 1. ]] SLAMing on 5.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.12, Z:-0.02 [[ 0.99996151 0.00877372 0. 5.26338017] [-0.00877372 0.99996151 0. -0.12188279] [ 0. 0. 1. -0.01816226] [ 0. 0. 0. 1. ]] SLAMing on 5.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.12, Z:-0.02 [[ 9.99998236e-01 -1.87847702e-03 0.00000000e+00 5.32137602e+00] [ 1.87847702e-03 9.99998236e-01 0.00000000e+00 -1.18737411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70657185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.12, Z:-0.01 [[ 0.99989265 -0.0146521 0. 5.38248324] [ 0.0146521 0.99989265 0. -0.1159774 ] [ 0. 0. 1. -0.00757627] [ 0. 0. 0. 1. ]] SLAMing on 5.345336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.11, Z:-0.01 [[ 0.99966394 -0.02592314 0. 5.44599144] [ 0.02592314 0.99966394 0. -0.10846931] [ 0. 0. 1. -0.00736876] [ 0. 0. 0. 1. ]] SLAMing on 5.405336194999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.12, Z:-0.02 [[ 0.99960457 -0.02811941 0. 5.50853285] [ 0.02811941 0.99960457 0. -0.11917323] [ 0. 0. 1. -0.02142991] [ 0. 0. 0. 1. ]] SLAMing on 5.465336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.11, Z:-0.02 [[ 0.99976868 -0.02150801 0. 5.56972944] [ 0.02150801 0.99976868 0. -0.10726514] [ 0. 0. 1. -0.01640468] [ 0. 0. 0. 1. ]] SLAMing on 5.5253361949999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.11, Z:-0.01 [[ 0.99984501 -0.01760534 0. 5.63216934] [ 0.01760534 0.99984501 0. -0.10607107] [ 0. 0. 1. -0.01153713] [ 0. 0. 0. 1. ]] SLAMing on 5.585336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.11, Z:-0.02 [[ 0.99989982 -0.01415425 0. 5.69540527] [ 0.01415425 0.99989982 0. -0.11018971] [ 0. 0. 1. -0.01614431] [ 0. 0. 0. 1. ]] SLAMing on 5.645336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.10, Z:-0.02 [[ 0.9999773 -0.0067379 0. 5.75712607] [ 0.0067379 0.9999773 0. -0.10367134] [ 0. 0. 1. -0.02031242] [ 0. 0. 0. 1. ]] SLAMing on 5.705336195 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.10, Z:-0.01 [[ 9.99999785e-01 6.55718659e-04 0.00000000e+00 5.81919046e+00] [-6.55718659e-04 9.99999785e-01 0.00000000e+00 -9.56701542e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34049179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.09, Z:-0.01 [[ 9.99998959e-01 1.44324103e-03 0.00000000e+00 5.87971853e+00] [-1.44324103e-03 9.99998959e-01 0.00000000e+00 -8.87992950e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42003490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.08, Z:-0.01 [[ 9.99998134e-01 -1.93188829e-03 0.00000000e+00 5.93999606e+00] [ 1.93188829e-03 9.99998134e-01 0.00000000e+00 -8.01578069e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49241516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.08, Z:-0.02 [[ 9.99996203e-01 -2.75562310e-03 0.00000000e+00 6.00132680e+00] [ 2.75562310e-03 9.99996203e-01 0.00000000e+00 -8.07855637e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17069722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.08, Z:-0.02 [[ 0.99997942 -0.0064162 0. 6.06349475] [ 0.0064162 0.99997942 0. -0.07566973] [ 0. 0. 1. -0.02331254] [ 0. 0. 0. 1. ]] SLAMing on 6.005336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.08, Z:-0.01 [[ 0.99996492 -0.00837597 0. 6.1256728 ] [ 0.00837597 0.99996492 0. -0.07868187] [ 0. 0. 1. -0.01366885] [ 0. 0. 0. 1. ]] SLAMing on 6.0653361949999995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.08, Z:-0.01 [[ 0.99991028 -0.01339547 0. 6.18695769] [ 0.01339547 0.99991028 0. -0.08240387] [ 0. 0. 1. -0.01221445] [ 0. 0. 0. 1. ]] SLAMing on 6.125336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.09, Z:-0.02 [[ 0.9999007 -0.01409252 0. 6.24902746] [ 0.01409252 0.9999007 0. -0.08933491] [ 0. 0. 1. -0.019123 ] [ 0. 0. 0. 1. ]] SLAMing on 6.185336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.09, Z:-0.02 [[ 0.99995262 -0.00973448 0. 6.31082155] [ 0.00973448 0.99995262 0. -0.08815201] [ 0. 0. 1. -0.01985569] [ 0. 0. 0. 1. ]] SLAMing on 6.245336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.08, Z:-0.02 [[ 9.99997203e-01 2.36498936e-03 0.00000000e+00 6.37294849e+00] [-2.36498936e-03 9.99997203e-01 0.00000000e+00 -8.47867459e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96714457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.08, Z:-0.02 [[ 0.99985709 0.01690583 0. 6.43161023] [-0.01690583 0.99985709 0. -0.07910464] [ 0. 0. 1. -0.02418323] [ 0. 0. 0. 1. ]] SLAMing on 6.365336194999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.06, Z:-0.02 [[ 0.99973857 0.02286456 0. 6.49085673] [-0.02286456 0.99973857 0. -0.06023298] [ 0. 0. 1. -0.01808908] [ 0. 0. 0. 1. ]] SLAMing on 6.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.06, Z:-0.03 [[ 0.99979578 0.02020892 0. 6.55015296] [-0.02020892 0.99979578 0. -0.05556193] [ 0. 0. 1. -0.02683203] [ 0. 0. 0. 1. ]] SLAMing on 6.4853361949999995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.04, Z:-0.02 [[ 0.99994264 0.01071092 0. 6.60838436] [-0.01071092 0.99994264 0. -0.03948041] [ 0. 0. 1. -0.01850142] [ 0. 0. 0. 1. ]] SLAMing on 6.545336195 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.03, Z:-0.02 [[ 9.99992298e-01 -3.92476863e-03 0.00000000e+00 6.66758423e+00] [ 3.92476863e-03 9.99992298e-01 0.00000000e+00 -3.34297085e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75008318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.03, Z:-0.02 [[ 0.99983317 -0.0182655 0. 6.72845916] [ 0.0182655 0.99983317 0. -0.02831893] [ 0. 0. 1. -0.01556915] [ 0. 0. 0. 1. ]] SLAMing on 6.665336195 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.03, Z:-0.02 [[ 0.99970369 -0.02434193 0. 6.7919727 ] [ 0.02434193 0.99970369 0. -0.03166847] [ 0. 0. 1. -0.01920268] [ 0. 0. 0. 1. ]] SLAMing on 6.725336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.04, Z:-0.02 [[ 0.99963026 -0.02719088 0. 6.85271573] [ 0.02719088 0.99963026 0. -0.03515717] [ 0. 0. 1. -0.01537852] [ 0. 0. 0. 1. ]] SLAMing on 6.785336194999999 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.03, Z:-0.01 [[ 0.99961078 -0.02789781 0. 6.91477113] [ 0.02789781 0.99961078 0. -0.02947238] [ 0. 0. 1. -0.00768486] [ 0. 0. 0. 1. ]] SLAMing on 6.845336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.04, Z:-0.02 [[ 0.99970272 -0.02438184 0. 6.97704961] [ 0.02438184 0.99970272 0. -0.03575431] [ 0. 0. 1. -0.01561283] [ 0. 0. 0. 1. ]] SLAMing on 6.905336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.04, Z:-0.02 [[ 0.99990004 -0.01413923 0. 7.03894141] [ 0.01413923 0.99990004 0. -0.03512891] [ 0. 0. 1. -0.01818467] [ 0. 0. 0. 1. ]] SLAMing on 6.965336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.02, Z:-0.00 [[ 9.99991031e-01 -4.23521123e-03 0.00000000e+00 7.10083435e+00] [ 4.23521123e-03 9.99991031e-01 0.00000000e+00 -2.37185637e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25396898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.03, Z:-0.01 [[ 9.99996027e-01 2.81895731e-03 0.00000000e+00 7.16332667e+00] [-2.81895731e-03 9.99996027e-01 0.00000000e+00 -2.62890100e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12506265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.02, Z:-0.01 [[ 9.99987369e-01 5.02616374e-03 0.00000000e+00 7.22081699e+00] [-5.02616374e-03 9.99987369e-01 0.00000000e+00 -2.27816970e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27609578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.02, Z:-0.01 [[ 9.99982528e-01 5.91123497e-03 0.00000000e+00 7.28004555e+00] [-5.91123497e-03 9.99982528e-01 0.00000000e+00 -1.91823279e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06520702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205336194999999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.02, Z:-0.02 [[ 0.99996205 0.00871226 0. 7.33812642] [-0.00871226 0.99996205 0. -0.02471868] [ 0. 0. 1. -0.01591326] [ 0. 0. 0. 1. ]] SLAMing on 7.265336195 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.02, Z:-0.00 [[ 9.99969684e-01 7.78665803e-03 0.00000000e+00 7.39587565e+00] [-7.78665803e-03 9.99969684e-01 0.00000000e+00 -1.85851831e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71422797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.02, Z:-0.00 [[ 9.99976059e-01 6.91966312e-03 0.00000000e+00 7.45364612e+00] [-6.91966312e-03 9.99976059e-01 0.00000000e+00 -1.59391205e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02574850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385336195 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.02, Z:-0.01 [[ 0.99995618 0.00936124 0. 7.51161527] [-0.00936124 0.99995618 0. -0.01623721] [ 0. 0. 1. -0.00895269] [ 0. 0. 0. 1. ]] SLAMing on 7.445336194999999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:0.00, Z:-0.01 [[ 9.99928248e-01 1.19790604e-02 0.00000000e+00 7.56966068e+00] [-1.19790604e-02 9.99928248e-01 0.00000000e+00 3.06613556e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05397219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:0.00, Z:-0.01 [[ 9.99950905e-01 9.90891896e-03 0.00000000e+00 7.62867087e+00] [-9.90891896e-03 9.99950905e-01 0.00000000e+00 9.80499190e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.01637876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5653361949999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:0.01, Z:-0.01 [[ 9.99999989e-01 1.48583402e-04 0.00000000e+00 7.68781441e+00] [-1.48583402e-04 9.99999989e-01 0.00000000e+00 8.75783717e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99712564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:0.01, Z:-0.01 [[ 9.99985695e-01 -5.34885535e-03 0.00000000e+00 7.74689220e+00] [ 5.34885535e-03 9.99985695e-01 0.00000000e+00 1.22204900e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17190953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:0.02, Z:-0.01 [[ 9.99972291e-01 -7.44422326e-03 0.00000000e+00 7.80829695e+00] [ 7.44422326e-03 9.99972291e-01 0.00000000e+00 1.76392965e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38257345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:0.03, Z:-0.01 [[ 9.99988045e-01 -4.88983227e-03 0.00000000e+00 7.87047483e+00] [ 4.88983227e-03 9.99988045e-01 0.00000000e+00 2.54999383e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46140107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:0.03, Z:-0.01 [[ 9.99998904e-01 -1.48055073e-03 0.00000000e+00 7.93291673e+00] [ 1.48055073e-03 9.99998904e-01 0.00000000e+00 2.85126527e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06290636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:0.04, Z:-0.00 [[ 9.99999979e-01 2.05218546e-04 0.00000000e+00 7.99437930e+00] [-2.05218546e-04 9.99999979e-01 0.00000000e+00 4.13268664e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60081778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:0.04, Z:-0.01 [[ 9.99999996e-01 -8.91886745e-05 0.00000000e+00 8.05509796e+00] [ 8.91886745e-05 9.99999996e-01 0.00000000e+00 4.30315739e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24603368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:8.12, Y:0.05, Z:-0.02 [[ 9.99994333e-01 -3.36651853e-03 0.00000000e+00 8.11554496e+00] [ 3.36651853e-03 9.99994333e-01 0.00000000e+00 4.61975610e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72693981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:8.18, Y:0.05, Z:-0.02 [[ 0.99994881 -0.01011787 0. 8.1779859 ] [ 0.01011787 0.99994881 0. 0.04758794] [ 0. 0. 1. -0.01710972] [ 0. 0. 0. 1. ]] SLAMing on 8.105336195 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:8.24, Y:0.04, Z:-0.01 [[ 0.99978707 -0.02063521 0. 8.23943072] [ 0.02063521 0.99978707 0. 0.03924632] [ 0. 0. 1. -0.01142841] [ 0. 0. 0. 1. ]] SLAMing on 8.165336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:8.30, Y:0.02, Z:-0.01 [[ 0.9996071 -0.02802934 0. 8.30265217] [ 0.02802934 0.9996071 0. 0.02480021] [ 0. 0. 1. -0.01348264] [ 0. 0. 0. 1. ]] SLAMing on 8.225336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:8.36, Y:0.02, Z:-0.01 [[ 0.99968027 -0.02528565 0. 8.36374516] [ 0.02528565 0.99968027 0. 0.01545926] [ 0. 0. 1. -0.01405042] [ 0. 0. 0. 1. ]] SLAMing on 8.285336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:8.43, Y:0.01, Z:-0.02 [[ 9.99934507e-01 -1.14447341e-02 0.00000000e+00 8.42546298e+00] [ 1.14447341e-02 9.99934507e-01 0.00000000e+00 8.21017476e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76702047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:8.49, Y:0.01, Z:-0.02 [[ 0.99995861 0.00909778 0. 8.4879263 ] [-0.00909778 0.99995861 0. 0.0124915 ] [ 0. 0. 1. -0.01760471] [ 0. 0. 0. 1. ]] SLAMing on 8.405336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:8.55, Y:0.01, Z:-0.02 [[ 0.99962383 0.02742616 0. 8.54549942] [-0.02742616 0.99962383 0. 0.01236932] [ 0. 0. 1. -0.02029305] [ 0. 0. 0. 1. ]] SLAMing on 8.465336194999999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:0.02, Z:-0.02 [[ 0.99944489 0.03331535 0. 8.60425904] [-0.03331535 0.99944489 0. 0.01503629] [ 0. 0. 1. -0.016206 ] [ 0. 0. 0. 1. ]] SLAMing on 8.525336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:8.66, Y:0.02, Z:-0.02 [[ 0.99982247 0.01884209 0. 8.66329937] [-0.01884209 0.99982247 0. 0.01757905] [ 0. 0. 1. -0.02088469] [ 0. 0. 0. 1. ]] SLAMing on 8.585336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:0.01, Z:-0.02 [[ 0.99991337 0.01316269 0. 8.72175033] [-0.01316269 0.99991337 0. 0.01277196] [ 0. 0. 1. -0.02395854] [ 0. 0. 0. 1. ]] SLAMing on 8.645336195 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:0.01, Z:-0.01 [[ 9.99982181e-01 -5.96970347e-03 0.00000000e+00 8.78021737e+00] [ 5.96970347e-03 9.99982181e-01 0.00000000e+00 1.05075265e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47337269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.00, Z:-0.02 [[ 9.99802906e-01 -1.98531684e-02 0.00000000e+00 8.84246241e+00] [ 1.98531684e-02 9.99802906e-01 0.00000000e+00 -2.88608714e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59760717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765336195 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.01, Z:-0.01 [[ 9.99781024e-01 -2.09261765e-02 0.00000000e+00 8.90355313e+00] [ 2.09261765e-02 9.99781024e-01 0.00000000e+00 -6.02962712e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15234477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825336195 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.01, Z:-0.01 [[ 9.99929666e-01 -1.18601791e-02 0.00000000e+00 8.96566010e+00] [ 1.18601791e-02 9.99929666e-01 0.00000000e+00 -7.09524418e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48113426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.01, Z:-0.02 [[ 9.99993834e-01 3.51180602e-03 0.00000000e+00 9.02812295e+00] [-3.51180602e-03 9.99993834e-01 0.00000000e+00 -1.15785086e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08160508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945336195 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:9.09, Y:0.00, Z:-0.01 [[ 9.99869537e-01 1.61526620e-02 0.00000000e+00 9.08716329e+00] [-1.61526620e-02 9.99869537e-01 0.00000000e+00 3.73447283e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92556174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.15, Y:0.01, Z:-0.00 [[ 9.99804241e-01 1.97858478e-02 0.00000000e+00 9.14565582e+00] [-1.97858478e-02 9.99804241e-01 0.00000000e+00 6.80295225e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73724363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:0.01, Z:-0.01 [[ 0.99994702 0.01029336 0. 9.20378954] [-0.01029336 0.99994702 0. 0.01032483] [ 0. 0. 1. -0.01351186] [ 0. 0. 0. 1. ]] SLAMing on 9.125336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:9.26, Y:0.01, Z:-0.02 [[ 9.99968622e-01 7.92175721e-03 0.00000000e+00 9.26292288e+00] [-7.92175721e-03 9.99968622e-01 0.00000000e+00 1.29352876e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70154124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:9.32, Y:0.02, Z:-0.01 [[ 9.99973957e-01 7.21695624e-03 0.00000000e+00 9.32090240e+00] [-7.21695624e-03 9.99973957e-01 0.00000000e+00 1.70024024e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05000390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.38, Y:0.02, Z:-0.00 [[ 9.99973443e-01 7.28790346e-03 0.00000000e+00 9.37917475e+00] [-7.28790346e-03 9.99973443e-01 0.00000000e+00 1.50484143e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80344687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:9.44, Y:0.02, Z:-0.00 [[ 9.99982748e-01 5.87402217e-03 0.00000000e+00 9.43807148e+00] [-5.87402217e-03 9.99982748e-01 0.00000000e+00 2.36860962e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18442730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:0.03, Z:-0.01 [[ 9.99991444e-01 4.13665107e-03 0.00000000e+00 9.49641774e+00] [-4.13665107e-03 9.99991444e-01 0.00000000e+00 2.55614179e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39913925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:9.56, Y:0.03, Z:-0.01 [[ 9.99996273e-01 -2.73021884e-03 0.00000000e+00 9.55542810e+00] [ 2.73021884e-03 9.99996273e-01 0.00000000e+00 2.60800771e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33353839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.62, Y:0.03, Z:-0.00 [[ 9.99862411e-01 -1.65879379e-02 0.00000000e+00 9.61793449e+00] [ 1.65879379e-02 9.99862411e-01 0.00000000e+00 3.34278902e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33114843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545336194999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:9.68, Y:0.03, Z:-0.02 [[ 0.999605 -0.02810426 0. 9.67934996] [ 0.02810426 0.999605 0. 0.02767541] [ 0. 0. 1. -0.01739991] [ 0. 0. 0. 1. ]] SLAMing on 9.605336195 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:9.74, Y:0.02, Z:-0.02 [[ 0.99958315 -0.02887082 0. 9.74125859] [ 0.02887082 0.99958315 0. 0.02029535] [ 0. 0. 1. -0.01773845] [ 0. 0. 0. 1. ]] SLAMing on 9.665336195 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:9.80, Y:0.02, Z:-0.01 [[ 9.99725191e-01 -2.34423427e-02 0.00000000e+00 9.80356953e+00] [ 2.34423427e-02 9.99725191e-01 0.00000000e+00 2.18256872e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03780930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725336194999999 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:0.01, Z:-0.02 [[ 9.99834797e-01 -1.81763229e-02 0.00000000e+00 9.86564062e+00] [ 1.81763229e-02 9.99834797e-01 0.00000000e+00 7.95872317e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50027379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:9.93, Y:0.00, Z:-0.01 [[ 9.99881476e-01 -1.53959374e-02 0.00000000e+00 9.92753500e+00] [ 1.53959374e-02 9.99881476e-01 0.00000000e+00 2.09369192e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17095250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.00, Z:-0.01 [[ 9.99964511e-01 -8.42473737e-03 0.00000000e+00 9.98887468e+00] [ 8.42473737e-03 9.99964511e-01 0.00000000e+00 -1.02873436e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38773094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.01, Z:-0.02 [[ 0.99994599 0.01039318 0. 10.05056123] [-0.01039318 0.99994599 0. -0.01011592] [ 0. 0. 1. -0.02220818] [ 0. 0. 0. 1. ]] SLAMing on 9.965336194999999 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.00, Z:-0.01 [[ 9.99805826e-01 1.97055967e-02 0.00000000e+00 1.01072762e+01] [-1.97055967e-02 9.99805826e-01 0.00000000e+00 -3.22265676e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42618935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:0.01, Z:-0.01 [[ 9.99783904e-01 2.07881150e-02 0.00000000e+00 1.01649489e+01] [-2.07881150e-02 9.99783904e-01 0.00000000e+00 8.43465454e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05957599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085336195 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:0.00, Z:-0.02 [[ 9.99862360e-01 1.65909919e-02 0.00000000e+00 1.02231696e+01] [-1.65909919e-02 9.99862360e-01 0.00000000e+00 4.58408228e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96095632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145336194999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:0.01, Z:-0.02 [[ 9.99974049e-01 7.20419935e-03 0.00000000e+00 1.02810022e+01] [-7.20419935e-03 9.99974049e-01 0.00000000e+00 1.37209467e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44441305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:0.01, Z:-0.02 [[ 9.99968908e-01 -7.88565328e-03 0.00000000e+00 1.03395259e+01] [ 7.88565328e-03 9.99968908e-01 0.00000000e+00 9.74148514e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90302873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:10.40, Y:0.02, Z:-0.01 [[ 9.99799539e-01 -2.00220560e-02 0.00000000e+00 1.04029292e+01] [ 2.00220560e-02 9.99799539e-01 0.00000000e+00 1.54835154e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.95809471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:10.46, Y:0.01, Z:-0.02 [[ 0.99954893 -0.03003217 0. 10.46461936] [ 0.03003217 0.99954893 0. 0.01140183] [ 0. 0. 1. -0.02207302] [ 0. 0. 0. 1. ]] SLAMing on 10.385336194999999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.01, Z:-0.03 [[ 9.99489573e-01 -3.19467407e-02 0.00000000e+00 1.05260927e+01] [ 3.19467407e-02 9.99489573e-01 0.00000000e+00 -6.57676601e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07905095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.01, Z:-0.02 [[ 9.99613249e-01 -2.78092180e-02 0.00000000e+00 1.05880933e+01] [ 2.78092180e-02 9.99613249e-01 0.00000000e+00 -8.76089309e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05865556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505336195 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.00, Z:-0.00 [[ 9.99858384e-01 -1.68288819e-02 0.00000000e+00 1.06491780e+01] [ 1.68288819e-02 9.99858384e-01 0.00000000e+00 -3.53626021e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87050662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.01, Z:-0.02 [[ 9.99985654e-01 -5.35655119e-03 0.00000000e+00 1.07114992e+01] [ 5.35655119e-03 9.99985654e-01 0.00000000e+00 -1.36810535e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50473593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.01, Z:-0.01 [[ 9.99997683e-01 2.15247342e-03 0.00000000e+00 1.07730469e+01] [-2.15247342e-03 9.99997683e-01 0.00000000e+00 -6.39195666e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39065118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.01, Z:-0.01 [[ 9.99999624e-01 8.67150730e-04 0.00000000e+00 1.08316523e+01] [-8.67150730e-04 9.99999624e-01 0.00000000e+00 -5.96213192e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08396708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.02, Z:-0.02 [[ 9.99998465e-01 -1.75237762e-03 0.00000000e+00 1.08909182e+01] [ 1.75237762e-03 9.99998465e-01 0.00000000e+00 -1.97073395e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30342075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.02, Z:-0.02 [[ 9.99990806e-01 -4.28820162e-03 0.00000000e+00 1.09524288e+01] [ 4.28820162e-03 9.99990806e-01 0.00000000e+00 -1.65215548e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89720128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.03, Z:-0.02 [[ 9.99958945e-01 -9.06134328e-03 0.00000000e+00 1.10144754e+01] [ 9.06134328e-03 9.99958945e-01 0.00000000e+00 -3.23962469e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80536842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925336195 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.04, Z:-0.01 [[ 0.99983894 -0.01794674 0. 11.07759814] [ 0.01794674 0.99983894 0. -0.041704 ] [ 0. 0. 1. -0.01148306] [ 0. 0. 0. 1. ]] SLAMing on 10.985336195 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.05, Z:-0.01 [[ 9.99752164e-01 -2.22623151e-02 0.00000000e+00 1.11393094e+01] [ 2.22623151e-02 9.99752164e-01 0.00000000e+00 -4.76352383e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00948219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045336194999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.06, Z:-0.02 [[ 0.99993645 -0.01127392 0. 11.20168907] [ 0.01127392 0.99993645 0. -0.06419541] [ 0. 0. 1. -0.02113602] [ 0. 0. 0. 1. ]] SLAMing on 11.105336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.07, Z:-0.02 [[ 9.99999981e-01 -1.95941512e-04 0.00000000e+00 1.12641690e+01] [ 1.95941512e-04 9.99999981e-01 0.00000000e+00 -6.70927560e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57033935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.07, Z:-0.01 [[ 9.99983852e-01 5.68286829e-03 0.00000000e+00 1.13242808e+01] [-5.68286829e-03 9.99983852e-01 0.00000000e+00 -7.32301405e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84978625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.08, Z:-0.01 [[ 9.99954359e-01 9.55409282e-03 0.00000000e+00 1.13831876e+01] [-9.55409282e-03 9.99954359e-01 0.00000000e+00 -8.15406529e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54554329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.09, Z:-0.01 [[ 0.99988541 0.01513838 0. 11.44152913] [-0.01513838 0.99988541 0. -0.08600206] [ 0. 0. 1. -0.01438307] [ 0. 0. 0. 1. ]] SLAMing on 11.345336195 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.09, Z:-0.02 [[ 0.99987743 0.01565676 0. 11.49975115] [-0.01565676 0.99987743 0. -0.09122724] [ 0. 0. 1. -0.01508872] [ 0. 0. 0. 1. ]] SLAMing on 11.405336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.10, Z:-0.01 [[ 9.99966436e-01 8.19308021e-03 0.00000000e+00 1.15585293e+01] [-8.19308021e-03 9.99966436e-01 0.00000000e+00 -1.01947948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10528001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.11, Z:-0.00 [[ 9.99998598e-01 -1.67463620e-03 0.00000000e+00 1.16163559e+01] [ 1.67463620e-03 9.99998598e-01 0.00000000e+00 -1.06891130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75334487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.12, Z:-0.01 [[ 9.99999893e-01 4.62597099e-04 0.00000000e+00 1.16778596e+01] [-4.62597099e-04 9.99999893e-01 0.00000000e+00 -1.16433759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90860424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.11, Z:-0.01 [[ 9.99979301e-01 6.43415090e-03 0.00000000e+00 1.17375413e+01] [-6.43415090e-03 9.99979301e-01 0.00000000e+00 -1.11156638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85909684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.11, Z:-0.01 [[ 9.99956588e-01 9.31779469e-03 0.00000000e+00 1.17949896e+01] [-9.31779469e-03 9.99956588e-01 0.00000000e+00 -1.13328849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44231141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.11, Z:-0.01 [[ 9.99952971e-01 9.69819262e-03 0.00000000e+00 1.18531910e+01] [-9.69819262e-03 9.99952971e-01 0.00000000e+00 -1.09592430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43240970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.11, Z:-0.01 [[ 9.99976908e-01 6.79580031e-03 0.00000000e+00 1.19117991e+01] [-6.79580031e-03 9.99976908e-01 0.00000000e+00 -1.07829117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31674789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.11, Z:-0.01 [[ 9.99988589e-01 -4.77718569e-03 0.00000000e+00 1.19697263e+01] [ 4.77718569e-03 9.99988589e-01 0.00000000e+00 -1.07556718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43352987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.12, Z:-0.02 [[ 0.99985999 -0.01673343 0. 12.0319699 ] [ 0.01673343 0.99985999 0. -0.11637932] [ 0. 0. 1. -0.02390854] [ 0. 0. 0. 1. ]] SLAMing on 11.945336195 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.12, Z:-0.01 [[ 9.99775635e-01 -2.11820625e-02 0.00000000e+00 1.20943329e+01] [ 2.11820625e-02 9.99775635e-01 0.00000000e+00 -1.19160793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04310599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.13, Z:-0.01 [[ 0.99991405 -0.01311046 0. 12.15685366] [ 0.01311046 0.99991405 0. -0.12710809] [ 0. 0. 1. -0.01347786] [ 0. 0. 0. 1. ]] SLAMing on 12.065336194999999 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.13, Z:-0.01 [[ 9.99957698e-01 -9.19795024e-03 0.00000000e+00 1.22180277e+01] [ 9.19795024e-03 9.99957698e-01 0.00000000e+00 -1.28052657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26488982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.13, Z:-0.01 [[ 9.99986562e-01 -5.18413144e-03 0.00000000e+00 1.22802467e+01] [ 5.18413144e-03 9.99986562e-01 0.00000000e+00 -1.29856036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11795028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.14, Z:-0.01 [[ 9.99999326e-01 1.16087125e-03 0.00000000e+00 1.23422086e+01] [-1.16087125e-03 9.99999326e-01 0.00000000e+00 -1.36773289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09322398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.14, Z:-0.01 [[ 9.99996747e-01 2.55075891e-03 0.00000000e+00 1.24019718e+01] [-2.55075891e-03 9.99996747e-01 0.00000000e+00 -1.35744497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13323443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.13, Z:-0.01 [[ 9.99996592e-01 2.61082130e-03 0.00000000e+00 1.24605790e+01] [-2.61082130e-03 9.99996592e-01 0.00000000e+00 -1.34327127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31972259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.14, Z:-0.01 [[ 9.99996208e-01 2.75391214e-03 0.00000000e+00 1.25196055e+01] [-2.75391214e-03 9.99996208e-01 0.00000000e+00 -1.36124990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29614239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.15, Z:-0.02 [[ 9.99988758e-01 4.74166582e-03 0.00000000e+00 1.25778395e+01] [-4.74166582e-03 9.99988758e-01 0.00000000e+00 -1.46156977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62388557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.13, Z:-0.01 [[ 9.99973177e-01 7.32425069e-03 0.00000000e+00 1.26369732e+01] [-7.32425069e-03 9.99973177e-01 0.00000000e+00 -1.34333219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15898738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.13, Z:-0.01 [[ 9.99967309e-01 8.08585996e-03 0.00000000e+00 1.26951710e+01] [-8.08585996e-03 9.99967309e-01 0.00000000e+00 -1.28908049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45447489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.13, Z:-0.02 [[ 9.99991939e-01 4.01526114e-03 0.00000000e+00 1.27545003e+01] [-4.01526114e-03 9.99991939e-01 0.00000000e+00 -1.28630532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85509899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.11, Z:-0.01 [[ 9.99987443e-01 -5.01138029e-03 0.00000000e+00 1.28130265e+01] [ 5.01138029e-03 9.99987443e-01 0.00000000e+00 -1.14508110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14768088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.11, Z:-0.01 [[ 9.99875725e-01 -1.57650062e-02 0.00000000e+00 1.28748167e+01] [ 1.57650062e-02 9.99875725e-01 0.00000000e+00 -1.13140102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99129663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.12, Z:-0.01 [[ 9.99818121e-01 -1.90715600e-02 0.00000000e+00 1.29360867e+01] [ 1.90715600e-02 9.99818121e-01 0.00000000e+00 -1.15501421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25302414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.11, Z:-0.01 [[ 9.99847295e-01 -1.74752946e-02 0.00000000e+00 1.29985008e+01] [ 1.74752946e-02 9.99847295e-01 0.00000000e+00 -1.07916320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25812978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.11, Z:-0.02 [[ 0.99977195 -0.0213554 0. 13.0595478 ] [ 0.0213554 0.99977195 0. -0.10786483] [ 0. 0. 1. -0.01750173] [ 0. 0. 0. 1. ]] SLAMing on 12.965336194999999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.12, Z:-0.02 [[ 0.9995438 -0.03020245 0. 13.12118704] [ 0.03020245 0.9995438 0. -0.12182883] [ 0. 0. 1. -0.01696811] [ 0. 0. 0. 1. ]] SLAMing on 13.025336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.12, Z:-0.01 [[ 9.99421431e-01 -3.40118088e-02 0.00000000e+00 1.31832143e+01] [ 3.40118088e-02 9.99421431e-01 0.00000000e+00 -1.21314357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33372837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.13, Z:-0.01 [[ 9.99702298e-01 -2.43990927e-02 0.00000000e+00 1.32448156e+01] [ 2.43990927e-02 9.99702298e-01 0.00000000e+00 -1.28142796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14902585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.14, Z:-0.02 [[ 9.99977825e-01 -6.65961719e-03 0.00000000e+00 1.33064733e+01] [ 6.65961719e-03 9.99977825e-01 0.00000000e+00 -1.42652404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60111560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.14, Z:-0.01 [[ 9.99987440e-01 5.01205520e-03 0.00000000e+00 1.33690258e+01] [-5.01205520e-03 9.99987440e-01 0.00000000e+00 -1.39026469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81759400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.14, Z:-0.00 [[ 9.99927895e-01 1.20085343e-02 0.00000000e+00 1.34279192e+01] [-1.20085343e-02 9.99927895e-01 0.00000000e+00 -1.39337752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58702970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325336195 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.15, Z:-0.02 [[ 0.99990824 0.01354641 0. 13.48674883] [-0.01354641 0.99990824 0. -0.1522801 ] [ 0. 0. 1. -0.01535714] [ 0. 0. 0. 1. ]] SLAMing on 13.385336194999999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.14, Z:-0.01 [[ 9.99933814e-01 1.15050832e-02 0.00000000e+00 1.35454774e+01] [-1.15050832e-02 9.99933814e-01 0.00000000e+00 -1.40210791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18412081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.15, Z:-0.01 [[ 9.99977478e-01 6.71139166e-03 0.00000000e+00 1.36031952e+01] [-6.71139166e-03 9.99977478e-01 0.00000000e+00 -1.48582528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41308115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.16, Z:-0.01 [[ 9.99997285e-01 -2.33005954e-03 0.00000000e+00 1.36618502e+01] [ 2.33005954e-03 9.99997285e-01 0.00000000e+00 -1.55037926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44841011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.15, Z:-0.01 [[ 9.99981355e-01 -6.10645676e-03 0.00000000e+00 1.37230599e+01] [ 6.10645676e-03 9.99981355e-01 0.00000000e+00 -1.54082109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25875068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.16, Z:-0.01 [[ 9.99996576e-01 -2.61676299e-03 0.00000000e+00 1.37850837e+01] [ 2.61676299e-03 9.99996576e-01 0.00000000e+00 -1.62248140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36548913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.16, Z:-0.01 [[ 9.99992668e-01 3.82930951e-03 0.00000000e+00 1.38462371e+01] [-3.82930951e-03 9.99992668e-01 0.00000000e+00 -1.60464932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02033395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.16, Z:-0.01 [[ 9.99965213e-01 8.34100196e-03 0.00000000e+00 1.39037249e+01] [-8.34100196e-03 9.99965213e-01 0.00000000e+00 -1.56187046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02803497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.16, Z:-0.02 [[ 9.99986210e-01 5.25159726e-03 0.00000000e+00 1.39610858e+01] [-5.25159726e-03 9.99986210e-01 0.00000000e+00 -1.58181729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76083312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.15, Z:-0.01 [[ 9.99995216e-01 3.09330238e-03 0.00000000e+00 1.40198780e+01] [-3.09330238e-03 9.99995216e-01 0.00000000e+00 -1.50662853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31005832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.15, Z:-0.01 [[ 9.99996296e-01 2.72177785e-03 0.00000000e+00 1.40784632e+01] [-2.72177785e-03 9.99996296e-01 0.00000000e+00 -1.53084101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33448789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.14, Z:-0.00 [[ 9.99998933e-01 -1.46086489e-03 0.00000000e+00 1.41374773e+01] [ 1.46086489e-03 9.99998933e-01 0.00000000e+00 -1.43450098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08424082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.14, Z:-0.01 [[ 9.99995165e-01 -3.10951948e-03 0.00000000e+00 1.41985903e+01] [ 3.10951948e-03 9.99995165e-01 0.00000000e+00 -1.38362424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31162657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.14, Z:-0.02 [[ 9.99973854e-01 -7.23125026e-03 0.00000000e+00 1.42603569e+01] [ 7.23125026e-03 9.99973854e-01 0.00000000e+00 -1.37258705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18991651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.13, Z:-0.02 [[ 0.99988665 -0.01505609 0. 14.32240323] [ 0.01505609 0.99988665 0. -0.13140291] [ 0. 0. 1. -0.01707591] [ 0. 0. 0. 1. ]] SLAMing on 14.225336194999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.13, Z:-0.02 [[ 0.99976323 -0.0217595 0. 14.38329076] [ 0.0217595 0.99976323 0. -0.13380382] [ 0. 0. 1. -0.0153066 ] [ 0. 0. 0. 1. ]] SLAMing on 14.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.13, Z:-0.01 [[ 9.99705088e-01 -2.42844948e-02 0.00000000e+00 1.44460542e+01] [ 2.42844948e-02 9.99705088e-01 0.00000000e+00 -1.33225393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27153712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.13, Z:-0.02 [[ 0.99977137 -0.02138241 0. 14.50802481] [ 0.02138241 0.99977137 0. -0.13213568] [ 0. 0. 1. -0.01575909] [ 0. 0. 0. 1. ]] SLAMing on 14.405336194999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.14, Z:-0.02 [[ 0.99986517 -0.01642069 0. 14.57024017] [ 0.01642069 0.99986517 0. -0.13938644] [ 0. 0. 1. -0.01679732] [ 0. 0. 0. 1. ]] SLAMing on 14.465336194999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.13, Z:-0.01 [[ 9.99919575e-01 -1.26823992e-02 0.00000000e+00 1.46322422e+01] [ 1.26823992e-02 9.99919575e-01 0.00000000e+00 -1.30962599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44761231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.13, Z:-0.03 [[ 9.99962302e-01 -8.68301399e-03 0.00000000e+00 1.46927935e+01] [ 8.68301399e-03 9.99962302e-01 0.00000000e+00 -1.33035947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03213655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.12, Z:-0.02 [[ 9.99971357e-01 -7.56869684e-03 0.00000000e+00 1.47548313e+01] [ 7.56869684e-03 9.99971357e-01 0.00000000e+00 -1.22761377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97047632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.12, Z:-0.01 [[ 9.99957818e-01 -9.18487908e-03 0.00000000e+00 1.48169397e+01] [ 9.18487908e-03 9.99957818e-01 0.00000000e+00 -1.20430637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34420333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.13, Z:-0.01 [[ 0.99985031 -0.01730185 0. 14.87811138] [ 0.01730185 0.99985031 0. -0.1254869 ] [ 0. 0. 1. -0.01497928] [ 0. 0. 0. 1. ]] SLAMing on 14.765336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.13, Z:-0.02 [[ 0.99970702 -0.02420479 0. 14.94068915] [ 0.02420479 0.99970702 0. -0.13294562] [ 0. 0. 1. -0.0243092 ] [ 0. 0. 0. 1. ]] SLAMing on 14.825336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.14, Z:-0.02 [[ 0.99960051 -0.02826339 0. 15.00288176] [ 0.02826339 0.99960051 0. -0.13874408] [ 0. 0. 1. -0.02026751] [ 0. 0. 0. 1. ]] SLAMing on 14.885336194999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.15, Z:-0.02 [[ 0.99964696 -0.02656985 0. 15.06380804] [ 0.02656985 0.99964696 0. -0.14688376] [ 0. 0. 1. -0.01984583] [ 0. 0. 0. 1. ]] SLAMing on 14.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.15, Z:-0.01 [[ 9.99910460e-01 -1.33818043e-02 0.00000000e+00 1.51262007e+01] [ 1.33818043e-02 9.99910460e-01 0.00000000e+00 -1.52454251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16048936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.15, Z:-0.02 [[ 9.99997599e-01 2.19143082e-03 0.00000000e+00 1.51873072e+01] [-2.19143082e-03 9.99997599e-01 0.00000000e+00 -1.48499491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55499017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.14, Z:-0.01 [[ 9.99898690e-01 1.42341284e-02 0.00000000e+00 1.52457565e+01] [-1.42341284e-02 9.99898690e-01 0.00000000e+00 -1.36740177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23797020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.13, Z:-0.02 [[ 0.99979282 0.02035496 0. 15.30323195] [-0.02035496 0.99979282 0. -0.12985469] [ 0. 0. 1. -0.0227174 ] [ 0. 0. 0. 1. ]] SLAMing on 15.185336195 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.12, Z:-0.03 [[ 0.99981669 0.01914621 0. 15.36255109] [-0.01914621 0.99981669 0. -0.11830321] [ 0. 0. 1. -0.02785608] [ 0. 0. 0. 1. ]] SLAMing on 15.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.10, Z:-0.02 [[ 9.99972616e-01 7.40054998e-03 0.00000000e+00 1.54206820e+01] [-7.40054998e-03 9.99972616e-01 0.00000000e+00 -9.83098587e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29964904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.10, Z:-0.02 [[ 9.99999568e-01 -9.29032966e-04 0.00000000e+00 1.54791696e+01] [ 9.29032966e-04 9.99999568e-01 0.00000000e+00 -9.85675237e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14261901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.09, Z:-0.02 [[ 9.99924915e-01 -1.22541367e-02 0.00000000e+00 1.55400008e+01] [ 1.22541367e-02 9.99924915e-01 0.00000000e+00 -9.22857619e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78556151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.08, Z:-0.01 [[ 9.99818562e-01 -1.90484516e-02 0.00000000e+00 1.56035506e+01] [ 1.90484516e-02 9.99818562e-01 0.00000000e+00 -8.16207977e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57379215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.08, Z:-0.01 [[ 9.99884383e-01 -1.52059100e-02 0.00000000e+00 1.56649729e+01] [ 1.52059100e-02 9.99884383e-01 0.00000000e+00 -7.83440293e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49166051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.07, Z:-0.01 [[ 9.99934700e-01 -1.14278651e-02 0.00000000e+00 1.57279689e+01] [ 1.14278651e-02 9.99934700e-01 0.00000000e+00 -7.20088790e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32431458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.06, Z:-0.01 [[ 9.99950210e-01 -9.97885809e-03 0.00000000e+00 1.57897490e+01] [ 9.97885809e-03 9.99950210e-01 0.00000000e+00 -6.38607609e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35651125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.07, Z:-0.02 [[ 9.99918059e-01 -1.28013645e-02 0.00000000e+00 1.58506135e+01] [ 1.28013645e-02 9.99918059e-01 0.00000000e+00 -6.50009714e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29852172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.07, Z:-0.03 [[ 0.99986222 -0.01659944 0. 15.91308442] [ 0.01659944 0.99986222 0. -0.06510651] [ 0. 0. 1. -0.026121 ] [ 0. 0. 0. 1. ]] SLAMing on 15.785336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.07, Z:-0.02 [[ 0.99982989 -0.01844409 0. 15.97480101] [ 0.01844409 0.99982989 0. -0.0660512 ] [ 0. 0. 1. -0.02075806] [ 0. 0. 0. 1. ]] SLAMing on 15.845336195 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.07, Z:-0.02 [[ 9.99871993e-01 -1.59999521e-02 0.00000000e+00 1.60368996e+01] [ 1.59999521e-02 9.99871993e-01 0.00000000e+00 -6.69123044e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85630105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.07, Z:-0.02 [[ 9.99937180e-01 -1.12087734e-02 0.00000000e+00 1.60978553e+01] [ 1.12087734e-02 9.99937180e-01 0.00000000e+00 -7.06826896e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92041247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.08, Z:-0.02 [[ 9.99960649e-01 -8.87134595e-03 0.00000000e+00 1.61596983e+01] [ 8.87134595e-03 9.99960649e-01 0.00000000e+00 -7.55598048e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37986737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.08, Z:-0.02 [[ 9.99950358e-01 -9.96396914e-03 0.00000000e+00 1.62223160e+01] [ 9.96396914e-03 9.99950358e-01 0.00000000e+00 -7.73494981e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20696659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.08, Z:-0.02 [[ 9.99917031e-01 -1.28814184e-02 0.00000000e+00 1.62830692e+01] [ 1.28814184e-02 9.99917031e-01 0.00000000e+00 -7.96000206e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96576465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.09, Z:-0.02 [[ 9.99942502e-01 -1.07234418e-02 0.00000000e+00 1.63451858e+01] [ 1.07234418e-02 9.99942502e-01 0.00000000e+00 -8.91612818e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48522656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.09, Z:-0.03 [[ 9.99969430e-01 -7.81915008e-03 0.00000000e+00 1.64067278e+01] [ 7.81915008e-03 9.99969430e-01 0.00000000e+00 -9.28811026e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86977612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.09, Z:-0.02 [[ 9.99989072e-01 -4.67505662e-03 0.00000000e+00 1.64694356e+01] [ 4.67505662e-03 9.99989072e-01 0.00000000e+00 -8.83015308e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08144994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.09, Z:-0.02 [[ 9.99985738e-01 -5.34075805e-03 0.00000000e+00 1.65321682e+01] [ 5.34075805e-03 9.99985738e-01 0.00000000e+00 -8.60793392e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08902455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.09, Z:-0.03 [[ 9.99977992e-01 -6.63441457e-03 0.00000000e+00 1.65946250e+01] [ 6.63441457e-03 9.99977992e-01 0.00000000e+00 -9.31550525e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51998665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.09, Z:-0.02 [[ 9.99974354e-01 -7.16175950e-03 0.00000000e+00 1.66564873e+01] [ 7.16175950e-03 9.99974354e-01 0.00000000e+00 -9.09687466e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47970326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.09, Z:-0.03 [[ 9.99945606e-01 -1.04300017e-02 0.00000000e+00 1.67181141e+01] [ 1.04300017e-02 9.99945606e-01 0.00000000e+00 -9.13850081e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50548013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.10, Z:-0.03 [[ 9.99906719e-01 -1.36584369e-02 0.00000000e+00 1.67793160e+01] [ 1.36584369e-02 9.99906719e-01 0.00000000e+00 -1.04401399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24931047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.11, Z:-0.02 [[ 0.99981714 -0.019123 0. 16.84122563] [ 0.019123 0.99981714 0. -0.10645181] [ 0. 0. 1. -0.02388918] [ 0. 0. 0. 1. ]] SLAMing on 16.685336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.12, Z:-0.02 [[ 0.9997502 -0.02235054 0. 16.90342718] [ 0.02235054 0.9997502 0. -0.1173356 ] [ 0. 0. 1. -0.02148922] [ 0. 0. 0. 1. ]] SLAMing on 16.745336195 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.13, Z:-0.02 [[ 9.99890313e-01 -1.48108983e-02 0.00000000e+00 1.69650107e+01] [ 1.48108983e-02 9.99890313e-01 0.00000000e+00 -1.25813650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47674502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.13, Z:-0.02 [[ 9.99998958e-01 1.44386418e-03 0.00000000e+00 1.70281700e+01] [-1.44386418e-03 9.99998958e-01 0.00000000e+00 -1.28004462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47732151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.13, Z:-0.03 [[ 9.99868277e-01 1.62304991e-02 0.00000000e+00 1.70874760e+01] [-1.62304991e-02 9.99868277e-01 0.00000000e+00 -1.27398173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74116885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.13, Z:-0.03 [[ 0.99979533 0.0202312 0. 17.14583352] [-0.0202312 0.99979533 0. -0.12800029] [ 0. 0. 1. -0.02943783] [ 0. 0. 0. 1. ]] SLAMing on 16.985336195000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.13, Z:-0.03 [[ 0.99984351 0.01769077 0. 17.20416917] [-0.01769077 0.99984351 0. -0.12951217] [ 0. 0. 1. -0.027408 ] [ 0. 0. 0. 1. ]] SLAMing on 17.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.13, Z:-0.03 [[ 9.99926317e-01 1.21391916e-02 0.00000000e+00 1.72624159e+01] [-1.21391916e-02 9.99926317e-01 0.00000000e+00 -1.29611216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87520602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.13, Z:-0.03 [[ 9.99998489e-01 1.73846727e-03 0.00000000e+00 1.73215592e+01] [-1.73846727e-03 9.99998489e-01 0.00000000e+00 -1.27156338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57524699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.14, Z:-0.03 [[ 0.99981987 -0.01897965 0. 17.38068198] [ 0.01897965 0.99981987 0. -0.14485262] [ 0. 0. 1. -0.03388195] [ 0. 0. 0. 1. ]] SLAMing on 17.225336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.15, Z:-0.03 [[ 0.99966106 -0.02603401 0. 17.44225546] [ 0.02603401 0.99966106 0. -0.15448184] [ 0. 0. 1. -0.02726306] [ 0. 0. 0. 1. ]] SLAMing on 17.285336195000003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.17, Z:-0.03 [[ 0.99972321 -0.02352661 0. 17.50464316] [ 0.02352661 0.99972321 0. -0.16829202] [ 0. 0. 1. -0.02760121] [ 0. 0. 0. 1. ]] SLAMing on 17.345336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.19, Z:-0.03 [[ 9.99921483e-01 -1.25310752e-02 0.00000000e+00 1.75655807e+01] [ 1.25310752e-02 9.99921483e-01 0.00000000e+00 -1.86436041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06856051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.20, Z:-0.03 [[ 9.99999087e-01 1.35157048e-03 0.00000000e+00 1.76275780e+01] [-1.35157048e-03 9.99999087e-01 0.00000000e+00 -1.95637868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13301138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.21, Z:-0.03 [[ 9.99910766e-01 1.33588917e-02 0.00000000e+00 1.76869043e+01] [-1.33588917e-02 9.99910766e-01 0.00000000e+00 -2.06587172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16246250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525336195 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.21, Z:-0.03 [[ 0.99981078 0.01945277 0. 17.74545978] [-0.01945277 0.99981078 0. -0.20860906] [ 0. 0. 1. -0.02518479] [ 0. 0. 0. 1. ]] SLAMing on 17.585336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.22, Z:-0.03 [[ 0.99979524 0.0202357 0. 17.80392073] [-0.0202357 0.99979524 0. -0.21808254] [ 0. 0. 1. -0.03326185] [ 0. 0. 0. 1. ]] SLAMing on 17.645336195000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.22, Z:-0.03 [[ 9.99861900e-01 1.66187056e-02 0.00000000e+00 1.78624362e+01] [-1.66187056e-02 9.99861900e-01 0.00000000e+00 -2.19160091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99838572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.22, Z:-0.03 [[ 9.99957708e-01 9.19691012e-03 0.00000000e+00 1.79210034e+01] [-9.19691012e-03 9.99957708e-01 0.00000000e+00 -2.15803495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83158375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.23, Z:-0.04 [[ 9.99990612e-01 4.33311179e-03 0.00000000e+00 1.79798648e+01] [-4.33311179e-03 9.99990612e-01 0.00000000e+00 -2.25706062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66960735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.22, Z:-0.03 [[ 9.99988665e-01 4.76119009e-03 0.00000000e+00 1.80374569e+01] [-4.76119009e-03 9.99988665e-01 0.00000000e+00 -2.24925955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33519257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.22, Z:-0.03 [[ 9.99926823e-01 1.20974668e-02 0.00000000e+00 1.80963152e+01] [-1.20974668e-02 9.99926823e-01 0.00000000e+00 -2.15723895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40753165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.22, Z:-0.04 [[ 9.99860958e-01 1.66752777e-02 0.00000000e+00 1.81555286e+01] [-1.66752777e-02 9.99860958e-01 0.00000000e+00 -2.15522536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86729631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005336195 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.21, Z:-0.04 [[ 9.99837172e-01 1.80452111e-02 0.00000000e+00 1.82131105e+01] [-1.80452111e-02 9.99837172e-01 0.00000000e+00 -2.07279750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89151443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.21, Z:-0.04 [[ 9.99854976e-01 1.70302038e-02 0.00000000e+00 1.82723486e+01] [-1.70302038e-02 9.99854976e-01 0.00000000e+00 -2.05344892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56053819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.20, Z:-0.03 [[ 9.99997242e-01 2.34844993e-03 0.00000000e+00 1.83315574e+01] [-2.34844993e-03 9.99997242e-01 0.00000000e+00 -1.95513475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21082639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.20, Z:-0.03 [[ 9.99943607e-01 -1.06199546e-02 0.00000000e+00 1.83908035e+01] [ 1.06199546e-02 9.99943607e-01 0.00000000e+00 -1.96538399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47624875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.20, Z:-0.04 [[ 0.99981931 -0.01900908 0. 18.45344334] [ 0.01900908 0.99981931 0. -0.19826773] [ 0. 0. 1. -0.03918057] [ 0. 0. 0. 1. ]] SLAMing on 18.305336195000002 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.20, Z:-0.04 [[ 0.9998034 -0.01982816 0. 18.51606597] [ 0.01982816 0.9998034 0. -0.19596892] [ 0. 0. 1. -0.04006306] [ 0. 0. 0. 1. ]] SLAMing on 18.365336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.21, Z:-0.03 [[ 0.99977969 -0.02098983 0. 18.57814203] [ 0.02098983 0.99977969 0. -0.20544269] [ 0. 0. 1. -0.03491318] [ 0. 0. 0. 1. ]] SLAMing on 18.425336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.20, Z:-0.03 [[ 0.99977766 -0.02108647 0. 18.64001672] [ 0.02108647 0.99977766 0. -0.20368102] [ 0. 0. 1. -0.03298382] [ 0. 0. 0. 1. ]] SLAMing on 18.485336195000002 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.22, Z:-0.05 [[ 9.99893730e-01 -1.45783414e-02 0.00000000e+00 1.87025117e+01] [ 1.45783414e-02 9.99893730e-01 0.00000000e+00 -2.21404112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78208961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.23, Z:-0.05 [[ 9.99945259e-01 -1.04631914e-02 0.00000000e+00 1.87645664e+01] [ 1.04631914e-02 9.99945259e-01 0.00000000e+00 -2.32386065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58884391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.25, Z:-0.04 [[ 9.99954539e-01 -9.53523434e-03 0.00000000e+00 1.88264713e+01] [ 9.53523434e-03 9.99954539e-01 0.00000000e+00 -2.45182901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01883166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.26, Z:-0.05 [[ 9.99963785e-01 -8.51048588e-03 0.00000000e+00 1.88872272e+01] [ 8.51048588e-03 9.99963785e-01 0.00000000e+00 -2.64719425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88162461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.28, Z:-0.05 [[ 9.99997027e-01 2.43832428e-03 0.00000000e+00 1.89490496e+01] [-2.43832428e-03 9.99997027e-01 0.00000000e+00 -2.76083893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93223338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.28, Z:-0.05 [[ 0.99979941 0.02002823 0. 19.00763945] [-0.02002823 0.99979941 0. -0.27836617] [ 0. 0. 1. -0.04669699] [ 0. 0. 0. 1. ]] SLAMing on 18.845336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.27, Z:-0.05 [[ 0.99945417 0.03303591 0. 19.06693453] [-0.03303591 0.99945417 0. -0.27064134] [ 0. 0. 1. -0.04555538] [ 0. 0. 0. 1. ]] SLAMing on 18.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.27, Z:-0.05 [[ 0.99940443 0.0345079 0. 19.12452576] [-0.0345079 0.99940443 0. -0.27372194] [ 0. 0. 1. -0.04759787] [ 0. 0. 0. 1. ]] SLAMing on 18.965336195000003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.27, Z:-0.05 [[ 0.99969907 0.02453116 0. 19.18369037] [-0.02453116 0.99969907 0. -0.2685735 ] [ 0. 0. 1. -0.04504835] [ 0. 0. 0. 1. ]] SLAMing on 19.025336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.27, Z:-0.05 [[ 9.99925707e-01 1.21893346e-02 0.00000000e+00 1.92418030e+01] [-1.21893346e-02 9.99925707e-01 0.00000000e+00 -2.65276958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02597547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.26, Z:-0.06 [[ 9.99999942e-01 -3.40393681e-04 0.00000000e+00 1.92995343e+01] [ 3.40393681e-04 9.99999942e-01 0.00000000e+00 -2.62736556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50894160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.26, Z:-0.05 [[ 9.99968792e-01 -7.90036001e-03 0.00000000e+00 1.93600548e+01] [ 7.90036001e-03 9.99968792e-01 0.00000000e+00 -2.64990181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41236132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.26, Z:-0.04 [[ 9.99884452e-01 -1.52013829e-02 0.00000000e+00 1.94210838e+01] [ 1.52013829e-02 9.99884452e-01 0.00000000e+00 -2.57498707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40764091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.26, Z:-0.04 [[ 9.99918377e-01 -1.27764861e-02 0.00000000e+00 1.94835540e+01] [ 1.27764861e-02 9.99918377e-01 0.00000000e+00 -2.64813409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40940800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.27, Z:-0.05 [[ 9.99998779e-01 -1.56285506e-03 0.00000000e+00 1.95443183e+01] [ 1.56285506e-03 9.99998779e-01 0.00000000e+00 -2.68904146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54387717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.26, Z:-0.04 [[ 9.99945297e-01 1.04595796e-02 0.00000000e+00 1.96050753e+01] [-1.04595796e-02 9.99945297e-01 0.00000000e+00 -2.55525648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04405489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.26, Z:-0.05 [[ 9.99896470e-01 1.43892312e-02 0.00000000e+00 1.96630456e+01] [-1.43892312e-02 9.99896470e-01 0.00000000e+00 -2.64483128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03704195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.26, Z:-0.06 [[ 9.99909235e-01 1.34730310e-02 0.00000000e+00 1.97212230e+01] [-1.34730310e-02 9.99909235e-01 0.00000000e+00 -2.62564456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94026441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.26, Z:-0.06 [[ 9.99888418e-01 1.49382260e-02 0.00000000e+00 1.97801977e+01] [-1.49382260e-02 9.99888418e-01 0.00000000e+00 -2.59594510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65019815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.26, Z:-0.05 [[ 9.99863824e-01 1.65025064e-02 0.00000000e+00 1.98384866e+01] [-1.65025064e-02 9.99863824e-01 0.00000000e+00 -2.59258492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33936574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.25, Z:-0.05 [[ 0.99980118 0.01994015 0. 19.89779701] [-0.01994015 0.99980118 0. -0.25044163] [ 0. 0. 1. -0.05297231] [ 0. 0. 0. 1. ]] SLAMing on 19.745336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.25, Z:-0.06 [[ 0.99979621 0.02018736 0. 19.95559323] [-0.02018736 0.99979621 0. -0.24626577] [ 0. 0. 1. -0.05944648] [ 0. 0. 0. 1. ]] SLAMing on 19.805336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.24, Z:-0.07 [[ 9.99900185e-01 1.41286967e-02 0.00000000e+00 2.00159501e+01] [-1.41286967e-02 9.99900185e-01 0.00000000e+00 -2.40512591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69017291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.23, Z:-0.07 [[ 9.99989300e-01 4.62599782e-03 0.00000000e+00 2.00734235e+01] [-4.62599782e-03 9.99989300e-01 0.00000000e+00 -2.34134507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66551608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.24, Z:-0.07 [[ 9.99953669e-01 -9.62595325e-03 0.00000000e+00 2.01321944e+01] [ 9.62595325e-03 9.99953669e-01 0.00000000e+00 -2.38542352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91882760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.23, Z:-0.06 [[ 9.99800237e-01 -1.99871601e-02 0.00000000e+00 2.01950622e+01] [ 1.99871601e-02 9.99800237e-01 0.00000000e+00 -2.33444994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94423066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.24, Z:-0.06 [[ 0.99976847 -0.02151778 0. 20.25684857] [ 0.02151778 0.99976847 0. -0.23540984] [ 0. 0. 1. -0.0615054 ] [ 0. 0. 0. 1. ]] SLAMing on 20.105336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.25, Z:-0.07 [[ 0.99974381 -0.02263448 0. 20.31754504] [ 0.02263448 0.99974381 0. -0.24694097] [ 0. 0. 1. -0.06976662] [ 0. 0. 0. 1. ]] SLAMing on 20.165336195000002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.25, Z:-0.06 [[ 9.99866429e-01 -1.63439349e-02 0.00000000e+00 2.03793018e+01] [ 1.63439349e-02 9.99866429e-01 0.00000000e+00 -2.48557334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10141506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.25, Z:-0.05 [[ 9.99967016e-01 -8.12199451e-03 0.00000000e+00 2.04414926e+01] [ 8.12199451e-03 9.99967016e-01 0.00000000e+00 -2.48901765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42302736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.26, Z:-0.06 [[ 9.99999918e-01 -4.03909254e-04 0.00000000e+00 2.05026435e+01] [ 4.03909254e-04 9.99999918e-01 0.00000000e+00 -2.56673718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49099516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.25, Z:-0.07 [[ 9.99918865e-01 1.27382389e-02 0.00000000e+00 2.05632353e+01] [-1.27382389e-02 9.99918865e-01 0.00000000e+00 -2.52720831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90386357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.25, Z:-0.07 [[ 0.99977861 0.02104139 0. 20.62229123] [-0.02104139 0.99977861 0. -0.25006052] [ 0. 0. 1. -0.07240837] [ 0. 0. 0. 1. ]] SLAMing on 20.465336195000003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.24, Z:-0.07 [[ 0.99975516 0.02212715 0. 20.67933644] [-0.02212715 0.99975516 0. -0.24435632] [ 0. 0. 1. -0.07368356] [ 0. 0. 0. 1. ]] SLAMing on 20.525336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.25, Z:-0.07 [[ 9.99808747e-01 1.95568122e-02 0.00000000e+00 2.07382498e+01] [-1.95568122e-02 9.99808747e-01 0.00000000e+00 -2.46692641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26263140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.24, Z:-0.07 [[ 9.99924079e-01 1.23221997e-02 0.00000000e+00 2.07970673e+01] [-1.23221997e-02 9.99924079e-01 0.00000000e+00 -2.41419632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39759717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.24, Z:-0.08 [[ 9.99991538e-01 4.11375540e-03 0.00000000e+00 2.08560810e+01] [-4.11375540e-03 9.99991538e-01 0.00000000e+00 -2.42551516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50566271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.25, Z:-0.07 [[ 9.99996983e-01 -2.45637537e-03 0.00000000e+00 2.09152572e+01] [ 2.45637537e-03 9.99996983e-01 0.00000000e+00 -2.45139170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04638477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.25, Z:-0.07 [[ 9.99988716e-01 -4.75054179e-03 0.00000000e+00 2.09778521e+01] [ 4.75054179e-03 9.99988716e-01 0.00000000e+00 -2.50391574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34659461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.26, Z:-0.07 [[ 9.99997766e-01 2.11383901e-03 0.00000000e+00 2.10391371e+01] [-2.11383901e-03 9.99997766e-01 0.00000000e+00 -2.61129428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42329310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.26, Z:-0.08 [[ 9.99956548e-01 9.32216466e-03 0.00000000e+00 2.10993406e+01] [-9.32216466e-03 9.99956548e-01 0.00000000e+00 -2.60061868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60537736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.26, Z:-0.07 [[ 9.99929483e-01 1.18755245e-02 0.00000000e+00 2.11591011e+01] [-1.18755245e-02 9.99929483e-01 0.00000000e+00 -2.57617342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66823048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.27, Z:-0.07 [[ 9.99913886e-01 1.31232539e-02 0.00000000e+00 2.12179690e+01] [-1.31232539e-02 9.99913886e-01 0.00000000e+00 -2.73884248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13478029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.27, Z:-0.07 [[ 9.99881227e-01 1.54120916e-02 0.00000000e+00 2.12760636e+01] [-1.54120916e-02 9.99881227e-01 0.00000000e+00 -2.71142067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02870040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.28, Z:-0.07 [[ 9.99828190e-01 1.85362015e-02 0.00000000e+00 2.13339781e+01] [-1.85362015e-02 9.99828190e-01 0.00000000e+00 -2.75868337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36468235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.28, Z:-0.08 [[ 9.99852086e-01 1.71989890e-02 0.00000000e+00 2.13916804e+01] [-1.71989890e-02 9.99852086e-01 0.00000000e+00 -2.84554108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20379302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.29, Z:-0.08 [[ 9.99848165e-01 1.74254659e-02 0.00000000e+00 2.14504010e+01] [-1.74254659e-02 9.99848165e-01 0.00000000e+00 -2.85565488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60864328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.29, Z:-0.07 [[ 9.99847065e-01 1.74884566e-02 0.00000000e+00 2.15088838e+01] [-1.74884566e-02 9.99847065e-01 0.00000000e+00 -2.88461808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37190102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.28, Z:-0.07 [[ 9.99810228e-01 1.94809468e-02 0.00000000e+00 2.15675873e+01] [-1.94809468e-02 9.99810228e-01 0.00000000e+00 -2.82383635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43428834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.28, Z:-0.08 [[ 9.99839477e-01 1.79170420e-02 0.00000000e+00 2.16265970e+01] [-1.79170420e-02 9.99839477e-01 0.00000000e+00 -2.83529223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59479914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.28, Z:-0.08 [[ 9.99926028e-01 1.21630132e-02 0.00000000e+00 2.16840818e+01] [-1.21630132e-02 9.99926028e-01 0.00000000e+00 -2.77820268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72053146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.28, Z:-0.07 [[ 9.99953243e-01 9.67011671e-03 0.00000000e+00 2.17439386e+01] [-9.67011671e-03 9.99953243e-01 0.00000000e+00 -2.78617328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38777299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.27, Z:-0.07 [[ 9.99941839e-01 1.07850871e-02 0.00000000e+00 2.18020685e+01] [-1.07850871e-02 9.99941839e-01 0.00000000e+00 -2.74427271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32776835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.26, Z:-0.07 [[ 9.99887151e-01 1.50228385e-02 0.00000000e+00 2.18612909e+01] [-1.50228385e-02 9.99887151e-01 0.00000000e+00 -2.59122645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94237518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.26, Z:-0.08 [[ 9.99898441e-01 1.42516097e-02 0.00000000e+00 2.19190945e+01] [-1.42516097e-02 9.99898441e-01 0.00000000e+00 -2.59529960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18721033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.25, Z:-0.07 [[ 9.99974593e-01 7.12841867e-03 0.00000000e+00 2.19780661e+01] [-7.12841867e-03 9.99974593e-01 0.00000000e+00 -2.45915846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71228681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.25, Z:-0.07 [[ 9.99997667e-01 -2.16008425e-03 0.00000000e+00 2.20358337e+01] [ 2.16008425e-03 9.99997667e-01 0.00000000e+00 -2.47370939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29458356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.25, Z:-0.08 [[ 9.99987739e-01 -4.95193983e-03 0.00000000e+00 2.20984321e+01] [ 4.95193983e-03 9.99987739e-01 0.00000000e+00 -2.54237734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71969581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.26, Z:-0.08 [[ 9.99941249e-01 -1.08397116e-02 0.00000000e+00 2.21588876e+01] [ 1.08397116e-02 9.99941249e-01 0.00000000e+00 -2.58136495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31389201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.25, Z:-0.08 [[ 9.99955822e-01 -9.39968807e-03 0.00000000e+00 2.22188487e+01] [ 9.39968807e-03 9.99955822e-01 0.00000000e+00 -2.52243796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31503964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.26, Z:-0.08 [[ 9.99991012e-01 -4.23978355e-03 0.00000000e+00 2.22799777e+01] [ 4.23978355e-03 9.99991012e-01 0.00000000e+00 -2.62965333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07650785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.27, Z:-0.07 [[ 9.99997539e-01 2.21872990e-03 0.00000000e+00 2.23407190e+01] [-2.21872990e-03 9.99997539e-01 0.00000000e+00 -2.70397667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28570218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.26, Z:-0.07 [[ 9.99958645e-01 9.09436656e-03 0.00000000e+00 2.23996326e+01] [-9.09436656e-03 9.99958645e-01 0.00000000e+00 -2.63727397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83446624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.27, Z:-0.08 [[ 9.99824030e-01 1.87592354e-02 0.00000000e+00 2.24587849e+01] [-1.87592354e-02 9.99824030e-01 0.00000000e+00 -2.69571454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51712688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.27, Z:-0.07 [[ 9.99758950e-01 2.19554732e-02 0.00000000e+00 2.25178194e+01] [-2.19554732e-02 9.99758950e-01 0.00000000e+00 -2.72039721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95354354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.26, Z:-0.07 [[ 9.99826446e-01 1.86300527e-02 0.00000000e+00 2.25760264e+01] [-1.86300527e-02 9.99826446e-01 0.00000000e+00 -2.64281856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67942417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.27, Z:-0.07 [[ 9.99915903e-01 1.29686950e-02 0.00000000e+00 2.26352404e+01] [-1.29686950e-02 9.99915903e-01 0.00000000e+00 -2.72588750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30892432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.28, Z:-0.07 [[ 9.99974658e-01 7.11917079e-03 0.00000000e+00 2.26931616e+01] [-7.11917079e-03 9.99974658e-01 0.00000000e+00 -2.76015226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23396497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.28, Z:-0.07 [[ 9.99997445e-01 2.26037065e-03 0.00000000e+00 2.27524836e+01] [-2.26037065e-03 9.99997445e-01 0.00000000e+00 -2.78332539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97175552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.28, Z:-0.07 [[ 9.99999730e-01 -7.34990037e-04 0.00000000e+00 2.28117426e+01] [ 7.34990037e-04 9.99999730e-01 0.00000000e+00 -2.81247017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33333918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.29, Z:-0.07 [[ 9.99999954e-01 -3.02996245e-04 0.00000000e+00 2.28716773e+01] [ 3.02996245e-04 9.99999954e-01 0.00000000e+00 -2.86796130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47918164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.29, Z:-0.07 [[ 9.99992050e-01 3.98747288e-03 0.00000000e+00 2.29318360e+01] [-3.98747288e-03 9.99992050e-01 0.00000000e+00 -2.87669734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09694267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.29, Z:-0.07 [[ 9.99946081e-01 1.03843760e-02 0.00000000e+00 2.29889576e+01] [-1.03843760e-02 9.99946081e-01 0.00000000e+00 -2.92459168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28750599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.29, Z:-0.07 [[ 9.99934938e-01 1.14069967e-02 0.00000000e+00 2.30483755e+01] [-1.14069967e-02 9.99934938e-01 0.00000000e+00 -2.90047750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38196051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.29, Z:-0.07 [[ 9.99928003e-01 1.19994972e-02 0.00000000e+00 2.31061124e+01] [-1.19994972e-02 9.99928003e-01 0.00000000e+00 -2.89133274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08065937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.30, Z:-0.08 [[ 9.99966342e-01 8.20458853e-03 0.00000000e+00 2.31638098e+01] [-8.20458853e-03 9.99966342e-01 0.00000000e+00 -2.99339264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68841819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.30, Z:-0.07 [[ 9.99989408e-01 4.60254283e-03 0.00000000e+00 2.32226912e+01] [-4.60254283e-03 9.99989408e-01 0.00000000e+00 -2.97122802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29619095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.30, Z:-0.08 [[ 9.99991094e-01 4.22041704e-03 0.00000000e+00 2.32819176e+01] [-4.22041704e-03 9.99991094e-01 0.00000000e+00 -3.02691267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52556136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.30, Z:-0.07 [[ 9.99995550e-01 2.98317944e-03 0.00000000e+00 2.33403377e+01] [-2.98317944e-03 9.99995550e-01 0.00000000e+00 -3.04081597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38243812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.30, Z:-0.07 [[ 9.99998234e-01 1.87956028e-03 0.00000000e+00 2.33996204e+01] [-1.87956028e-03 9.99998234e-01 0.00000000e+00 -3.04418083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76165753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.31, Z:-0.07 [[ 9.99988696e-01 4.75484925e-03 0.00000000e+00 2.34588127e+01] [-4.75484925e-03 9.99988696e-01 0.00000000e+00 -3.11445832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02872121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.31, Z:-0.06 [[ 9.99934685e-01 1.14291631e-02 0.00000000e+00 2.35181668e+01] [-1.14291631e-02 9.99934685e-01 0.00000000e+00 -3.11235562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42003704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.31, Z:-0.07 [[ 9.99873520e-01 1.59042118e-02 0.00000000e+00 2.35757496e+01] [-1.59042118e-02 9.99873520e-01 0.00000000e+00 -3.10776150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14479153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.32, Z:-0.07 [[ 9.99880523e-01 1.54576824e-02 0.00000000e+00 2.36346731e+01] [-1.54576824e-02 9.99880523e-01 0.00000000e+00 -3.19087923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48834047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.32, Z:-0.07 [[ 9.99973847e-01 7.23229324e-03 0.00000000e+00 2.36939574e+01] [-7.23229324e-03 9.99973847e-01 0.00000000e+00 -3.16543035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75795567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.33, Z:-0.07 [[ 9.99996257e-01 2.73608182e-03 0.00000000e+00 2.37515477e+01] [-2.73608182e-03 9.99996257e-01 0.00000000e+00 -3.26949031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01457232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.33, Z:-0.07 [[ 9.99994638e-01 3.27472388e-03 0.00000000e+00 2.38099437e+01] [-3.27472388e-03 9.99994638e-01 0.00000000e+00 -3.30646023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88118819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.33, Z:-0.07 [[ 9.99972250e-01 7.44974260e-03 0.00000000e+00 2.38679289e+01] [-7.44974260e-03 9.99972250e-01 0.00000000e+00 -3.25500946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88586028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.33, Z:-0.08 [[ 9.99947726e-01 1.02247512e-02 0.00000000e+00 2.39261625e+01] [-1.02247512e-02 9.99947726e-01 0.00000000e+00 -3.32621296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69668138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.34, Z:-0.07 [[ 9.99949699e-01 1.00299121e-02 0.00000000e+00 2.39847870e+01] [-1.00299121e-02 9.99949699e-01 0.00000000e+00 -3.35980237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46047081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.33, Z:-0.08 [[ 9.99977648e-01 6.68608933e-03 0.00000000e+00 2.40426010e+01] [-6.68608933e-03 9.99977648e-01 0.00000000e+00 -3.30997121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62770197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.34, Z:-0.07 [[ 9.99984487e-01 5.57007637e-03 0.00000000e+00 2.41018190e+01] [-5.57007637e-03 9.99984487e-01 0.00000000e+00 -3.35311925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18561969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.34, Z:-0.07 [[ 9.99982929e-01 5.84300817e-03 0.00000000e+00 2.41607338e+01] [-5.84300817e-03 9.99982929e-01 0.00000000e+00 -3.40459403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79129262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.33, Z:-0.07 [[ 9.99994933e-01 3.18344981e-03 0.00000000e+00 2.42184392e+01] [-3.18344981e-03 9.99994933e-01 0.00000000e+00 -3.26945205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71522477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.34, Z:-0.08 [[ 9.99999922e-01 3.94953562e-04 0.00000000e+00 2.42785115e+01] [-3.94953562e-04 9.99999922e-01 0.00000000e+00 -3.36702505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78467236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.34, Z:-0.08 [[ 9.99999381e-01 1.11264053e-03 0.00000000e+00 2.43378923e+01] [-1.11264053e-03 9.99999381e-01 0.00000000e+00 -3.35505100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97151309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.33, Z:-0.07 [[ 9.99991700e-01 4.07442014e-03 0.00000000e+00 2.43981647e+01] [-4.07442014e-03 9.99991700e-01 0.00000000e+00 -3.28107927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71215009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.33, Z:-0.07 [[ 9.99987778e-01 4.94414382e-03 0.00000000e+00 2.44572083e+01] [-4.94414382e-03 9.99987778e-01 0.00000000e+00 -3.34003792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07542101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.32, Z:-0.07 [[ 9.99969730e-01 7.78069015e-03 0.00000000e+00 2.45165851e+01] [-7.78069015e-03 9.99969730e-01 0.00000000e+00 -3.24967789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83012142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.32, Z:-0.07 [[ 9.99975522e-01 6.99683008e-03 0.00000000e+00 2.45742923e+01] [-6.99683008e-03 9.99975522e-01 0.00000000e+00 -3.15621298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19622503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.31, Z:-0.07 [[ 9.99972798e-01 7.37586364e-03 0.00000000e+00 2.46326144e+01] [-7.37586364e-03 9.99972798e-01 0.00000000e+00 -3.14567549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42056750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.31, Z:-0.07 [[ 9.99965500e-01 8.30656475e-03 0.00000000e+00 2.46914896e+01] [-8.30656475e-03 9.99965500e-01 0.00000000e+00 -3.08659265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91147392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.30, Z:-0.07 [[ 9.99955588e-01 9.42451200e-03 0.00000000e+00 2.47493469e+01] [-9.42451200e-03 9.99955588e-01 0.00000000e+00 -3.00388960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63524892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.30, Z:-0.07 [[ 9.99972433e-01 7.42515556e-03 0.00000000e+00 2.48076553e+01] [-7.42515556e-03 9.99972433e-01 0.00000000e+00 -2.95967700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89900971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.30, Z:-0.07 [[ 9.99999983e-01 -1.82384757e-04 0.00000000e+00 2.48664938e+01] [ 1.82384757e-04 9.99999983e-01 0.00000000e+00 -2.95684981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35080836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.29, Z:-0.07 [[ 9.99946203e-01 -1.03726528e-02 0.00000000e+00 2.49270629e+01] [ 1.03726528e-02 9.99946203e-01 0.00000000e+00 -2.90466129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66555321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.30, Z:-0.07 [[ 9.99850781e-01 -1.72747132e-02 0.00000000e+00 2.49882859e+01] [ 1.72747132e-02 9.99850781e-01 0.00000000e+00 -3.01015345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76208232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.30, Z:-0.07 [[ 9.99866409e-01 -1.63451384e-02 0.00000000e+00 2.50501137e+01] [ 1.63451384e-02 9.99866409e-01 0.00000000e+00 -3.04030988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83014042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.30, Z:-0.06 [[ 9.99905389e-01 -1.37554928e-02 0.00000000e+00 2.51125961e+01] [ 1.37554928e-02 9.99905389e-01 0.00000000e+00 -2.98706459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35582338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.31, Z:-0.07 [[ 9.99967725e-01 -8.03428418e-03 0.00000000e+00 2.51731893e+01] [ 8.03428418e-03 9.99967725e-01 0.00000000e+00 -3.11141193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77403228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.31, Z:-0.07 [[ 9.99989654e-01 -4.54884924e-03 0.00000000e+00 2.52352354e+01] [ 4.54884924e-03 9.99989654e-01 0.00000000e+00 -3.07411064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59651707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.31, Z:-0.07 [[ 9.99999631e-01 -8.58843687e-04 0.00000000e+00 2.52961578e+01] [ 8.58843687e-04 9.99999631e-01 0.00000000e+00 -3.09167679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07680406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.32, Z:-0.08 [[ 9.99999919e-01 -4.02518818e-04 0.00000000e+00 2.53570942e+01] [ 4.02518818e-04 9.99999919e-01 0.00000000e+00 -3.20241423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60915291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.32, Z:-0.07 [[ 9.99999963e-01 -2.73397244e-04 0.00000000e+00 2.54178895e+01] [ 2.73397244e-04 9.99999963e-01 0.00000000e+00 -3.18314712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97744919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.33, Z:-0.07 [[ 9.99995252e-01 -3.08165593e-03 0.00000000e+00 2.54775541e+01] [ 3.08165593e-03 9.99995252e-01 0.00000000e+00 -3.30229360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33013937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.34, Z:-0.07 [[ 9.99975062e-01 -7.06226666e-03 0.00000000e+00 2.55392014e+01] [ 7.06226666e-03 9.99975062e-01 0.00000000e+00 -3.41359517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01749844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.35, Z:-0.07 [[ 9.99965947e-01 -8.25255887e-03 0.00000000e+00 2.56003494e+01] [ 8.25255887e-03 9.99965947e-01 0.00000000e+00 -3.52831881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33527055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.36, Z:-0.07 [[ 9.99979165e-01 -6.45514413e-03 0.00000000e+00 2.56629772e+01] [ 6.45514413e-03 9.99979165e-01 0.00000000e+00 -3.59783208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42066373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.38, Z:-0.07 [[ 9.99996876e-01 -2.49941514e-03 0.00000000e+00 2.57253894e+01] [ 2.49941514e-03 9.99996876e-01 0.00000000e+00 -3.77296675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46722019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.38, Z:-0.07 [[ 9.99999998e-01 -6.40475275e-05 0.00000000e+00 2.57859213e+01] [ 6.40475275e-05 9.99999998e-01 0.00000000e+00 -3.79864863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00224552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.39, Z:-0.07 [[ 9.99987848e-01 4.92988511e-03 0.00000000e+00 2.58465224e+01] [-4.92988511e-03 9.99987848e-01 0.00000000e+00 -3.87271893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20018310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.39, Z:-0.07 [[ 9.99970665e-01 7.65952403e-03 0.00000000e+00 2.59049383e+01] [-7.65952403e-03 9.99970665e-01 0.00000000e+00 -3.91303494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27466912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.39, Z:-0.08 [[ 9.99824537e-01 1.87322026e-02 0.00000000e+00 2.59624144e+01] [-1.87322026e-02 9.99824537e-01 0.00000000e+00 -3.94583421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70970138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.38, Z:-0.07 [[ 0.99964875 0.02650224 0. 26.02090821] [-0.02650224 0.99964875 0. -0.38134917] [ 0. 0. 1. -0.06693141] [ 0. 0. 0. 1. ]] SLAMing on 25.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.38, Z:-0.08 [[ 0.99962634 0.02733459 0. 26.07896368] [-0.02733459 0.99962634 0. -0.38075137] [ 0. 0. 1. -0.07595868] [ 0. 0. 0. 1. ]] SLAMing on 25.985336195000002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.38, Z:-0.08 [[ 0.99962588 0.02735133 0. 26.13783226] [-0.02735133 0.99962588 0. -0.38326189] [ 0. 0. 1. -0.07807159] [ 0. 0. 0. 1. ]] SLAMing on 26.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.37, Z:-0.07 [[ 0.99965114 0.02641214 0. 26.19656339] [-0.02641214 0.99965114 0. -0.36629166] [ 0. 0. 1. -0.0674564 ] [ 0. 0. 0. 1. ]] SLAMing on 26.105336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.37, Z:-0.07 [[ 9.99719528e-01 2.36826001e-02 0.00000000e+00 2.62540991e+01] [-2.36826001e-02 9.99719528e-01 0.00000000e+00 -3.65244681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20016439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.36, Z:-0.07 [[ 9.99919073e-01 1.27218895e-02 0.00000000e+00 2.63122817e+01] [-1.27218895e-02 9.99919073e-01 0.00000000e+00 -3.56668567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14863812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.36, Z:-0.07 [[ 9.99999143e-01 -1.30904786e-03 0.00000000e+00 2.63697761e+01] [ 1.30904786e-03 9.99999143e-01 0.00000000e+00 -3.59253467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17931226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.36, Z:-0.07 [[ 9.99975727e-01 -6.96740109e-03 0.00000000e+00 2.64313874e+01] [ 6.96740109e-03 9.99975727e-01 0.00000000e+00 -3.60763978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62207838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.36, Z:-0.07 [[ 9.99964769e-01 -8.39407882e-03 0.00000000e+00 2.64934236e+01] [ 8.39407882e-03 9.99964769e-01 0.00000000e+00 -3.59636008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67647947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.37, Z:-0.06 [[ 9.99960722e-01 -8.86305695e-03 0.00000000e+00 2.65540059e+01] [ 8.86305695e-03 9.99960722e-01 0.00000000e+00 -3.70666278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37489670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.37, Z:-0.06 [[ 9.99971099e-01 -7.60275823e-03 0.00000000e+00 2.66154489e+01] [ 7.60275823e-03 9.99971099e-01 0.00000000e+00 -3.69077948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18621879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.38, Z:-0.06 [[ 9.99998065e-01 -1.96711393e-03 0.00000000e+00 2.66777093e+01] [ 1.96711393e-03 9.99998065e-01 0.00000000e+00 -3.77799716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42434928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.39, Z:-0.07 [[ 9.99990325e-01 4.39893354e-03 0.00000000e+00 2.67388944e+01] [-4.39893354e-03 9.99990325e-01 0.00000000e+00 -3.86747892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99089501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.38, Z:-0.06 [[ 9.99933063e-01 1.15701978e-02 0.00000000e+00 2.67976988e+01] [-1.15701978e-02 9.99933063e-01 0.00000000e+00 -3.83496433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29863208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.40, Z:-0.06 [[ 9.99769587e-01 2.14656265e-02 0.00000000e+00 2.68570663e+01] [-2.14656265e-02 9.99769587e-01 0.00000000e+00 -3.97743664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31014228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.39, Z:-0.06 [[ 9.99662838e-01 2.59655473e-02 0.00000000e+00 2.69158962e+01] [-2.59655473e-02 9.99662838e-01 0.00000000e+00 -3.92739208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80176286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.39, Z:-0.06 [[ 9.99766314e-01 2.16175324e-02 0.00000000e+00 2.69744812e+01] [-2.16175324e-02 9.99766314e-01 0.00000000e+00 -3.91826534e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81789118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.41, Z:-0.06 [[ 9.99901401e-01 1.40423764e-02 0.00000000e+00 2.70315754e+01] [-1.40423764e-02 9.99901401e-01 0.00000000e+00 -4.06079951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22952911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.41, Z:-0.06 [[ 9.99971622e-01 7.53357316e-03 0.00000000e+00 2.70898522e+01] [-7.53357316e-03 9.99971622e-01 0.00000000e+00 -4.08688587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79916183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.40, Z:-0.05 [[ 9.99984316e-01 5.60072795e-03 0.00000000e+00 2.71485628e+01] [-5.60072795e-03 9.99984316e-01 0.00000000e+00 -4.03589571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88246580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.41, Z:-0.06 [[ 9.99980053e-01 6.31609271e-03 0.00000000e+00 2.72076733e+01] [-6.31609271e-03 9.99980053e-01 0.00000000e+00 -4.13984108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64566511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:27.27, Y:-0.42, Z:-0.05 [[ 9.99979289e-01 6.43588524e-03 0.00000000e+00 2.72651971e+01] [-6.43588524e-03 9.99979289e-01 0.00000000e+00 -4.15357485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44184040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.41, Z:-0.06 [[ 9.99979666e-01 6.37707550e-03 0.00000000e+00 2.73256393e+01] [-6.37707550e-03 9.99979666e-01 0.00000000e+00 -4.09234038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61196975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.41, Z:-0.06 [[ 9.99980000e-01 6.32451504e-03 0.00000000e+00 2.73843413e+01] [-6.32451504e-03 9.99980000e-01 0.00000000e+00 -4.14772569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18727782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.41, Z:-0.06 [[ 9.99981026e-01 6.16017756e-03 0.00000000e+00 2.74428437e+01] [-6.16017756e-03 9.99981026e-01 0.00000000e+00 -4.11512015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27528494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.41, Z:-0.06 [[ 9.99993208e-01 3.68570187e-03 0.00000000e+00 2.75010098e+01] [-3.68570187e-03 9.99993208e-01 0.00000000e+00 -4.09589688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96078396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.41, Z:-0.05 [[ 9.99995857e-01 -2.87848387e-03 0.00000000e+00 2.75607989e+01] [ 2.87848387e-03 9.99995857e-01 0.00000000e+00 -4.08302764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12941526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.40, Z:-0.05 [[ 9.99996472e-01 -2.65617285e-03 0.00000000e+00 2.76229563e+01] [ 2.65617285e-03 9.99996472e-01 0.00000000e+00 -4.03371747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40399830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.41, Z:-0.06 [[ 9.99991418e-01 -4.14291213e-03 0.00000000e+00 2.76853232e+01] [ 4.14291213e-03 9.99991418e-01 0.00000000e+00 -4.06679309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68945659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.40, Z:-0.05 [[ 9.99987903e-01 -4.91871113e-03 0.00000000e+00 2.77480745e+01] [ 4.91871113e-03 9.99987903e-01 0.00000000e+00 -4.02495370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09558565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.41, Z:-0.06 [[ 9.99987435e-01 -5.01295831e-03 0.00000000e+00 2.78088900e+01] [ 5.01295831e-03 9.99987435e-01 0.00000000e+00 -4.06335985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81710380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.41, Z:-0.05 [[ 9.99995184e-01 -3.10360366e-03 0.00000000e+00 2.78697752e+01] [ 3.10360366e-03 9.99995184e-01 0.00000000e+00 -4.06117567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43180978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.41, Z:-0.06 [[ 9.99995317e-01 3.06053247e-03 0.00000000e+00 2.79303110e+01] [-3.06053247e-03 9.99995317e-01 0.00000000e+00 -4.10611304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73962887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.41, Z:-0.05 [[ 9.99937065e-01 1.12189868e-02 0.00000000e+00 2.79885652e+01] [-1.12189868e-02 9.99937065e-01 0.00000000e+00 -4.14888582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21336939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:28.05, Y:-0.41, Z:-0.05 [[ 9.99832764e-01 1.82878266e-02 0.00000000e+00 2.80463213e+01] [-1.82878266e-02 9.99832764e-01 0.00000000e+00 -4.06367590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15660440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.41, Z:-0.06 [[ 9.99655255e-01 2.62558683e-02 0.00000000e+00 2.81066072e+01] [-2.62558683e-02 9.99655255e-01 0.00000000e+00 -4.05545185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35265562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.40, Z:-0.06 [[ 9.99637390e-01 2.69274496e-02 0.00000000e+00 2.81658749e+01] [-2.69274496e-02 9.99637390e-01 0.00000000e+00 -3.99639722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11501044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.39, Z:-0.05 [[ 9.99721262e-01 2.36092841e-02 0.00000000e+00 2.82245796e+01] [-2.36092841e-02 9.99721262e-01 0.00000000e+00 -3.90296048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45940270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.38, Z:-0.05 [[ 9.99866928e-01 1.63133739e-02 0.00000000e+00 2.82821297e+01] [-1.63133739e-02 9.99866928e-01 0.00000000e+00 -3.80030235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46580927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.38, Z:-0.05 [[ 9.99959737e-01 8.97355706e-03 0.00000000e+00 2.83405514e+01] [-8.97355706e-03 9.99959737e-01 0.00000000e+00 -3.81350487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48406915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.38, Z:-0.06 [[ 9.99999701e-01 -7.73693532e-04 0.00000000e+00 2.83987571e+01] [ 7.73693532e-04 9.99999701e-01 0.00000000e+00 -3.80268160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97752163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.38, Z:-0.05 [[ 9.99924731e-01 -1.22691793e-02 0.00000000e+00 2.84601129e+01] [ 1.22691793e-02 9.99924731e-01 0.00000000e+00 -3.81132710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41876311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.39, Z:-0.05 [[ 9.99833280e-01 -1.82595798e-02 0.00000000e+00 2.85220317e+01] [ 1.82595798e-02 9.99833280e-01 0.00000000e+00 -3.87744558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80572810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.40, Z:-0.06 [[ 9.99830513e-01 -1.84104676e-02 0.00000000e+00 2.85827955e+01] [ 1.84104676e-02 9.99830513e-01 0.00000000e+00 -3.96391818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51226559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:28.64, Y:-0.40, Z:-0.06 [[ 9.99892604e-01 -1.46553588e-02 0.00000000e+00 2.86443181e+01] [ 1.46553588e-02 9.99892604e-01 0.00000000e+00 -4.01102880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61408826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.40, Z:-0.04 [[ 9.99950982e-01 -9.90122626e-03 0.00000000e+00 2.87060550e+01] [ 9.90122626e-03 9.99950982e-01 0.00000000e+00 -3.96661039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43545484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.41, Z:-0.05 [[ 9.99989125e-01 -4.66370935e-03 0.00000000e+00 2.87680839e+01] [ 4.66370935e-03 9.99989125e-01 0.00000000e+00 -4.14534146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28597800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.41, Z:-0.05 [[ 9.99998852e-01 1.51535552e-03 0.00000000e+00 2.88289263e+01] [-1.51535552e-03 9.99998852e-01 0.00000000e+00 -4.09872195e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12080301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.41, Z:-0.06 [[ 9.99997681e-01 2.15364038e-03 0.00000000e+00 2.88891370e+01] [-2.15364038e-03 9.99997681e-01 0.00000000e+00 -4.06239574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63859013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.42, Z:-0.06 [[ 9.99999233e-01 1.23859076e-03 0.00000000e+00 2.89489874e+01] [-1.23859076e-03 9.99999233e-01 0.00000000e+00 -4.22142054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10481653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.42, Z:-0.04 [[ 9.99999338e-01 -1.15080124e-03 0.00000000e+00 2.90087481e+01] [ 1.15080124e-03 9.99999338e-01 0.00000000e+00 -4.19979184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37491746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.43, Z:-0.04 [[ 9.99998318e-01 1.83388801e-03 0.00000000e+00 2.90698224e+01] [-1.83388801e-03 9.99998318e-01 0.00000000e+00 -4.32844050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30049667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.43, Z:-0.05 [[ 9.99996244e-01 2.74087508e-03 0.00000000e+00 2.91297317e+01] [-2.74087508e-03 9.99996244e-01 0.00000000e+00 -4.32928951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58285024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.44, Z:-0.05 [[ 9.99996916e-01 2.48360475e-03 0.00000000e+00 2.91882863e+01] [-2.48360475e-03 9.99996916e-01 0.00000000e+00 -4.38260340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76710368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.45, Z:-0.05 [[ 9.99999143e-01 1.30936643e-03 0.00000000e+00 2.92473621e+01] [-1.30936643e-03 9.99999143e-01 0.00000000e+00 -4.46916075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85215035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.45, Z:-0.05 [[ 9.99999937e-01 -3.55932491e-04 0.00000000e+00 2.93069020e+01] [ 3.55932491e-04 9.99999937e-01 0.00000000e+00 -4.46392887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51249161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.46, Z:-0.05 [[ 9.99999361e-01 -1.13039295e-03 0.00000000e+00 2.93671082e+01] [ 1.13039295e-03 9.99999361e-01 0.00000000e+00 -4.58006114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81601590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.47, Z:-0.05 [[ 9.99986540e-01 -5.18851563e-03 0.00000000e+00 2.94273314e+01] [ 5.18851563e-03 9.99986540e-01 0.00000000e+00 -4.67926640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37885352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.48, Z:-0.05 [[ 9.99932001e-01 -1.16615834e-02 0.00000000e+00 2.94897063e+01] [ 1.16615834e-02 9.99932001e-01 0.00000000e+00 -4.75972703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37728961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.49, Z:-0.04 [[ 9.99923177e-01 -1.23951384e-02 0.00000000e+00 2.95510631e+01] [ 1.23951384e-02 9.99923177e-01 0.00000000e+00 -4.85990075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44580629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.49, Z:-0.05 [[ 9.99991956e-01 -4.01095497e-03 0.00000000e+00 2.96116080e+01] [ 4.01095497e-03 9.99991956e-01 0.00000000e+00 -4.91270112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52593707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.49, Z:-0.04 [[ 9.99999967e-01 -2.55376062e-04 0.00000000e+00 2.96727753e+01] [ 2.55376062e-04 9.99999967e-01 0.00000000e+00 -4.90833767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27787823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.50, Z:-0.05 [[ 9.99936163e-01 1.12991382e-02 0.00000000e+00 2.97326918e+01] [-1.12991382e-02 9.99936163e-01 0.00000000e+00 -4.98281738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35504169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.50, Z:-0.05 [[ 9.99921257e-01 1.25490728e-02 0.00000000e+00 2.97917270e+01] [-1.25490728e-02 9.99921257e-01 0.00000000e+00 -4.99709877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03181371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.50, Z:-0.04 [[ 9.99939539e-01 1.09962943e-02 0.00000000e+00 2.98515654e+01] [-1.09962943e-02 9.99939539e-01 0.00000000e+00 -5.02008787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37120646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.51, Z:-0.04 [[ 9.99942711e-01 1.07039673e-02 0.00000000e+00 2.99104690e+01] [-1.07039673e-02 9.99942711e-01 0.00000000e+00 -5.10320345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90974650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.51, Z:-0.04 [[ 9.99909874e-01 1.34255217e-02 0.00000000e+00 2.99689076e+01] [-1.34255217e-02 9.99909874e-01 0.00000000e+00 -5.07336067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75183161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.51, Z:-0.05 [[ 9.99844636e-01 1.76267692e-02 0.00000000e+00 3.00289546e+01] [-1.76267692e-02 9.99844636e-01 0.00000000e+00 -5.14799467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25650439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.51, Z:-0.05 [[ 9.99828857e-01 1.85001623e-02 0.00000000e+00 3.00874393e+01] [-1.85001623e-02 9.99828857e-01 0.00000000e+00 -5.12610995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14472895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.50, Z:-0.05 [[ 9.99866752e-01 1.63241564e-02 0.00000000e+00 3.01464120e+01] [-1.63241564e-02 9.99866752e-01 0.00000000e+00 -5.00234669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50800819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.50, Z:-0.04 [[ 9.99915060e-01 1.30335475e-02 0.00000000e+00 3.02056206e+01] [-1.30335475e-02 9.99915060e-01 0.00000000e+00 -5.02413665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43987162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.49, Z:-0.05 [[ 9.99951912e-01 9.80683105e-03 0.00000000e+00 3.02638736e+01] [-9.80683105e-03 9.99951912e-01 0.00000000e+00 -4.93673269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67819225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.48, Z:-0.04 [[ 9.99998549e-01 1.70357968e-03 0.00000000e+00 3.03226352e+01] [-1.70357968e-03 9.99998549e-01 0.00000000e+00 -4.84371830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37892338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.48, Z:-0.05 [[ 9.99964680e-01 -8.40469665e-03 0.00000000e+00 3.03830063e+01] [ 8.40469665e-03 9.99964680e-01 0.00000000e+00 -4.83231832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70485167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.49, Z:-0.05 [[ 9.99853116e-01 -1.71390469e-02 0.00000000e+00 3.04436608e+01] [ 1.71390469e-02 9.99853116e-01 0.00000000e+00 -4.87081835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98342737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.48, Z:-0.04 [[ 9.99743661e-01 -2.26409566e-02 0.00000000e+00 3.05060547e+01] [ 2.26409566e-02 9.99743661e-01 0.00000000e+00 -4.83849856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37326222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.49, Z:-0.05 [[ 9.99730108e-01 -2.32316841e-02 0.00000000e+00 3.05667615e+01] [ 2.32316841e-02 9.99730108e-01 0.00000000e+00 -4.87918220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61916464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.49, Z:-0.05 [[ 9.99860816e-01 -1.66837725e-02 0.00000000e+00 3.06285272e+01] [ 1.66837725e-02 9.99860816e-01 0.00000000e+00 -4.93190847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58064808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.49, Z:-0.04 [[ 9.99978556e-01 -6.54878770e-03 0.00000000e+00 3.06895358e+01] [ 6.54878770e-03 9.99978556e-01 0.00000000e+00 -4.87266380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33665724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.49, Z:-0.05 [[ 9.99999919e-01 4.02214033e-04 0.00000000e+00 3.07520192e+01] [-4.02214033e-04 9.99999919e-01 0.00000000e+00 -4.93029886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80960485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.49, Z:-0.05 [[ 9.99999049e-01 1.37885935e-03 0.00000000e+00 3.08110747e+01] [-1.37885935e-03 9.99999049e-01 0.00000000e+00 -4.92307111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90185685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.49, Z:-0.04 [[ 9.99997452e-01 -2.25735220e-03 0.00000000e+00 3.08704147e+01] [ 2.25735220e-03 9.99997452e-01 0.00000000e+00 -4.92940724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37613962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.49, Z:-0.04 [[ 9.99996952e-01 -2.46909319e-03 0.00000000e+00 3.09312118e+01] [ 2.46909319e-03 9.99996952e-01 0.00000000e+00 -4.94835663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12744247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.50, Z:-0.05 [[ 9.99996740e-01 -2.55335054e-03 0.00000000e+00 3.09926589e+01] [ 2.55335054e-03 9.99996740e-01 0.00000000e+00 -4.97604722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59553712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.50, Z:-0.06 [[ 9.99949532e-01 -1.00465517e-02 0.00000000e+00 3.10518360e+01] [ 1.00465517e-02 9.99949532e-01 0.00000000e+00 -4.98477168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73550098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.51, Z:-0.05 [[ 9.99904487e-01 -1.38209081e-02 0.00000000e+00 3.11139074e+01] [ 1.38209081e-02 9.99904487e-01 0.00000000e+00 -5.06746669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15889542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.52, Z:-0.05 [[ 9.99953025e-01 -9.69267063e-03 0.00000000e+00 3.11757846e+01] [ 9.69267063e-03 9.99953025e-01 0.00000000e+00 -5.19721420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75869528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.51, Z:-0.04 [[ 1.00000000e+00 -1.30637149e-05 0.00000000e+00 3.12366143e+01] [ 1.30637149e-05 1.00000000e+00 0.00000000e+00 -5.14316090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09434791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.52, Z:-0.05 [[ 9.99940615e-01 1.08979671e-02 0.00000000e+00 3.12959714e+01] [-1.08979671e-02 9.99940615e-01 0.00000000e+00 -5.22023092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06858410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.52, Z:-0.05 [[ 9.99865923e-01 1.63748651e-02 0.00000000e+00 3.13562039e+01] [-1.63748651e-02 9.99865923e-01 0.00000000e+00 -5.21326004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46713720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.42, Y:-0.52, Z:-0.06 [[ 9.99788005e-01 2.05899292e-02 0.00000000e+00 3.14156753e+01] [-2.05899292e-02 9.99788005e-01 0.00000000e+00 -5.15042783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60075926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.53, Z:-0.06 [[ 9.99741753e-01 2.27250504e-02 0.00000000e+00 3.14738931e+01] [-2.27250504e-02 9.99741753e-01 0.00000000e+00 -5.28482507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22072465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.52, Z:-0.05 [[ 9.99814222e-01 1.92748968e-02 0.00000000e+00 3.15337689e+01] [-1.92748968e-02 9.99814222e-01 0.00000000e+00 -5.23345901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59025466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.52, Z:-0.04 [[ 9.99899921e-01 1.41473706e-02 0.00000000e+00 3.15912728e+01] [-1.41473706e-02 9.99899921e-01 0.00000000e+00 -5.19979939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20745072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.53, Z:-0.05 [[ 9.99990109e-01 4.44775593e-03 0.00000000e+00 3.16499038e+01] [-4.44775593e-03 9.99990109e-01 0.00000000e+00 -5.31435286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73812145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.53, Z:-0.05 [[ 1.00000000e+00 -1.80267480e-05 0.00000000e+00 3.17096433e+01] [ 1.80267480e-05 1.00000000e+00 0.00000000e+00 -5.33386111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22937133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.53, Z:-0.05 [[ 9.99986088e-01 5.27483416e-03 0.00000000e+00 3.17700114e+01] [-5.27483416e-03 9.99986088e-01 0.00000000e+00 -5.27674037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10480733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.53, Z:-0.06 [[ 9.99930168e-01 1.18177511e-02 0.00000000e+00 3.18275827e+01] [-1.18177511e-02 9.99930168e-01 0.00000000e+00 -5.34600303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06305960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.52, Z:-0.05 [[ 9.99928099e-01 1.19915146e-02 0.00000000e+00 3.18869378e+01] [-1.19915146e-02 9.99928099e-01 0.00000000e+00 -5.22512765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52723047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.52, Z:-0.05 [[ 9.99966183e-01 8.22392665e-03 0.00000000e+00 3.19460670e+01] [-8.22392665e-03 9.99966183e-01 0.00000000e+00 -5.19154102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61542144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.52, Z:-0.06 [[ 9.99996814e-01 2.52437899e-03 0.00000000e+00 3.20052781e+01] [-2.52437899e-03 9.99996814e-01 0.00000000e+00 -5.23410302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54619500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.52, Z:-0.05 [[ 9.99995041e-01 -3.14914793e-03 0.00000000e+00 3.20648533e+01] [ 3.14914793e-03 9.99995041e-01 0.00000000e+00 -5.15363574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33700066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.51, Z:-0.05 [[ 9.99952682e-01 -9.72801445e-03 0.00000000e+00 3.21269448e+01] [ 9.72801445e-03 9.99952682e-01 0.00000000e+00 -5.12504064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13720128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.52, Z:-0.05 [[ 9.99890226e-01 -1.48167515e-02 0.00000000e+00 3.21889158e+01] [ 1.48167515e-02 9.99890226e-01 0.00000000e+00 -5.19542427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05895852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.50, Z:-0.05 [[ 9.99936166e-01 -1.12988550e-02 0.00000000e+00 3.22499736e+01] [ 1.12988550e-02 9.99936166e-01 0.00000000e+00 -5.04911259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12093655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.50, Z:-0.05 [[ 9.99989225e-01 -4.64214842e-03 0.00000000e+00 3.23122404e+01] [ 4.64214842e-03 9.99989225e-01 0.00000000e+00 -5.02511288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04463911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.50, Z:-0.05 [[ 9.99989065e-01 -4.67656425e-03 0.00000000e+00 3.23738528e+01] [ 4.67656425e-03 9.99989065e-01 0.00000000e+00 -5.02655099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30406515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.50, Z:-0.04 [[ 9.99975678e-01 -6.97450499e-03 0.00000000e+00 3.24362115e+01] [ 6.97450499e-03 9.99975678e-01 0.00000000e+00 -4.96653656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30962285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.50, Z:-0.05 [[ 9.99905824e-01 -1.37238214e-02 0.00000000e+00 3.24995249e+01] [ 1.37238214e-02 9.99905824e-01 0.00000000e+00 -5.01486003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71762544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.50, Z:-0.05 [[ 9.99902298e-01 -1.39783885e-02 0.00000000e+00 3.25607528e+01] [ 1.39783885e-02 9.99902298e-01 0.00000000e+00 -4.97858042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83734861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.50, Z:-0.05 [[ 9.99948268e-01 -1.01715475e-02 0.00000000e+00 3.26230985e+01] [ 1.01715475e-02 9.99948268e-01 0.00000000e+00 -4.96058897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10128553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.50, Z:-0.06 [[ 9.99967555e-01 -8.05533182e-03 0.00000000e+00 3.26841594e+01] [ 8.05533182e-03 9.99967555e-01 0.00000000e+00 -4.95374529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66579518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.49, Z:-0.05 [[ 9.99964468e-01 -8.42985794e-03 0.00000000e+00 3.27463481e+01] [ 8.42985794e-03 9.99964468e-01 0.00000000e+00 -4.94730778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34726696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.49, Z:-0.04 [[ 9.99963469e-01 -8.54751026e-03 0.00000000e+00 3.28071433e+01] [ 8.54751026e-03 9.99963469e-01 0.00000000e+00 -4.94520985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31946041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.49, Z:-0.05 [[ 9.99980048e-01 -6.31687600e-03 0.00000000e+00 3.28684136e+01] [ 6.31687600e-03 9.99980048e-01 0.00000000e+00 -4.94487264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65187154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.49, Z:-0.05 [[ 9.99997727e-01 -2.13191657e-03 0.00000000e+00 3.29303234e+01] [ 2.13191657e-03 9.99997727e-01 0.00000000e+00 -4.91324310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51240978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.50, Z:-0.06 [[ 9.99999964e-01 -2.68207448e-04 0.00000000e+00 3.29899697e+01] [ 2.68207448e-04 9.99999964e-01 0.00000000e+00 -5.04105382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94226096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.50, Z:-0.05 [[ 9.99999625e-01 8.65466543e-04 0.00000000e+00 3.30501177e+01] [-8.65466543e-04 9.99999625e-01 0.00000000e+00 -4.97759244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02239282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.50, Z:-0.05 [[ 9.99991450e-01 4.13529582e-03 0.00000000e+00 3.31093840e+01] [-4.13529582e-03 9.99991450e-01 0.00000000e+00 -5.03087400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03926316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.51, Z:-0.05 [[ 9.99962970e-01 8.60569308e-03 0.00000000e+00 3.31672552e+01] [-8.60569308e-03 9.99962970e-01 0.00000000e+00 -5.12076030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26579299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.50, Z:-0.05 [[ 9.99923815e-01 1.23436178e-02 0.00000000e+00 3.32258810e+01] [-1.23436178e-02 9.99923815e-01 0.00000000e+00 -5.04909369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95881180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.50, Z:-0.05 [[ 9.99839733e-01 1.79027579e-02 0.00000000e+00 3.32846533e+01] [-1.79027579e-02 9.99839733e-01 0.00000000e+00 -5.00979496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75056962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.50, Z:-0.05 [[ 9.99828251e-01 1.85329245e-02 0.00000000e+00 3.33425781e+01] [-1.85329245e-02 9.99828251e-01 0.00000000e+00 -4.99290610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03592250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.49, Z:-0.05 [[ 9.99883772e-01 1.52460598e-02 0.00000000e+00 3.34013442e+01] [-1.52460598e-02 9.99883772e-01 0.00000000e+00 -4.87891766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62752019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.48, Z:-0.04 [[ 9.99929308e-01 1.18903169e-02 0.00000000e+00 3.34602303e+01] [-1.18903169e-02 9.99929308e-01 0.00000000e+00 -4.84711528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35845092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.48, Z:-0.04 [[ 9.99985408e-01 5.40226969e-03 0.00000000e+00 3.35189451e+01] [-5.40226969e-03 9.99985408e-01 0.00000000e+00 -4.77559286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38410036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:33.58, Y:-0.47, Z:-0.05 [[ 9.99999998e-01 6.78676565e-05 0.00000000e+00 3.35768584e+01] [-6.78676565e-05 9.99999998e-01 0.00000000e+00 -4.66172315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61058463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.47, Z:-0.06 [[ 9.99990673e-01 -4.31892368e-03 0.00000000e+00 3.36360029e+01] [ 4.31892368e-03 9.99990673e-01 0.00000000e+00 -4.65632296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55449705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:-0.45, Z:-0.05 [[ 9.99972454e-01 -7.42235357e-03 0.00000000e+00 3.36976877e+01] [ 7.42235357e-03 9.99972454e-01 0.00000000e+00 -4.49978849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43839374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.45, Z:-0.05 [[ 9.99950193e-01 -9.98057409e-03 0.00000000e+00 3.37595492e+01] [ 9.98057409e-03 9.99950193e-01 0.00000000e+00 -4.45054432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98572685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.45, Z:-0.05 [[ 9.99942622e-01 -1.07122937e-02 0.00000000e+00 3.38217707e+01] [ 1.07122937e-02 9.99942622e-01 0.00000000e+00 -4.46269636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18742338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.43, Z:-0.04 [[ 9.99946541e-01 -1.03399849e-02 0.00000000e+00 3.38826804e+01] [ 1.03399849e-02 9.99946541e-01 0.00000000e+00 -4.32829658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47319009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:33.95, Y:-0.43, Z:-0.04 [[ 9.99935460e-01 -1.13611600e-02 0.00000000e+00 3.39452605e+01] [ 1.13611600e-02 9.99935460e-01 0.00000000e+00 -4.26007411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48943178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.44, Z:-0.06 [[ 9.99901046e-01 -1.40676140e-02 0.00000000e+00 3.40060314e+01] [ 1.40676140e-02 9.99901046e-01 0.00000000e+00 -4.35710496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69314393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.43, Z:-0.05 [[ 9.99865638e-01 -1.63922585e-02 0.00000000e+00 3.40670546e+01] [ 1.63922585e-02 9.99865638e-01 0.00000000e+00 -4.29650501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36740881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.43, Z:-0.05 [[ 9.99938594e-01 -1.10818654e-02 0.00000000e+00 3.41292499e+01] [ 1.10818654e-02 9.99938594e-01 0.00000000e+00 -4.33042449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84611144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.43, Z:-0.05 [[ 9.99995422e-01 -3.02572174e-03 0.00000000e+00 3.41909394e+01] [ 3.02572174e-03 9.99995422e-01 0.00000000e+00 -4.28066075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69774224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.43, Z:-0.05 [[ 9.99986470e-01 5.20199814e-03 0.00000000e+00 3.42523450e+01] [-5.20199814e-03 9.99986470e-01 0.00000000e+00 -4.28177512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07621268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.43, Z:-0.05 [[ 9.99972948e-01 7.35553005e-03 0.00000000e+00 3.43100761e+01] [-7.35553005e-03 9.99972948e-01 0.00000000e+00 -4.25212687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88861824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.42, Z:-0.05 [[ 9.99996931e-01 2.47763730e-03 0.00000000e+00 3.43693660e+01] [-2.47763730e-03 9.99996931e-01 0.00000000e+00 -4.21816948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03364389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.43, Z:-0.05 [[ 9.99984384e-01 -5.58852526e-03 0.00000000e+00 3.44288620e+01] [ 5.58852526e-03 9.99984384e-01 0.00000000e+00 -4.26816356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83899049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.43, Z:-0.05 [[ 9.99933834e-01 -1.15033666e-02 0.00000000e+00 3.44896985e+01] [ 1.15033666e-02 9.99933834e-01 0.00000000e+00 -4.33430590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27223551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:34.55, Y:-0.43, Z:-0.05 [[ 9.99924398e-01 -1.22962649e-02 0.00000000e+00 3.45516530e+01] [ 1.22962649e-02 9.99924398e-01 0.00000000e+00 -4.29834818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57446544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.43, Z:-0.05 [[ 9.99976380e-01 -6.87309544e-03 0.00000000e+00 3.46139932e+01] [ 6.87309544e-03 9.99976380e-01 0.00000000e+00 -4.34232051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90358060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.44, Z:-0.05 [[ 9.99996468e-01 -2.65764818e-03 0.00000000e+00 3.46757683e+01] [ 2.65764818e-03 9.99996468e-01 0.00000000e+00 -4.36639459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83194506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.43, Z:-0.04 [[ 9.99998733e-01 1.59197837e-03 0.00000000e+00 3.47375839e+01] [-1.59197837e-03 9.99998733e-01 0.00000000e+00 -4.28361294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12315166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.43, Z:-0.05 [[ 9.99967328e-01 8.08345986e-03 0.00000000e+00 3.47957659e+01] [-8.08345986e-03 9.99967328e-01 0.00000000e+00 -4.31628507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17710297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.43, Z:-0.05 [[ 9.99906722e-01 1.36582114e-02 0.00000000e+00 3.48545695e+01] [-1.36582114e-02 9.99906722e-01 0.00000000e+00 -4.28467538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36828961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.42, Z:-0.05 [[ 9.99868697e-01 1.62046008e-02 0.00000000e+00 3.49124358e+01] [-1.62046008e-02 9.99868697e-01 0.00000000e+00 -4.18806819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11182921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.42, Z:-0.05 [[ 9.99873848e-01 1.58835889e-02 0.00000000e+00 3.49717361e+01] [-1.58835889e-02 9.99873848e-01 0.00000000e+00 -4.18221746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30933758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:-0.41, Z:-0.05 [[ 9.99919540e-01 1.26851679e-02 0.00000000e+00 3.50300097e+01] [-1.26851679e-02 9.99919540e-01 0.00000000e+00 -4.12167880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57189483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.09, Y:-0.41, Z:-0.05 [[ 9.99970585e-01 7.67004091e-03 0.00000000e+00 3.50875641e+01] [-7.67004091e-03 9.99970585e-01 0.00000000e+00 -4.05877431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63328785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:-0.40, Z:-0.05 [[ 9.99992463e-01 3.88255985e-03 0.00000000e+00 3.51453700e+01] [-3.88255985e-03 9.99992463e-01 0.00000000e+00 -3.95342966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83774225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:35.21, Y:-0.39, Z:-0.05 [[ 9.99991728e-01 -4.06735564e-03 0.00000000e+00 3.52054903e+01] [ 4.06735564e-03 9.99991728e-01 0.00000000e+00 -3.87212399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48134608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:-0.39, Z:-0.05 [[ 9.99871133e-01 -1.60536026e-02 0.00000000e+00 3.52676068e+01] [ 1.60536026e-02 9.99871133e-01 0.00000000e+00 -3.86041781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24626366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.38, Z:-0.05 [[ 9.99702714e-01 -2.43820403e-02 0.00000000e+00 3.53311391e+01] [ 2.43820403e-02 9.99702714e-01 0.00000000e+00 -3.83343639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00502868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.38, Z:-0.05 [[ 9.99629388e-01 -2.72229030e-02 0.00000000e+00 3.53923311e+01] [ 2.72229030e-02 9.99629388e-01 0.00000000e+00 -3.83540765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97635153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.38, Z:-0.05 [[ 9.99640416e-01 -2.68148856e-02 0.00000000e+00 3.54545715e+01] [ 2.68148856e-02 9.99640416e-01 0.00000000e+00 -3.82830397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95534915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.38, Z:-0.05 [[ 9.99709271e-01 -2.41116955e-02 0.00000000e+00 3.55164566e+01] [ 2.41116955e-02 9.99709271e-01 0.00000000e+00 -3.84774495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49883976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.38, Z:-0.06 [[ 9.99850004e-01 -1.73196037e-02 0.00000000e+00 3.55771845e+01] [ 1.73196037e-02 9.99850004e-01 0.00000000e+00 -3.83597673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03575824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.39, Z:-0.06 [[ 9.99957852e-01 -9.18124099e-03 0.00000000e+00 3.56394331e+01] [ 9.18124099e-03 9.99957852e-01 0.00000000e+00 -3.87288668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03907719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.38, Z:-0.05 [[ 9.99987323e-01 -5.03523106e-03 0.00000000e+00 3.57019879e+01] [ 5.03523106e-03 9.99987323e-01 0.00000000e+00 -3.83735280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21686224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.38, Z:-0.05 [[ 9.99999174e-01 -1.28491368e-03 0.00000000e+00 3.57630155e+01] [ 1.28491368e-03 9.99999174e-01 0.00000000e+00 -3.81951978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31137825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.39, Z:-0.05 [[ 9.99999975e-01 -2.22406957e-04 0.00000000e+00 3.58245244e+01] [ 2.22406957e-04 9.99999975e-01 0.00000000e+00 -3.86512734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36455433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.39, Z:-0.06 [[ 9.99999233e-01 -1.23819216e-03 0.00000000e+00 3.58852403e+01] [ 1.23819216e-03 9.99999233e-01 0.00000000e+00 -3.87820831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56703097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.39, Z:-0.05 [[ 9.99984061e-01 -5.64602563e-03 0.00000000e+00 3.59470261e+01] [ 5.64602563e-03 9.99984061e-01 0.00000000e+00 -3.86775906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96860942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.39, Z:-0.05 [[ 9.99976571e-01 -6.84522219e-03 0.00000000e+00 3.60092523e+01] [ 6.84522219e-03 9.99976571e-01 0.00000000e+00 -3.93139857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22983355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.39, Z:-0.04 [[ 9.99975674e-01 -6.97510347e-03 0.00000000e+00 3.60711768e+01] [ 6.97510347e-03 9.99975674e-01 0.00000000e+00 -3.85744677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32178774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.39, Z:-0.05 [[ 9.99993853e-01 -3.50615764e-03 0.00000000e+00 3.61318864e+01] [ 3.50615764e-03 9.99993853e-01 0.00000000e+00 -3.89363074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09676596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.39, Z:-0.05 [[ 9.99993588e-01 -3.58098730e-03 0.00000000e+00 3.61932049e+01] [ 3.58098730e-03 9.99993588e-01 0.00000000e+00 -3.94941763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27137479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.39, Z:-0.04 [[ 9.99957648e-01 -9.20342895e-03 0.00000000e+00 3.62554919e+01] [ 9.20342895e-03 9.99957648e-01 0.00000000e+00 -3.86973798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92616043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:-0.39, Z:-0.04 [[ 9.99954202e-01 -9.57051527e-03 0.00000000e+00 3.63172344e+01] [ 9.57051527e-03 9.99954202e-01 0.00000000e+00 -3.92884691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97556853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:-0.39, Z:-0.05 [[ 9.99980377e-01 -6.26460515e-03 0.00000000e+00 3.63788214e+01] [ 6.26460515e-03 9.99980377e-01 0.00000000e+00 -3.93527088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82394101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:-0.39, Z:-0.05 [[ 9.99999987e-01 1.60739857e-04 0.00000000e+00 3.64408199e+01] [-1.60739857e-04 9.99999987e-01 0.00000000e+00 -3.88479922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91997852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.38, Z:-0.05 [[ 9.99996631e-01 2.59575259e-03 0.00000000e+00 3.65005828e+01] [-2.59575259e-03 9.99996631e-01 0.00000000e+00 -3.84631717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83353007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.38, Z:-0.04 [[ 9.99996757e-01 -2.54665232e-03 0.00000000e+00 3.65596645e+01] [ 2.54665232e-03 9.99996757e-01 0.00000000e+00 -3.82115120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37168777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:36.62, Y:-0.39, Z:-0.05 [[ 9.99963373e-01 -8.55878131e-03 0.00000000e+00 3.66208035e+01] [ 8.55878131e-03 9.99963373e-01 0.00000000e+00 -3.87357839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77674042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:36.68, Y:-0.39, Z:-0.05 [[ 9.99918983e-01 -1.27290074e-02 0.00000000e+00 3.66829265e+01] [ 1.27290074e-02 9.99918983e-01 0.00000000e+00 -3.89725904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99964336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.39, Z:-0.05 [[ 9.99890579e-01 -1.47929199e-02 0.00000000e+00 3.67449503e+01] [ 1.47929199e-02 9.99890579e-01 0.00000000e+00 -3.88405169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65349638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.39, Z:-0.05 [[ 9.99907800e-01 -1.35790514e-02 0.00000000e+00 3.68058788e+01] [ 1.35790514e-02 9.99907800e-01 0.00000000e+00 -3.93285873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98402961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.40, Z:-0.05 [[ 9.99885504e-01 -1.51320240e-02 0.00000000e+00 3.68674091e+01] [ 1.51320240e-02 9.99885504e-01 0.00000000e+00 -4.03581038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99345499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.40, Z:-0.05 [[ 9.99876757e-01 -1.56993586e-02 0.00000000e+00 3.69293700e+01] [ 1.56993586e-02 9.99876757e-01 0.00000000e+00 -4.04807282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58105009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.41, Z:-0.05 [[ 9.99938028e-01 -1.11327979e-02 0.00000000e+00 3.69910320e+01] [ 1.11327979e-02 9.99938028e-01 0.00000000e+00 -4.12563160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37458961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:-0.42, Z:-0.05 [[ 9.99999349e-01 -1.14099902e-03 0.00000000e+00 3.70532050e+01] [ 1.14099902e-03 9.99999349e-01 0.00000000e+00 -4.18118788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76303905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-0.42, Z:-0.05 [[ 9.99987139e-01 5.07173993e-03 0.00000000e+00 3.71149775e+01] [-5.07173993e-03 9.99987139e-01 0.00000000e+00 -4.18565046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65625048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:-0.42, Z:-0.04 [[ 9.99974716e-01 7.11108009e-03 0.00000000e+00 3.71722906e+01] [-7.11108009e-03 9.99974716e-01 0.00000000e+00 -4.16573121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35508316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.43, Z:-0.05 [[ 9.99977706e-01 6.67744373e-03 0.00000000e+00 3.72300031e+01] [-6.67744373e-03 9.99977706e-01 0.00000000e+00 -4.29729048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38141413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.43, Z:-0.04 [[ 9.99977642e-01 6.68697306e-03 0.00000000e+00 3.72898757e+01] [-6.68697306e-03 9.99977642e-01 0.00000000e+00 -4.27909581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30232287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.43, Z:-0.05 [[ 9.99982928e-01 5.84329206e-03 0.00000000e+00 3.73476144e+01] [-5.84329206e-03 9.99982928e-01 0.00000000e+00 -4.26555219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85504542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.43, Z:-0.05 [[ 9.99999834e-01 5.76354135e-04 0.00000000e+00 3.74065872e+01] [-5.76354135e-04 9.99999834e-01 0.00000000e+00 -4.31566153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68052976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.43, Z:-0.05 [[ 9.99986838e-01 -5.13065879e-03 0.00000000e+00 3.74657634e+01] [ 5.13065879e-03 9.99986838e-01 0.00000000e+00 -4.31277142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65844035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-0.44, Z:-0.05 [[ 9.99973594e-01 -7.26718218e-03 0.00000000e+00 3.75282777e+01] [ 7.26718218e-03 9.99973594e-01 0.00000000e+00 -4.35040075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75656734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.44, Z:-0.05 [[ 9.99977437e-01 -6.71751760e-03 0.00000000e+00 3.75889600e+01] [ 6.71751760e-03 9.99977437e-01 0.00000000e+00 -4.35166037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69823909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.43, Z:-0.05 [[ 9.99989198e-01 -4.64805644e-03 0.00000000e+00 3.76506949e+01] [ 4.64805644e-03 9.99989198e-01 0.00000000e+00 -4.25187643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71353298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.43, Z:-0.05 [[ 9.99987722e-01 -4.95545095e-03 0.00000000e+00 3.77124965e+01] [ 4.95545095e-03 9.99987722e-01 0.00000000e+00 -4.29462600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98990551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.43, Z:-0.05 [[ 9.99991289e-01 -4.17406023e-03 0.00000000e+00 3.77745475e+01] [ 4.17406023e-03 9.99991289e-01 0.00000000e+00 -4.27684682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14105625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.42, Z:-0.05 [[ 9.99997875e-01 -2.06153889e-03 0.00000000e+00 3.78367683e+01] [ 2.06153889e-03 9.99997875e-01 0.00000000e+00 -4.21103372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62056995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.42, Z:-0.04 [[ 9.99995790e-01 -2.90155686e-03 0.00000000e+00 3.78981880e+01] [ 2.90155686e-03 9.99995790e-01 0.00000000e+00 -4.16442902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98357274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.42, Z:-0.05 [[ 9.99990181e-01 -4.43144321e-03 0.00000000e+00 3.79592287e+01] [ 4.43144321e-03 9.99990181e-01 0.00000000e+00 -4.21779521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76090820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.42, Z:-0.05 [[ 9.99999405e-01 -1.09068371e-03 0.00000000e+00 3.80210406e+01] [ 1.09068371e-03 9.99999405e-01 0.00000000e+00 -4.16577037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65279142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.42, Z:-0.05 [[ 9.99978945e-01 6.48914536e-03 0.00000000e+00 3.80815292e+01] [-6.48914536e-03 9.99978945e-01 0.00000000e+00 -4.18042000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18360757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.41, Z:-0.05 [[ 9.99936796e-01 1.12429555e-02 0.00000000e+00 3.81405892e+01] [-1.12429555e-02 9.99936796e-01 0.00000000e+00 -4.10045301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90951843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.40, Z:-0.04 [[ 9.99914707e-01 1.30606044e-02 0.00000000e+00 3.81988898e+01] [-1.30606044e-02 9.99914707e-01 0.00000000e+00 -4.01678915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35898340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.40, Z:-0.04 [[ 9.99946707e-01 1.03238990e-02 0.00000000e+00 3.82572976e+01] [-1.03238990e-02 9.99946707e-01 0.00000000e+00 -4.00454805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46577252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.40, Z:-0.04 [[ 9.99985525e-01 5.38046230e-03 0.00000000e+00 3.83148104e+01] [-5.38046230e-03 9.99985525e-01 0.00000000e+00 -3.99027767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48932930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.40, Z:-0.04 [[ 9.99997250e-01 -2.34504705e-03 0.00000000e+00 3.83734218e+01] [ 2.34504705e-03 9.99997250e-01 0.00000000e+00 -3.95932175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05512421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.40, Z:-0.05 [[ 9.99979131e-01 -6.46045442e-03 0.00000000e+00 3.84347086e+01] [ 6.46045442e-03 9.99979131e-01 0.00000000e+00 -3.98518029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61929671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.40, Z:-0.04 [[ 9.99938843e-01 -1.10594341e-02 0.00000000e+00 3.84970100e+01] [ 1.10594341e-02 9.99938843e-01 0.00000000e+00 -3.95221213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28981266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.40, Z:-0.05 [[ 9.99922461e-01 -1.24528180e-02 0.00000000e+00 3.85584640e+01] [ 1.24528180e-02 9.99922461e-01 0.00000000e+00 -4.00985635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99000403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:-0.40, Z:-0.04 [[ 9.99895094e-01 -1.44845053e-02 0.00000000e+00 3.86202652e+01] [ 1.44845053e-02 9.99895094e-01 0.00000000e+00 -4.03189716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22167766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:38.68, Y:-0.41, Z:-0.04 [[ 9.99898959e-01 -1.42152161e-02 0.00000000e+00 3.86819838e+01] [ 1.42152161e-02 9.99898959e-01 0.00000000e+00 -4.05565853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37667556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.41, Z:-0.05 [[ 9.99957848e-01 -9.18164576e-03 0.00000000e+00 3.87432114e+01] [ 9.18164576e-03 9.99957848e-01 0.00000000e+00 -4.11302693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93093807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.81, Y:-0.41, Z:-0.04 [[ 9.99999752e-01 -7.03606818e-04 0.00000000e+00 3.88051633e+01] [ 7.03606818e-04 9.99999752e-01 0.00000000e+00 -4.11697574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38094775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.41, Z:-0.05 [[ 9.99967174e-01 8.10249514e-03 0.00000000e+00 3.88647219e+01] [-8.10249514e-03 9.99967174e-01 0.00000000e+00 -4.11378572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59371302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.41, Z:-0.05 [[ 9.99945555e-01 1.04348563e-02 0.00000000e+00 3.89227864e+01] [-1.04348563e-02 9.99945555e-01 0.00000000e+00 -4.14021963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84250714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.42, Z:-0.04 [[ 9.99978747e-01 6.51965522e-03 0.00000000e+00 3.89813422e+01] [-6.51965522e-03 9.99978747e-01 0.00000000e+00 -4.21179708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38206546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.42, Z:-0.04 [[ 9.99998168e-01 1.91430030e-03 0.00000000e+00 3.90387085e+01] [-1.91430030e-03 9.99998168e-01 0.00000000e+00 -4.22601891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04089435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.43, Z:-0.04 [[ 9.99998567e-01 1.69288978e-03 0.00000000e+00 3.90976614e+01] [-1.69288978e-03 9.99998567e-01 0.00000000e+00 -4.31178794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08952974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.44, Z:-0.04 [[ 9.99995940e-01 2.84940238e-03 0.00000000e+00 3.91568943e+01] [-2.84940238e-03 9.99995940e-01 0.00000000e+00 -4.35794143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42499916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.44, Z:-0.05 [[ 9.99980381e-01 6.26394778e-03 0.00000000e+00 3.92156085e+01] [-6.26394778e-03 9.99980381e-01 0.00000000e+00 -4.39327114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69508774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.44, Z:-0.05 [[ 9.99981189e-01 6.13360516e-03 0.00000000e+00 3.92743543e+01] [-6.13360516e-03 9.99981189e-01 0.00000000e+00 -4.41107253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00362206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.45, Z:-0.05 [[ 9.99991320e-01 4.16649279e-03 0.00000000e+00 3.93331152e+01] [-4.16649279e-03 9.99991320e-01 0.00000000e+00 -4.46306055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01732429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.45, Z:-0.05 [[ 9.99991596e-01 -4.09968992e-03 0.00000000e+00 3.93928682e+01] [ 4.09968992e-03 9.99991596e-01 0.00000000e+00 -4.46885696e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63735607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.45, Z:-0.05 [[ 9.99929020e-01 -1.19145062e-02 0.00000000e+00 3.94559932e+01] [ 1.19145062e-02 9.99929020e-01 0.00000000e+00 -4.53372599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74775816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.46, Z:-0.05 [[ 9.99917815e-01 -1.28204254e-02 0.00000000e+00 3.95175622e+01] [ 1.28204254e-02 9.99917815e-01 0.00000000e+00 -4.59777830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68088507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.47, Z:-0.05 [[ 9.99964721e-01 -8.39975553e-03 0.00000000e+00 3.95785589e+01] [ 8.39975553e-03 9.99964721e-01 0.00000000e+00 -4.66635077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39882052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.47, Z:-0.05 [[ 9.99992121e-01 -3.96975117e-03 0.00000000e+00 3.96419606e+01] [ 3.96975117e-03 9.99992121e-01 0.00000000e+00 -4.70380505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35057614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.47, Z:-0.05 [[ 9.99999999e-01 3.24699491e-05 0.00000000e+00 3.97041674e+01] [-3.24699491e-05 9.99999999e-01 0.00000000e+00 -4.70453733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83842240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.47, Z:-0.05 [[ 9.99990595e-01 4.33696879e-03 0.00000000e+00 3.97644196e+01] [-4.33696879e-03 9.99990595e-01 0.00000000e+00 -4.74004955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83977754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:-0.48, Z:-0.05 [[ 9.99974102e-01 7.19688180e-03 0.00000000e+00 3.98225617e+01] [-7.19688180e-03 9.99974102e-01 0.00000000e+00 -4.75238885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47483154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.48, Z:-0.05 [[ 9.99938331e-01 1.11055740e-02 0.00000000e+00 3.98816498e+01] [-1.11055740e-02 9.99938331e-01 0.00000000e+00 -4.78281072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26733457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:-0.48, Z:-0.05 [[ 9.99916515e-01 1.29214306e-02 0.00000000e+00 3.99407408e+01] [-1.29214306e-02 9.99916515e-01 0.00000000e+00 -4.75578062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06147436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.48, Z:-0.05 [[ 9.99904645e-01 1.38094505e-02 0.00000000e+00 3.99985888e+01] [-1.38094505e-02 9.99904645e-01 0.00000000e+00 -4.81376992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02513416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.48, Z:-0.05 [[ 9.99940266e-01 1.09299988e-02 0.00000000e+00 4.00573892e+01] [-1.09299988e-02 9.99940266e-01 0.00000000e+00 -4.82788406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72063544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.49, Z:-0.05 [[ 9.99957207e-01 9.25118704e-03 0.00000000e+00 4.01164757e+01] [-9.25118704e-03 9.99957207e-01 0.00000000e+00 -4.89757035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79503142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.49, Z:-0.05 [[ 9.99951131e-01 9.88613112e-03 0.00000000e+00 4.01755819e+01] [-9.88613112e-03 9.99951131e-01 0.00000000e+00 -4.89491399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92760343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.23, Y:-0.50, Z:-0.06 [[ 9.99949658e-01 1.00339753e-02 0.00000000e+00 4.02330234e+01] [-1.00339753e-02 9.99949658e-01 0.00000000e+00 -4.95715208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98209935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:40.29, Y:-0.50, Z:-0.05 [[ 9.99946350e-01 1.03584156e-02 0.00000000e+00 4.02916516e+01] [-1.03584156e-02 9.99946350e-01 0.00000000e+00 -4.95164861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29731264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:40.35, Y:-0.50, Z:-0.05 [[ 9.99965314e-01 8.32887370e-03 0.00000000e+00 4.03498576e+01] [-8.32887370e-03 9.99965314e-01 0.00000000e+00 -4.96196399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27389482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.50, Z:-0.05 [[ 9.99983793e-01 5.69324456e-03 0.00000000e+00 4.04089319e+01] [-5.69324456e-03 9.99983793e-01 0.00000000e+00 -5.00005496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66981191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.51, Z:-0.05 [[ 9.99997672e-01 -2.15754832e-03 0.00000000e+00 4.04674632e+01] [ 2.15754832e-03 9.99997672e-01 0.00000000e+00 -5.07261648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67834599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.51, Z:-0.05 [[ 9.99993011e-01 -3.73883437e-03 0.00000000e+00 4.05289188e+01] [ 3.73883437e-03 9.99993011e-01 0.00000000e+00 -5.08222286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63043151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:40.59, Y:-0.52, Z:-0.05 [[ 9.99998261e-01 -1.86512581e-03 0.00000000e+00 4.05903671e+01] [ 1.86512581e-03 9.99998261e-01 0.00000000e+00 -5.16197219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04870676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:40.65, Y:-0.52, Z:-0.05 [[ 9.99994771e-01 3.23378181e-03 0.00000000e+00 4.06519303e+01] [-3.23378181e-03 9.99994771e-01 0.00000000e+00 -5.18155364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98620251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:40.71, Y:-0.52, Z:-0.05 [[ 9.99978197e-01 6.60351402e-03 0.00000000e+00 4.07105030e+01] [-6.60351402e-03 9.99978197e-01 0.00000000e+00 -5.20678989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32088296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.52, Z:-0.05 [[ 9.99978780e-01 6.51462988e-03 0.00000000e+00 4.07687219e+01] [-6.51462988e-03 9.99978780e-01 0.00000000e+00 -5.22896000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72513821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.53, Z:-0.05 [[ 9.99970438e-01 7.68921938e-03 0.00000000e+00 4.08278016e+01] [-7.68921938e-03 9.99970438e-01 0.00000000e+00 -5.28829512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04326760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.53, Z:-0.05 [[ 9.99976669e-01 6.83090349e-03 0.00000000e+00 4.08860047e+01] [-6.83090349e-03 9.99976669e-01 0.00000000e+00 -5.33914500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67151105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.54, Z:-0.05 [[ 9.99978273e-01 6.59200151e-03 0.00000000e+00 4.09449044e+01] [-6.59200151e-03 9.99978273e-01 0.00000000e+00 -5.38635689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83172393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.54, Z:-0.05 [[ 9.99967093e-01 8.11250544e-03 0.00000000e+00 4.10027715e+01] [-8.11250544e-03 9.99967093e-01 0.00000000e+00 -5.40879284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05990544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.54, Z:-0.05 [[ 9.99929138e-01 1.19046173e-02 0.00000000e+00 4.10618717e+01] [-1.19046173e-02 9.99929138e-01 0.00000000e+00 -5.39919163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10575977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.54, Z:-0.05 [[ 9.99885487e-01 1.51331967e-02 0.00000000e+00 4.11201132e+01] [-1.51331967e-02 9.99885487e-01 0.00000000e+00 -5.44586681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31255260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.54, Z:-0.04 [[ 9.99863415e-01 1.65272734e-02 0.00000000e+00 4.11791245e+01] [-1.65272734e-02 9.99863415e-01 0.00000000e+00 -5.37238495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42323676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.53, Z:-0.05 [[ 9.99899258e-01 1.41941174e-02 0.00000000e+00 4.12366478e+01] [-1.41941174e-02 9.99899258e-01 0.00000000e+00 -5.34448986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72532784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.54, Z:-0.06 [[ 9.99948046e-01 1.01933750e-02 0.00000000e+00 4.12962334e+01] [-1.01933750e-02 9.99948046e-01 0.00000000e+00 -5.37761748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92213119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.35, Y:-0.53, Z:-0.05 [[ 9.99981114e-01 6.14586380e-03 0.00000000e+00 4.13541926e+01] [-6.14586380e-03 9.99981114e-01 0.00000000e+00 -5.29760676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43020138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.53, Z:-0.06 [[ 9.99994695e-01 3.25734114e-03 0.00000000e+00 4.14131609e+01] [-3.25734114e-03 9.99994695e-01 0.00000000e+00 -5.33448118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67230328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.53, Z:-0.05 [[ 9.99997017e-01 2.44270992e-03 0.00000000e+00 4.14723678e+01] [-2.44270992e-03 9.99997017e-01 0.00000000e+00 -5.26231970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72361170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.52, Z:-0.05 [[ 9.99988373e-01 4.82219108e-03 0.00000000e+00 4.15314704e+01] [-4.82219108e-03 9.99988373e-01 0.00000000e+00 -5.20834408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08813799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.52, Z:-0.06 [[ 9.99981983e-01 6.00281141e-03 0.00000000e+00 4.15889126e+01] [-6.00281141e-03 9.99981983e-01 0.00000000e+00 -5.22347915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99105308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.51, Z:-0.05 [[ 9.99988074e-01 4.88384857e-03 0.00000000e+00 4.16484903e+01] [-4.88384857e-03 9.99988074e-01 0.00000000e+00 -5.12849631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64837686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.50, Z:-0.04 [[ 9.99988007e-01 4.89759409e-03 0.00000000e+00 4.17075368e+01] [-4.89759409e-03 9.99988007e-01 0.00000000e+00 -5.01751671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80900828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.50, Z:-0.05 [[ 9.99988413e-01 4.81388791e-03 0.00000000e+00 4.17663519e+01] [-4.81388791e-03 9.99988413e-01 0.00000000e+00 -5.03271761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81320647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.49, Z:-0.05 [[ 9.99999378e-01 1.11509486e-03 0.00000000e+00 4.18240759e+01] [-1.11509486e-03 9.99999378e-01 0.00000000e+00 -4.89982329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67360416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.49, Z:-0.05 [[ 9.99997016e-01 -2.44279007e-03 0.00000000e+00 4.18836233e+01] [ 2.44279007e-03 9.99997016e-01 0.00000000e+00 -4.87109158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80923240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.49, Z:-0.05 [[ 9.99974555e-01 -7.13361380e-03 0.00000000e+00 4.19437427e+01] [ 7.13361380e-03 9.99974555e-01 0.00000000e+00 -4.93143414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40789004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.49, Z:-0.05 [[ 9.99947662e-01 -1.02309720e-02 0.00000000e+00 4.20059362e+01] [ 1.02309720e-02 9.99947662e-01 0.00000000e+00 -4.87690201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61942300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.49, Z:-0.04 [[ 9.99911939e-01 -1.32708243e-02 0.00000000e+00 4.20677549e+01] [ 1.32708243e-02 9.99911939e-01 0.00000000e+00 -4.93728198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43486778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.51, Z:-0.05 [[ 9.99947656e-01 -1.02315782e-02 0.00000000e+00 4.21296653e+01] [ 1.02315782e-02 9.99947656e-01 0.00000000e+00 -5.06390903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05313092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:-0.50, Z:-0.04 [[ 9.99986946e-01 -5.10964143e-03 0.00000000e+00 4.21919820e+01] [ 5.10964143e-03 9.99986946e-01 0.00000000e+00 -5.03118545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67311376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:-0.51, Z:-0.05 [[ 9.99991573e-01 4.10530047e-03 0.00000000e+00 4.22528092e+01] [-4.10530047e-03 9.99991573e-01 0.00000000e+00 -5.08567167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51389564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.51, Z:-0.05 [[ 9.99880616e-01 1.54516554e-02 0.00000000e+00 4.23114727e+01] [-1.54516554e-02 9.99880616e-01 0.00000000e+00 -5.12545213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25052053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.51, Z:-0.05 [[ 9.99826262e-01 1.86399076e-02 0.00000000e+00 4.23699629e+01] [-1.86399076e-02 9.99826262e-01 0.00000000e+00 -5.09514335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52606731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.50, Z:-0.04 [[ 9.99872639e-01 1.59595044e-02 0.00000000e+00 4.24284044e+01] [-1.59595044e-02 9.99872639e-01 0.00000000e+00 -5.03211856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76551992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.51, Z:-0.05 [[ 9.99957212e-01 9.25065172e-03 0.00000000e+00 4.24857707e+01] [-9.25065172e-03 9.99957212e-01 0.00000000e+00 -5.10704658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74388181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.52, Z:-0.06 [[ 9.99998391e-01 1.79363663e-03 0.00000000e+00 4.25450899e+01] [-1.79363663e-03 9.99998391e-01 0.00000000e+00 -5.18315112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72404348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:-0.51, Z:-0.05 [[ 9.99990574e-01 -4.34184104e-03 0.00000000e+00 4.26042806e+01] [ 4.34184104e-03 9.99990574e-01 0.00000000e+00 -5.14565474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61156034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.67, Y:-0.51, Z:-0.04 [[ 9.99993973e-01 -3.47180596e-03 0.00000000e+00 4.26668788e+01] [ 3.47180596e-03 9.99993973e-01 0.00000000e+00 -5.14179707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11294046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.73, Y:-0.52, Z:-0.05 [[ 9.99997840e-01 2.07860411e-03 0.00000000e+00 4.27275677e+01] [-2.07860411e-03 9.99997840e-01 0.00000000e+00 -5.18899636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77612227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:42.79, Y:-0.51, Z:-0.04 [[ 9.99982507e-01 5.91483059e-03 0.00000000e+00 4.27867023e+01] [-5.91483059e-03 9.99982507e-01 0.00000000e+00 -5.14681499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05487033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:42.85, Y:-0.51, Z:-0.04 [[ 9.99978606e-01 6.54114976e-03 0.00000000e+00 4.28465186e+01] [-6.54114976e-03 9.99978606e-01 0.00000000e+00 -5.07931647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47036934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.51, Z:-0.05 [[ 9.99989199e-01 4.64777684e-03 0.00000000e+00 4.29047798e+01] [-4.64777684e-03 9.99989199e-01 0.00000000e+00 -5.08337511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24099961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.51, Z:-0.05 [[ 9.99999174e-01 1.28520975e-03 0.00000000e+00 4.29644664e+01] [-1.28520975e-03 9.99999174e-01 0.00000000e+00 -5.07505654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09400315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:43.02, Y:-0.51, Z:-0.05 [[ 9.99999999e-01 4.19748726e-05 0.00000000e+00 4.30242865e+01] [-4.19748726e-05 9.99999999e-01 0.00000000e+00 -5.07787205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08168005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:43.08, Y:-0.50, Z:-0.04 [[ 9.99994490e-01 -3.31957600e-03 0.00000000e+00 4.30849917e+01] [ 3.31957600e-03 9.99994490e-01 0.00000000e+00 -5.02184162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39489590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:43.15, Y:-0.50, Z:-0.04 [[ 9.99975437e-01 -7.00901978e-03 0.00000000e+00 4.31470698e+01] [ 7.00901978e-03 9.99975437e-01 0.00000000e+00 -5.04132791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28503436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:43.21, Y:-0.50, Z:-0.04 [[ 9.99979872e-01 -6.34474124e-03 0.00000000e+00 4.32079653e+01] [ 6.34474124e-03 9.99979872e-01 0.00000000e+00 -5.04573585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21201283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:43.27, Y:-0.50, Z:-0.04 [[ 9.99998470e-01 -1.74902700e-03 0.00000000e+00 4.32707044e+01] [ 1.74902700e-03 9.99998470e-01 0.00000000e+00 -5.02735823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46594660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:43.33, Y:-0.50, Z:-0.05 [[ 9.99996647e-01 2.58966546e-03 0.00000000e+00 4.33321995e+01] [-2.58966546e-03 9.99996647e-01 0.00000000e+00 -5.03335190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90527136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.51, Z:-0.05 [[ 9.99999977e-01 2.16480680e-04 0.00000000e+00 4.33906878e+01] [-2.16480680e-04 9.99999977e-01 0.00000000e+00 -5.06730168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80065765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.51, Z:-0.05 [[ 9.99999386e-01 -1.10855094e-03 0.00000000e+00 4.34502444e+01] [ 1.10855094e-03 9.99999386e-01 0.00000000e+00 -5.10462896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75909519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.51, Z:-0.05 [[ 9.99999522e-01 9.78257040e-04 0.00000000e+00 4.35109718e+01] [-9.78257040e-04 9.99999522e-01 0.00000000e+00 -5.11775906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70684268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:-0.51, Z:-0.04 [[ 9.99995971e-01 2.83866253e-03 0.00000000e+00 4.35708793e+01] [-2.83866253e-03 9.99995971e-01 0.00000000e+00 -5.08431783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46039951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:-0.51, Z:-0.06 [[ 9.99991103e-01 4.21832226e-03 0.00000000e+00 4.36294151e+01] [-4.21832226e-03 9.99991103e-01 0.00000000e+00 -5.11737218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64611210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.51, Z:-0.05 [[ 9.99994628e-01 3.27764832e-03 0.00000000e+00 4.36879029e+01] [-3.27764832e-03 9.99994628e-01 0.00000000e+00 -5.13162608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06575817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:-0.51, Z:-0.04 [[ 9.99999981e-01 -1.96861554e-04 0.00000000e+00 4.37467111e+01] [ 1.96861554e-04 9.99999981e-01 0.00000000e+00 -5.08428516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20629245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:-0.52, Z:-0.05 [[ 9.99999294e-01 -1.18863901e-03 0.00000000e+00 4.38073501e+01] [ 1.18863901e-03 9.99999294e-01 0.00000000e+00 -5.21641925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16579474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.52, Z:-0.04 [[ 9.99996469e-01 -2.65727584e-03 0.00000000e+00 4.38676358e+01] [ 2.65727584e-03 9.99996469e-01 0.00000000e+00 -5.17689078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36332039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.52, Z:-0.05 [[ 9.99985861e-01 -5.31777068e-03 0.00000000e+00 4.39282785e+01] [ 5.31777068e-03 9.99985861e-01 0.00000000e+00 -5.20122519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84254434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.53, Z:-0.05 [[ 9.99971305e-01 -7.57553318e-03 0.00000000e+00 4.39904734e+01] [ 7.57553318e-03 9.99971305e-01 0.00000000e+00 -5.28184643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78757087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.53, Z:-0.04 [[ 9.99992380e-01 -3.90381439e-03 0.00000000e+00 4.40522938e+01] [ 3.90381439e-03 9.99992380e-01 0.00000000e+00 -5.26330486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89709845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.54, Z:-0.05 [[ 9.99997457e-01 -2.25507547e-03 0.00000000e+00 4.41139464e+01] [ 2.25507547e-03 9.99997457e-01 0.00000000e+00 -5.37678132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59561971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:-0.54, Z:-0.04 [[ 9.99999995e-01 -9.65028465e-05 0.00000000e+00 4.41762255e+01] [ 9.65028465e-05 9.99999995e-01 0.00000000e+00 -5.40461805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30190207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.54, Z:-0.04 [[ 9.99991797e-01 4.05048515e-03 0.00000000e+00 4.42363640e+01] [-4.05048515e-03 9.99991797e-01 0.00000000e+00 -5.36860713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08750012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.54, Z:-0.05 [[ 9.99949292e-01 1.00704583e-02 0.00000000e+00 4.42950752e+01] [-1.00704583e-02 9.99949292e-01 0.00000000e+00 -5.44085297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22143487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.54, Z:-0.05 [[ 9.99911902e-01 1.32736164e-02 0.00000000e+00 4.43538315e+01] [-1.32736164e-02 9.99911902e-01 0.00000000e+00 -5.44135234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39252541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.54, Z:-0.04 [[ 9.99886893e-01 1.50399840e-02 0.00000000e+00 4.44137068e+01] [-1.50399840e-02 9.99886893e-01 0.00000000e+00 -5.40520507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31777944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.55, Z:-0.05 [[ 9.99923134e-01 1.23985974e-02 0.00000000e+00 4.44728752e+01] [-1.23985974e-02 9.99923134e-01 0.00000000e+00 -5.48196866e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66988384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.55, Z:-0.04 [[ 9.99978191e-01 6.60441938e-03 0.00000000e+00 4.45305698e+01] [-6.60441938e-03 9.99978191e-01 0.00000000e+00 -5.47410375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49990303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.56, Z:-0.05 [[ 9.99987446e-01 5.01075708e-03 0.00000000e+00 4.45885133e+01] [-5.01075708e-03 9.99987446e-01 0.00000000e+00 -5.61463499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40860669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.56, Z:-0.05 [[ 9.99974260e-01 7.17487948e-03 0.00000000e+00 4.46473199e+01] [-7.17487948e-03 9.99974260e-01 0.00000000e+00 -5.63078200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77181109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.56, Z:-0.04 [[ 9.99966094e-01 8.23469950e-03 0.00000000e+00 4.47065677e+01] [-8.23469950e-03 9.99966094e-01 0.00000000e+00 -5.58697229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22889298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:-0.56, Z:-0.06 [[ 9.99979403e-01 6.41824957e-03 0.00000000e+00 4.47662128e+01] [-6.41824957e-03 9.99979403e-01 0.00000000e+00 -5.63913180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70091251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.56, Z:-0.06 [[ 9.99976693e-01 6.82737436e-03 0.00000000e+00 4.48243670e+01] [-6.82737436e-03 9.99976693e-01 0.00000000e+00 -5.64362314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57412666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.57, Z:-0.06 [[ 9.99965957e-01 8.25141000e-03 0.00000000e+00 4.48834920e+01] [-8.25141000e-03 9.99965957e-01 0.00000000e+00 -5.67125741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68073211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.57, Z:-0.05 [[ 9.99968312e-01 7.96082431e-03 0.00000000e+00 4.49426496e+01] [-7.96082431e-03 9.99968312e-01 0.00000000e+00 -5.65507680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67310655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:-0.57, Z:-0.05 [[ 9.99997310e-01 2.31965295e-03 0.00000000e+00 4.50005417e+01] [-2.31965295e-03 9.99997310e-01 0.00000000e+00 -5.68416167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72500337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:-0.57, Z:-0.04 [[ 9.99996327e-01 -2.71027394e-03 0.00000000e+00 4.50598397e+01] [ 2.71027394e-03 9.99996327e-01 0.00000000e+00 -5.68996080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22388076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:-0.58, Z:-0.05 [[ 9.99986361e-01 -5.22276866e-03 0.00000000e+00 4.51200525e+01] [ 5.22276866e-03 9.99986361e-01 0.00000000e+00 -5.77863837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31678041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:-0.59, Z:-0.05 [[ 9.99996783e-01 -2.53651055e-03 0.00000000e+00 4.51812088e+01] [ 2.53651055e-03 9.99996783e-01 0.00000000e+00 -5.86743455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42391126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:-0.58, Z:-0.05 [[ 9.99990969e-01 4.24991371e-03 0.00000000e+00 4.52423290e+01] [-4.24991371e-03 9.99990969e-01 0.00000000e+00 -5.83567151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50559179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.59, Z:-0.06 [[ 9.99956892e-01 9.28513834e-03 0.00000000e+00 4.53024187e+01] [-9.28513834e-03 9.99956892e-01 0.00000000e+00 -5.93522966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61578397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.60, Z:-0.05 [[ 9.99964964e-01 8.37077879e-03 0.00000000e+00 4.53615512e+01] [-8.37077879e-03 9.99964964e-01 0.00000000e+00 -5.95071466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21520929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.59, Z:-0.05 [[ 9.99982607e-01 5.89800929e-03 0.00000000e+00 4.54199517e+01] [-5.89800929e-03 9.99982607e-01 0.00000000e+00 -5.93896490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39436627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.60, Z:-0.05 [[ 9.99996794e-01 2.53236169e-03 0.00000000e+00 4.54796451e+01] [-2.53236169e-03 9.99996794e-01 0.00000000e+00 -5.98535334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74575897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.60, Z:-0.06 [[ 9.99989186e-01 4.65053732e-03 0.00000000e+00 4.55386165e+01] [-4.65053732e-03 9.99989186e-01 0.00000000e+00 -6.04260533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70129160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:-0.61, Z:-0.06 [[ 9.99983621e-01 5.72349490e-03 0.00000000e+00 4.55976152e+01] [-5.72349490e-03 9.99983621e-01 0.00000000e+00 -6.08130708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54651297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:-0.61, Z:-0.04 [[ 9.99979249e-01 6.44213279e-03 0.00000000e+00 4.56555024e+01] [-6.44213279e-03 9.99979249e-01 0.00000000e+00 -6.06693773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35534457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.61, Z:-0.04 [[ 9.99988031e-01 4.89256185e-03 0.00000000e+00 4.57145427e+01] [-4.89256185e-03 9.99988031e-01 0.00000000e+00 -6.11626837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18337586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.61, Z:-0.04 [[ 9.99996917e-01 2.48300176e-03 0.00000000e+00 4.57719587e+01] [-2.48300176e-03 9.99996917e-01 0.00000000e+00 -6.08980301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94506920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:-0.61, Z:-0.04 [[ 9.99998968e-01 1.43640645e-03 0.00000000e+00 4.58306225e+01] [-1.43640645e-03 9.99998968e-01 0.00000000e+00 -6.12829261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17892720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:-0.61, Z:-0.04 [[ 9.99999939e-01 -3.49957872e-04 0.00000000e+00 4.58899530e+01] [ 3.49957872e-04 9.99999939e-01 0.00000000e+00 -6.12350550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34912684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:-0.61, Z:-0.06 [[ 9.99999995e-01 -9.74790241e-05 0.00000000e+00 4.59503162e+01] [ 9.74790241e-05 9.99999995e-01 0.00000000e+00 -6.14203400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60605136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:-0.62, Z:-0.06 [[ 9.99981710e-01 -6.04810393e-03 0.00000000e+00 4.60114907e+01] [ 6.04810393e-03 9.99981710e-01 0.00000000e+00 -6.21002544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58523215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:-0.62, Z:-0.04 [[ 9.99940686e-01 -1.08914839e-02 0.00000000e+00 4.60737510e+01] [ 1.08914839e-02 9.99940686e-01 0.00000000e+00 -6.21735733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49176541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.63, Z:-0.04 [[ 9.99960148e-01 -8.92758447e-03 0.00000000e+00 4.61347386e+01] [ 8.92758447e-03 9.99960148e-01 0.00000000e+00 -6.29203173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44301806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.63, Z:-0.05 [[ 9.99998937e-01 -1.45838135e-03 0.00000000e+00 4.61948004e+01] [ 1.45838135e-03 9.99998937e-01 0.00000000e+00 -6.34500331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97262150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.26, Y:-0.64, Z:-0.05 [[ 9.99990575e-01 4.34164781e-03 0.00000000e+00 4.62560243e+01] [-4.34164781e-03 9.99990575e-01 0.00000000e+00 -6.37674675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97489170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.64, Z:-0.05 [[ 9.99956077e-01 9.37250380e-03 0.00000000e+00 4.63142265e+01] [-9.37250380e-03 9.99956077e-01 0.00000000e+00 -6.42075559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07642516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:46.37, Y:-0.65, Z:-0.05 [[ 9.99974337e-01 7.16417846e-03 0.00000000e+00 4.63733952e+01] [-7.16417846e-03 9.99974337e-01 0.00000000e+00 -6.52062083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95795210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.43, Y:-0.65, Z:-0.05 [[ 9.99997238e-01 2.35028451e-03 0.00000000e+00 4.64310576e+01] [-2.35028451e-03 9.99997238e-01 0.00000000e+00 -6.53963668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32948343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.66, Z:-0.05 [[ 9.99995491e-01 3.00308939e-03 0.00000000e+00 4.64901274e+01] [-3.00308939e-03 9.99995491e-01 0.00000000e+00 -6.60050191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19405756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:46.55, Y:-0.67, Z:-0.06 [[ 9.99985852e-01 5.31935688e-03 0.00000000e+00 4.65481401e+01] [-5.31935688e-03 9.99985852e-01 0.00000000e+00 -6.71173378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17111245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.61, Y:-0.67, Z:-0.05 [[ 9.99969756e-01 7.77738686e-03 0.00000000e+00 4.66079017e+01] [-7.77738686e-03 9.99969756e-01 0.00000000e+00 -6.67991487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59240579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.67, Z:-0.04 [[ 9.99966220e-01 8.21936724e-03 0.00000000e+00 4.66662349e+01] [-8.21936724e-03 9.99966220e-01 0.00000000e+00 -6.70321984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37293954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:-0.68, Z:-0.05 [[ 9.99958996e-01 9.05576568e-03 0.00000000e+00 4.67237558e+01] [-9.05576568e-03 9.99958996e-01 0.00000000e+00 -6.81970311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46058753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-0.68, Z:-0.05 [[ 9.99939261e-01 1.10215480e-02 0.00000000e+00 4.67822183e+01] [-1.10215480e-02 9.99939261e-01 0.00000000e+00 -6.77790463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89956507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:-0.67, Z:-0.04 [[ 9.99906173e-01 1.36983783e-02 0.00000000e+00 4.68405376e+01] [-1.36983783e-02 9.99906173e-01 0.00000000e+00 -6.68526838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96597405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:-0.67, Z:-0.05 [[ 9.99850735e-01 1.72773607e-02 0.00000000e+00 4.68999101e+01] [-1.72773607e-02 9.99850735e-01 0.00000000e+00 -6.71082475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15387173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:-0.67, Z:-0.05 [[ 9.99867365e-01 1.62865839e-02 0.00000000e+00 4.69589833e+01] [-1.62865839e-02 9.99867365e-01 0.00000000e+00 -6.69563391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50537316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.66, Z:-0.03 [[ 9.99917341e-01 1.28573418e-02 0.00000000e+00 4.70174352e+01] [-1.28573418e-02 9.99917341e-01 0.00000000e+00 -6.58951904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43452461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:-0.67, Z:-0.04 [[ 9.99904368e-01 1.38294589e-02 0.00000000e+00 4.70764812e+01] [-1.38294589e-02 9.99904368e-01 0.00000000e+00 -6.66869286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39636911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:-0.66, Z:-0.04 [[ 9.99851688e-01 1.72221605e-02 0.00000000e+00 4.71344761e+01] [-1.72221605e-02 9.99851688e-01 0.00000000e+00 -6.62779397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49750883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.66, Z:-0.05 [[ 9.99784522e-01 2.07583572e-02 0.00000000e+00 4.71938969e+01] [-2.07583572e-02 9.99784522e-01 0.00000000e+00 -6.57501552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79243685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.66, Z:-0.05 [[ 9.99784538e-01 2.07576024e-02 0.00000000e+00 4.72517173e+01] [-2.07576024e-02 9.99784538e-01 0.00000000e+00 -6.59511191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08870617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:-0.66, Z:-0.04 [[ 9.99824988e-01 1.87081208e-02 0.00000000e+00 4.73106401e+01] [-1.87081208e-02 9.99824988e-01 0.00000000e+00 -6.62782551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39961918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:-0.66, Z:-0.04 [[ 9.99898569e-01 1.42425951e-02 0.00000000e+00 4.73691296e+01] [-1.42425951e-02 9.99898569e-01 0.00000000e+00 -6.59574521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07541017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.43, Y:-0.66, Z:-0.04 [[ 9.99949463e-01 1.00534371e-02 0.00000000e+00 4.74282788e+01] [-1.00534371e-02 9.99949463e-01 0.00000000e+00 -6.61864361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09311874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:-0.67, Z:-0.05 [[ 9.99921557e-01 1.25251816e-02 0.00000000e+00 4.74860040e+01] [-1.25251816e-02 9.99921557e-01 0.00000000e+00 -6.69478166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77143767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:47.55, Y:-0.66, Z:-0.04 [[ 9.99846916e-01 1.74969753e-02 0.00000000e+00 4.75451398e+01] [-1.74969753e-02 9.99846916e-01 0.00000000e+00 -6.64506890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39294901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.65, Z:-0.03 [[ 9.99782903e-01 2.08362000e-02 0.00000000e+00 4.76036945e+01] [-2.08362000e-02 9.99782903e-01 0.00000000e+00 -6.52465029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20880602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.66, Z:-0.04 [[ 9.99792559e-01 2.03675862e-02 0.00000000e+00 4.76628190e+01] [-2.03675862e-02 9.99792559e-01 0.00000000e+00 -6.58686864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27737159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.66, Z:-0.05 [[ 9.99835016e-01 1.81642888e-02 0.00000000e+00 4.77212143e+01] [-1.81642888e-02 9.99835016e-01 0.00000000e+00 -6.60236710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70356566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:-0.66, Z:-0.04 [[ 9.99894252e-01 1.45425319e-02 0.00000000e+00 4.77790177e+01] [-1.45425319e-02 9.99894252e-01 0.00000000e+00 -6.56967618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22610905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:-0.66, Z:-0.04 [[ 9.99957185e-01 9.25358635e-03 0.00000000e+00 4.78379143e+01] [-9.25358635e-03 9.99957185e-01 0.00000000e+00 -6.59375447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07857124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:47.90, Y:-0.66, Z:-0.05 [[ 9.99985978e-01 5.29572618e-03 0.00000000e+00 4.78976838e+01] [-5.29572618e-03 9.99985978e-01 0.00000000e+00 -6.63061248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76128123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:-0.66, Z:-0.05 [[ 9.99996689e-01 2.57325545e-03 0.00000000e+00 4.79559726e+01] [-2.57325545e-03 9.99996689e-01 0.00000000e+00 -6.60482762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51591249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:-0.66, Z:-0.04 [[ 9.99995788e-01 2.90232484e-03 0.00000000e+00 4.80161281e+01] [-2.90232484e-03 9.99995788e-01 0.00000000e+00 -6.64068288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80698596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:-0.67, Z:-0.04 [[ 9.99995619e-01 2.96000116e-03 0.00000000e+00 4.80751988e+01] [-2.96000116e-03 9.99995619e-01 0.00000000e+00 -6.67768534e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72280736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.67, Z:-0.04 [[ 9.99969487e-01 7.81180368e-03 0.00000000e+00 4.81338233e+01] [-7.81180368e-03 9.99969487e-01 0.00000000e+00 -6.70386442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94412856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.67, Z:-0.04 [[ 9.99909945e-01 1.34201738e-02 0.00000000e+00 4.81922847e+01] [-1.34201738e-02 9.99909945e-01 0.00000000e+00 -6.70310306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91860300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:-0.67, Z:-0.04 [[ 9.99817773e-01 1.90897843e-02 0.00000000e+00 4.82505088e+01] [-1.90897843e-02 9.99817773e-01 0.00000000e+00 -6.65222382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00892749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:-0.67, Z:-0.05 [[ 9.99721833e-01 2.35850841e-02 0.00000000e+00 4.83087632e+01] [-2.35850841e-02 9.99721833e-01 0.00000000e+00 -6.69889976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84809312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:48.37, Y:-0.67, Z:-0.04 [[ 9.99610081e-01 2.79228721e-02 0.00000000e+00 4.83672759e+01] [-2.79228721e-02 9.99610081e-01 0.00000000e+00 -6.65128961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19883288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:-0.66, Z:-0.04 [[ 9.99563377e-01 2.95475157e-02 0.00000000e+00 4.84261277e+01] [-2.95475157e-02 9.99563377e-01 0.00000000e+00 -6.57452155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71732354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.65, Z:-0.04 [[ 9.99623156e-01 2.74507929e-02 0.00000000e+00 4.84841214e+01] [-2.74507929e-02 9.99623156e-01 0.00000000e+00 -6.53316794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61304339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.65, Z:-0.05 [[ 9.99670067e-01 2.56857433e-02 0.00000000e+00 4.85432871e+01] [-2.56857433e-02 9.99670067e-01 0.00000000e+00 -6.53918638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76684956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.65, Z:-0.04 [[ 9.99715049e-01 2.38709111e-02 0.00000000e+00 4.86012707e+01] [-2.38709111e-02 9.99715049e-01 0.00000000e+00 -6.49015080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40872001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:-0.65, Z:-0.04 [[ 9.99720221e-01 2.36533364e-02 0.00000000e+00 4.86602558e+01] [-2.36533364e-02 9.99720221e-01 0.00000000e+00 -6.46588249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01582587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.65, Z:-0.04 [[ 9.99696412e-01 2.46390565e-02 0.00000000e+00 4.87184007e+01] [-2.46390565e-02 9.99696412e-01 0.00000000e+00 -6.45661074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98375667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:48.78, Y:-0.65, Z:-0.04 [[ 9.99655672e-01 2.62400143e-02 0.00000000e+00 4.87765998e+01] [-2.62400143e-02 9.99655672e-01 0.00000000e+00 -6.47221523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83848387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:-0.64, Z:-0.03 [[ 9.99689091e-01 2.49343218e-02 0.00000000e+00 4.88348481e+01] [-2.49343218e-02 9.99689091e-01 0.00000000e+00 -6.40288351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37693058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.64, Z:-0.04 [[ 9.99656614e-01 2.62041020e-02 0.00000000e+00 4.88934349e+01] [-2.62041020e-02 9.99656614e-01 0.00000000e+00 -6.38477315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08354447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.64, Z:-0.05 [[ 9.99517492e-01 3.10609530e-02 0.00000000e+00 4.89513700e+01] [-3.10609530e-02 9.99517492e-01 0.00000000e+00 -6.38536404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75747485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.63, Z:-0.04 [[ 9.99539311e-01 3.03507271e-02 0.00000000e+00 4.90105819e+01] [-3.03507271e-02 9.99539311e-01 0.00000000e+00 -6.27609459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34632163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.62, Z:-0.05 [[ 9.99748923e-01 2.24074046e-02 0.00000000e+00 4.90686637e+01] [-2.24074046e-02 9.99748923e-01 0.00000000e+00 -6.24695129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80671140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.62, Z:-0.05 [[ 9.99876210e-01 1.57342165e-02 0.00000000e+00 4.91270560e+01] [-1.57342165e-02 9.99876210e-01 0.00000000e+00 -6.20594417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83257782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.62, Z:-0.06 [[ 9.99906674e-01 1.36617320e-02 0.00000000e+00 4.91845986e+01] [-1.36617320e-02 9.99906674e-01 0.00000000e+00 -6.19090435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73760012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:49.24, Y:-0.61, Z:-0.05 [[ 9.99916305e-01 1.29376855e-02 0.00000000e+00 4.92431168e+01] [-1.29376855e-02 9.99916305e-01 0.00000000e+00 -6.11917338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22206812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:49.30, Y:-0.60, Z:-0.05 [[ 9.99933727e-01 1.15127114e-02 0.00000000e+00 4.93010965e+01] [-1.15127114e-02 9.99933727e-01 0.00000000e+00 -6.04128368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15675808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.36, Y:-0.61, Z:-0.05 [[ 9.99961576e-01 8.76617773e-03 0.00000000e+00 4.93596207e+01] [-8.76617773e-03 9.99961576e-01 0.00000000e+00 -6.07502829e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36916089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:49.42, Y:-0.61, Z:-0.06 [[ 9.99972955e-01 7.35460818e-03 0.00000000e+00 4.94173910e+01] [-7.35460818e-03 9.99972955e-01 0.00000000e+00 -6.05859063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74091070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.60, Z:-0.05 [[ 9.99959554e-01 8.99386796e-03 0.00000000e+00 4.94757246e+01] [-8.99386796e-03 9.99959554e-01 0.00000000e+00 -6.00634588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15035472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:-0.59, Z:-0.05 [[ 9.99908401e-01 1.35347400e-02 0.00000000e+00 4.95342148e+01] [-1.35347400e-02 9.99908401e-01 0.00000000e+00 -5.94090550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90055026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:49.59, Y:-0.59, Z:-0.05 [[ 9.99799891e-01 2.00044290e-02 0.00000000e+00 4.95932599e+01] [-2.00044290e-02 9.99799891e-01 0.00000000e+00 -5.92965737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38482171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.59, Z:-0.05 [[ 9.99880519e-01 1.54579398e-02 0.00000000e+00 4.96503645e+01] [-1.54579398e-02 9.99880519e-01 0.00000000e+00 -5.86820764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12539037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:49.71, Y:-0.58, Z:-0.05 [[ 9.99980353e-01 6.26841974e-03 0.00000000e+00 4.97097797e+01] [-6.26841974e-03 9.99980353e-01 0.00000000e+00 -5.80961301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91517683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:49.77, Y:-0.58, Z:-0.06 [[ 9.99999700e-01 7.74107164e-04 0.00000000e+00 4.97676597e+01] [-7.74107164e-04 9.99999700e-01 0.00000000e+00 -5.80656856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96513854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.58, Z:-0.06 [[ 9.99999848e-01 5.51368340e-04 0.00000000e+00 4.98277396e+01] [-5.51368340e-04 9.99999848e-01 0.00000000e+00 -5.80851133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11306172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.57, Z:-0.05 [[ 9.99998869e-01 1.50387289e-03 0.00000000e+00 4.98882735e+01] [-1.50387289e-03 9.99998869e-01 0.00000000e+00 -5.72435914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22970007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.57, Z:-0.05 [[ 9.99998792e-01 1.55420998e-03 0.00000000e+00 4.99474197e+01] [-1.55420998e-03 9.99998792e-01 0.00000000e+00 -5.65762024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35389916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.57, Z:-0.06 [[ 9.99990214e-01 4.42411177e-03 0.00000000e+00 5.00064665e+01] [-4.42411177e-03 9.99990214e-01 0.00000000e+00 -5.65215998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08621601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.57, Z:-0.07 [[ 9.99989654e-01 4.54888282e-03 0.00000000e+00 5.00658193e+01] [-4.54888282e-03 9.99989654e-01 0.00000000e+00 -5.65390885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82345317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.56, Z:-0.05 [[ 9.99999673e-01 -8.08736130e-04 0.00000000e+00 5.01252453e+01] [ 8.08736130e-04 9.99999673e-01 0.00000000e+00 -5.55752703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20443781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:50.19, Y:-0.56, Z:-0.06 [[ 9.99991662e-01 -4.08352350e-03 0.00000000e+00 5.01867028e+01] [ 4.08352350e-03 9.99991662e-01 0.00000000e+00 -5.62571313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76788931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.55, Z:-0.05 [[ 9.99993583e-01 -3.58236812e-03 0.00000000e+00 5.02480734e+01] [ 3.58236812e-03 9.99993583e-01 0.00000000e+00 -5.53096046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44025406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.55, Z:-0.06 [[ 9.99999995e-01 1.01527185e-04 0.00000000e+00 5.03090902e+01] [-1.01527185e-04 9.99999995e-01 0.00000000e+00 -5.49928841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86361266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:50.37, Y:-0.55, Z:-0.07 [[ 9.99997331e-01 2.31027982e-03 0.00000000e+00 5.03693236e+01] [-2.31027982e-03 9.99997331e-01 0.00000000e+00 -5.52523345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81923816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.55, Z:-0.06 [[ 9.99999526e-01 9.73656229e-04 0.00000000e+00 5.04284141e+01] [-9.73656229e-04 9.99999526e-01 0.00000000e+00 -5.49140462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09189380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:50.49, Y:-0.55, Z:-0.06 [[ 9.99999935e-01 3.60606640e-04 0.00000000e+00 5.04880270e+01] [-3.60606640e-04 9.99999935e-01 0.00000000e+00 -5.45060985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86588077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:-0.55, Z:-0.06 [[ 9.99998581e-01 -1.68436797e-03 0.00000000e+00 5.05487068e+01] [ 1.68436797e-03 9.99998581e-01 0.00000000e+00 -5.45555915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62409520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:-0.55, Z:-0.07 [[ 9.99981474e-01 -6.08705910e-03 0.00000000e+00 5.06087252e+01] [ 6.08705910e-03 9.99981474e-01 0.00000000e+00 -5.54629913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88051759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.55, Z:-0.07 [[ 9.99955648e-01 -9.41819394e-03 0.00000000e+00 5.06696641e+01] [ 9.41819394e-03 9.99955648e-01 0.00000000e+00 -5.52216981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72580765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.55, Z:-0.07 [[ 9.99978845e-01 -6.50458336e-03 0.00000000e+00 5.07314682e+01] [ 6.50458336e-03 9.99978845e-01 0.00000000e+00 -5.54453209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61902465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.55, Z:-0.06 [[ 9.99999999e-01 -5.24123982e-05 0.00000000e+00 5.07919234e+01] [ 5.24123982e-05 9.99999999e-01 0.00000000e+00 -5.47747711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95771917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.54, Z:-0.06 [[ 9.99994255e-01 3.38973961e-03 0.00000000e+00 5.08524682e+01] [-3.38973961e-03 9.99994255e-01 0.00000000e+00 -5.43455719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99016626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.54, Z:-0.06 [[ 9.99993719e-01 -3.54415516e-03 0.00000000e+00 5.09114999e+01] [ 3.54415516e-03 9.99993719e-01 0.00000000e+00 -5.36852142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52296371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.54, Z:-0.07 [[ 9.99940449e-01 -1.09132180e-02 0.00000000e+00 5.09725511e+01] [ 1.09132180e-02 9.99940449e-01 0.00000000e+00 -5.37763105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67749714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.54, Z:-0.07 [[ 9.99910618e-01 -1.33699537e-02 0.00000000e+00 5.10344948e+01] [ 1.33699537e-02 9.99910618e-01 0.00000000e+00 -5.44167541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03741943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:-0.53, Z:-0.06 [[ 9.99928945e-01 -1.19207969e-02 0.00000000e+00 5.10959965e+01] [ 1.19207969e-02 9.99928945e-01 0.00000000e+00 -5.33575479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49637688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:-0.53, Z:-0.07 [[ 9.99981621e-01 -6.06284611e-03 0.00000000e+00 5.11582274e+01] [ 6.06284611e-03 9.99981621e-01 0.00000000e+00 -5.32617133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68454542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:51.22, Y:-0.53, Z:-0.06 [[ 9.99995012e-01 -3.15837698e-03 0.00000000e+00 5.12202359e+01] [ 3.15837698e-03 9.99995012e-01 0.00000000e+00 -5.28551479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34328779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:51.28, Y:-0.52, Z:-0.07 [[ 9.99999706e-01 -7.67389975e-04 0.00000000e+00 5.12821041e+01] [ 7.67389975e-04 9.99999706e-01 0.00000000e+00 -5.20973927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88938212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:-0.52, Z:-0.07 [[ 9.99996784e-01 2.53607841e-03 0.00000000e+00 5.13431932e+01] [-2.53607841e-03 9.99996784e-01 0.00000000e+00 -5.23081193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89443350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.52, Z:-0.07 [[ 9.99992202e-01 3.94928656e-03 0.00000000e+00 5.14017494e+01] [-3.94928656e-03 9.99992202e-01 0.00000000e+00 -5.24505822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80136542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.52, Z:-0.06 [[ 9.99991982e-01 4.00444913e-03 0.00000000e+00 5.14598066e+01] [-4.00444913e-03 9.99991982e-01 0.00000000e+00 -5.16832207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47872576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.52, Z:-0.07 [[ 9.99999126e-01 -1.32203237e-03 0.00000000e+00 5.15189537e+01] [ 1.32203237e-03 9.99999126e-01 0.00000000e+00 -5.23695241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74782514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.52, Z:-0.07 [[ 9.99993745e-01 -3.53694694e-03 0.00000000e+00 5.15802714e+01] [ 3.53694694e-03 9.99993745e-01 0.00000000e+00 -5.24976417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64620881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.53, Z:-0.07 [[ 9.99992911e-01 -3.76540942e-03 0.00000000e+00 5.16427166e+01] [ 3.76540942e-03 9.99992911e-01 0.00000000e+00 -5.29666362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78165355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.53, Z:-0.07 [[ 9.99997897e-01 -2.05064162e-03 0.00000000e+00 5.17035343e+01] [ 2.05064162e-03 9.99997897e-01 0.00000000e+00 -5.28350468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93173635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:-0.52, Z:-0.07 [[ 9.99999168e-01 1.29026485e-03 0.00000000e+00 5.17653743e+01] [-1.29026485e-03 9.99999168e-01 0.00000000e+00 -5.22419875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75185640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:-0.52, Z:-0.07 [[ 9.99999174e-01 1.28516931e-03 0.00000000e+00 5.18253298e+01] [-1.28516931e-03 9.99999174e-01 0.00000000e+00 -5.24112495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65754461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.53, Z:-0.07 [[ 9.99991280e-01 -4.17609944e-03 0.00000000e+00 5.18847642e+01] [ 4.17609944e-03 9.99991280e-01 0.00000000e+00 -5.28177667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57296397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:51.95, Y:-0.53, Z:-0.07 [[ 9.99905577e-01 -1.37417947e-02 0.00000000e+00 5.19454497e+01] [ 1.37417947e-02 9.99905577e-01 0.00000000e+00 -5.32992594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19342761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:-0.54, Z:-0.07 [[ 9.99826701e-01 -1.86163425e-02 0.00000000e+00 5.20066701e+01] [ 1.86163425e-02 9.99826701e-01 0.00000000e+00 -5.37299675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36317825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:52.07, Y:-0.54, Z:-0.07 [[ 9.99809167e-01 -1.95353650e-02 0.00000000e+00 5.20674145e+01] [ 1.95353650e-02 9.99809167e-01 0.00000000e+00 -5.42461099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32185853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:52.13, Y:-0.55, Z:-0.08 [[ 9.99865264e-01 -1.64150488e-02 0.00000000e+00 5.21299760e+01] [ 1.64150488e-02 9.99865264e-01 0.00000000e+00 -5.51469853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57435726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.56, Z:-0.09 [[ 9.99945312e-01 -1.04581917e-02 0.00000000e+00 5.21907436e+01] [ 1.04581917e-02 9.99945312e-01 0.00000000e+00 -5.56725933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55710558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.55, Z:-0.07 [[ 9.99991275e-01 -4.17734787e-03 0.00000000e+00 5.22531255e+01] [ 4.17734787e-03 9.99991275e-01 0.00000000e+00 -5.53038982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41466070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-0.56, Z:-0.08 [[ 9.99999773e-01 -6.73213418e-04 0.00000000e+00 5.23157925e+01] [ 6.73213418e-04 9.99999773e-01 0.00000000e+00 -5.58776980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22182838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-0.56, Z:-0.09 [[ 9.99999797e-01 6.37892471e-04 0.00000000e+00 5.23772846e+01] [-6.37892471e-04 9.99999797e-01 0.00000000e+00 -5.62027592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67507146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:-0.56, Z:-0.07 [[ 9.99990973e-01 -4.24909925e-03 0.00000000e+00 5.24371886e+01] [ 4.24909925e-03 9.99990973e-01 0.00000000e+00 -5.57223376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37689796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:52.50, Y:-0.56, Z:-0.07 [[ 9.99981972e-01 -6.00456057e-03 0.00000000e+00 5.24989651e+01] [ 6.00456057e-03 9.99981972e-01 0.00000000e+00 -5.59249496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73825781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:52.56, Y:-0.57, Z:-0.07 [[ 9.99947948e-01 -1.02030132e-02 0.00000000e+00 5.25616398e+01] [ 1.02030132e-02 9.99947948e-01 0.00000000e+00 -5.67195206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19785217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:52.62, Y:-0.57, Z:-0.08 [[ 9.99925401e-01 -1.22144702e-02 0.00000000e+00 5.26225284e+01] [ 1.22144702e-02 9.99925401e-01 0.00000000e+00 -5.69531071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78792138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:52.68, Y:-0.58, Z:-0.08 [[ 9.99923071e-01 -1.24036898e-02 0.00000000e+00 5.26832813e+01] [ 1.24036898e-02 9.99923071e-01 0.00000000e+00 -5.75440958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20152502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:52.74, Y:-0.57, Z:-0.09 [[ 9.99965598e-01 -8.29472493e-03 0.00000000e+00 5.27435327e+01] [ 8.29472493e-03 9.99965598e-01 0.00000000e+00 -5.74271827e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62518402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:52.80, Y:-0.58, Z:-0.09 [[ 9.99980949e-01 -6.17272336e-03 0.00000000e+00 5.28027340e+01] [ 6.17272336e-03 9.99980949e-01 0.00000000e+00 -5.76893278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79486762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:52.86, Y:-0.57, Z:-0.07 [[ 9.99995133e-01 -3.12004731e-03 0.00000000e+00 5.28633576e+01] [ 3.12004731e-03 9.99995133e-01 0.00000000e+00 -5.73973912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99181038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:-0.58, Z:-0.08 [[ 9.99989901e-01 -4.49416580e-03 0.00000000e+00 5.29251378e+01] [ 4.49416580e-03 9.99989901e-01 0.00000000e+00 -5.79370691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63278416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:-0.58, Z:-0.08 [[ 9.99944023e-01 -1.05807115e-02 0.00000000e+00 5.29845589e+01] [ 1.05807115e-02 9.99944023e-01 0.00000000e+00 -5.82902059e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32907553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:-0.59, Z:-0.07 [[ 9.99859533e-01 -1.67604720e-02 0.00000000e+00 5.30462795e+01] [ 1.67604720e-02 9.99859533e-01 0.00000000e+00 -5.90752941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46797132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:-0.60, Z:-0.07 [[ 9.99838152e-01 -1.79908056e-02 0.00000000e+00 5.31080018e+01] [ 1.79908056e-02 9.99838152e-01 0.00000000e+00 -5.99323543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03606394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:53.17, Y:-0.61, Z:-0.07 [[ 9.99901989e-01 -1.40004500e-02 0.00000000e+00 5.31696821e+01] [ 1.40004500e-02 9.99901989e-01 0.00000000e+00 -6.06312882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84411599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:53.23, Y:-0.60, Z:-0.07 [[ 9.99978088e-01 -6.61999903e-03 0.00000000e+00 5.32289238e+01] [ 6.61999903e-03 9.99978088e-01 0.00000000e+00 -5.98923139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44996916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:-0.60, Z:-0.09 [[ 9.99998745e-01 -1.58406575e-03 0.00000000e+00 5.32903847e+01] [ 1.58406575e-03 9.99998745e-01 0.00000000e+00 -6.01773270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60124524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:-0.60, Z:-0.09 [[ 9.99989211e-01 -4.64512811e-03 0.00000000e+00 5.33519695e+01] [ 4.64512811e-03 9.99989211e-01 0.00000000e+00 -6.00601640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55934689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:53.41, Y:-0.59, Z:-0.07 [[ 9.99961035e-01 -8.82773621e-03 0.00000000e+00 5.34139921e+01] [ 8.82773621e-03 9.99961035e-01 0.00000000e+00 -5.89686955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40578447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.60, Z:-0.09 [[ 9.99906255e-01 -1.36924109e-02 0.00000000e+00 5.34765337e+01] [ 1.36924109e-02 9.99906255e-01 0.00000000e+00 -6.00476289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60366380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:53.54, Y:-0.61, Z:-0.09 [[ 9.99864627e-01 -1.64537892e-02 0.00000000e+00 5.35378691e+01] [ 1.64537892e-02 9.99864627e-01 0.00000000e+00 -6.06468788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13890721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:53.60, Y:-0.60, Z:-0.08 [[ 9.99908466e-01 -1.35299500e-02 0.00000000e+00 5.35997351e+01] [ 1.35299500e-02 9.99908466e-01 0.00000000e+00 -5.98268196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99583884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:53.66, Y:-0.61, Z:-0.10 [[ 9.99948683e-01 -1.01307483e-02 0.00000000e+00 5.36597584e+01] [ 1.01307483e-02 9.99948683e-01 0.00000000e+00 -6.09358488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84291460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-0.61, Z:-0.09 [[ 9.99964811e-01 -8.38905958e-03 0.00000000e+00 5.37221454e+01] [ 8.38905958e-03 9.99964811e-01 0.00000000e+00 -6.07508398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09040432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-0.61, Z:-0.09 [[ 9.99966859e-01 -8.14131072e-03 0.00000000e+00 5.37846122e+01] [ 8.14131072e-03 9.99966859e-01 0.00000000e+00 -6.08945476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70991374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:53.84, Y:-0.61, Z:-0.08 [[ 9.99987259e-01 -5.04790619e-03 0.00000000e+00 5.38446326e+01] [ 5.04790619e-03 9.99987259e-01 0.00000000e+00 -6.08201773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48267130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:-0.62, Z:-0.09 [[ 9.99999730e-01 7.34209601e-04 0.00000000e+00 5.39070234e+01] [-7.34209601e-04 9.99999730e-01 0.00000000e+00 -6.21530864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64009403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:-0.62, Z:-0.09 [[ 9.99977076e-01 6.77114586e-03 0.00000000e+00 5.39667486e+01] [-6.77114586e-03 9.99977076e-01 0.00000000e+00 -6.18825025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06994045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:-0.61, Z:-0.09 [[ 9.99983122e-01 5.80992033e-03 0.00000000e+00 5.40269346e+01] [-5.80992033e-03 9.99983122e-01 0.00000000e+00 -6.14383455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79220622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:-0.63, Z:-0.09 [[ 9.99995852e-01 -2.88017022e-03 0.00000000e+00 5.40858588e+01] [ 2.88017022e-03 9.99995852e-01 0.00000000e+00 -6.26824937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79140892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:-0.64, Z:-0.09 [[ 9.99951794e-01 -9.81879229e-03 0.00000000e+00 5.41476541e+01] [ 9.81879229e-03 9.99951794e-01 0.00000000e+00 -6.38261856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60544716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:-0.64, Z:-0.07 [[ 9.99938554e-01 -1.10854942e-02 0.00000000e+00 5.42086930e+01] [ 1.10854942e-02 9.99938554e-01 0.00000000e+00 -6.40905133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22809559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:-0.65, Z:-0.07 [[ 9.99961084e-01 -8.82219230e-03 0.00000000e+00 5.42680116e+01] [ 8.82219230e-03 9.99961084e-01 0.00000000e+00 -6.51700890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70297293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:54.33, Y:-0.65, Z:-0.06 [[ 9.99988819e-01 -4.72879208e-03 0.00000000e+00 5.43287646e+01] [ 4.72879208e-03 9.99988819e-01 0.00000000e+00 -6.49613913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17658483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:-0.66, Z:-0.08 [[ 9.99989329e-01 -4.61968910e-03 0.00000000e+00 5.43897581e+01] [ 4.61968910e-03 9.99989329e-01 0.00000000e+00 -6.61781194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66210808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:-0.67, Z:-0.08 [[ 9.99995341e-01 -3.05256332e-03 0.00000000e+00 5.44507943e+01] [ 3.05256332e-03 9.99995341e-01 0.00000000e+00 -6.67318250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72787874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:54.51, Y:-0.66, Z:-0.06 [[ 9.99998265e-01 -1.86271508e-03 0.00000000e+00 5.45126144e+01] [ 1.86271508e-03 9.99998265e-01 0.00000000e+00 -6.61644998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49025513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:54.57, Y:-0.67, Z:-0.07 [[ 9.99994584e-01 -3.29114973e-03 0.00000000e+00 5.45737517e+01] [ 3.29114973e-03 9.99994584e-01 0.00000000e+00 -6.68376626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72993128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:-0.67, Z:-0.06 [[ 9.99961865e-01 -8.73316267e-03 0.00000000e+00 5.46362743e+01] [ 8.73316267e-03 9.99961865e-01 0.00000000e+00 -6.73638507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47829316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:-0.68, Z:-0.07 [[ 9.99923337e-01 -1.23822241e-02 0.00000000e+00 5.46985454e+01] [ 1.23822241e-02 9.99923337e-01 0.00000000e+00 -6.84863256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09471867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:-0.69, Z:-0.07 [[ 9.99954901e-01 -9.49712666e-03 0.00000000e+00 5.47594548e+01] [ 9.49712666e-03 9.99954901e-01 0.00000000e+00 -6.89906260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16228182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:-0.70, Z:-0.07 [[ 9.99993723e-01 -3.54324042e-03 0.00000000e+00 5.48203483e+01] [ 3.54324042e-03 9.99993723e-01 0.00000000e+00 -6.95875550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11339796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.69, Z:-0.06 [[ 9.99995721e-01 2.92552987e-03 0.00000000e+00 5.48812265e+01] [-2.92552987e-03 9.99995721e-01 0.00000000e+00 -6.93590790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08522436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:-0.70, Z:-0.06 [[ 9.99972549e-01 7.40949832e-03 0.00000000e+00 5.49403233e+01] [-7.40949832e-03 9.99972549e-01 0.00000000e+00 -7.00412803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23445780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:-0.70, Z:-0.06 [[ 9.99955739e-01 9.40847384e-03 0.00000000e+00 5.49989246e+01] [-9.40847384e-03 9.99955739e-01 0.00000000e+00 -7.02088731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10886926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:-0.71, Z:-0.07 [[ 9.99964459e-01 8.43094007e-03 0.00000000e+00 5.50588076e+01] [-8.43094007e-03 9.99964459e-01 0.00000000e+00 -7.06729073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73454297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:-0.71, Z:-0.06 [[ 9.99946398e-01 1.03538134e-02 0.00000000e+00 5.51178252e+01] [-1.03538134e-02 9.99946398e-01 0.00000000e+00 -7.08053425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37358211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.18, Y:-0.70, Z:-0.06 [[ 9.99886336e-01 1.50770049e-02 0.00000000e+00 5.51750393e+01] [-1.50770049e-02 9.99886336e-01 0.00000000e+00 -7.01071002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25720225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.23, Y:-0.70, Z:-0.07 [[ 9.99848970e-01 1.73792011e-02 0.00000000e+00 5.52328575e+01] [-1.73792011e-02 9.99848970e-01 0.00000000e+00 -7.03139937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63387793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.29, Y:-0.70, Z:-0.06 [[ 9.99869369e-01 1.61630695e-02 0.00000000e+00 5.52918082e+01] [-1.61630695e-02 9.99869369e-01 0.00000000e+00 -7.00252365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49873462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:55.35, Y:-0.70, Z:-0.06 [[ 9.99925458e-01 1.22097881e-02 0.00000000e+00 5.53508818e+01] [-1.22097881e-02 9.99925458e-01 0.00000000e+00 -6.96638853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14790689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.70, Z:-0.06 [[ 9.99963962e-01 8.48965162e-03 0.00000000e+00 5.54086869e+01] [-8.48965162e-03 9.99963962e-01 0.00000000e+00 -6.95242049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31264671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.70, Z:-0.07 [[ 9.99978722e-01 6.52340487e-03 0.00000000e+00 5.54670839e+01] [-6.52340487e-03 9.99978722e-01 0.00000000e+00 -7.00965666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35480711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.70, Z:-0.07 [[ 9.99972134e-01 7.46529593e-03 0.00000000e+00 5.55270704e+01] [-7.46529593e-03 9.99972134e-01 0.00000000e+00 -6.98572324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38772988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.70, Z:-0.07 [[ 9.99972506e-01 7.41539445e-03 0.00000000e+00 5.55866229e+01] [-7.41539445e-03 9.99972506e-01 0.00000000e+00 -7.03329644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42892002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.70, Z:-0.07 [[ 9.99943915e-01 1.05908889e-02 0.00000000e+00 5.56451083e+01] [-1.05908889e-02 9.99943915e-01 0.00000000e+00 -7.02063597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30814850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.70, Y:-0.70, Z:-0.07 [[ 9.99887887e-01 1.49737331e-02 0.00000000e+00 5.57026381e+01] [-1.49737331e-02 9.99887887e-01 0.00000000e+00 -6.96434306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00744780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:55.76, Y:-0.69, Z:-0.07 [[ 9.99875044e-01 1.58081191e-02 0.00000000e+00 5.57623526e+01] [-1.58081191e-02 9.99875044e-01 0.00000000e+00 -6.94924359e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60594717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:55.82, Y:-0.70, Z:-0.07 [[ 9.99916561e-01 1.29178833e-02 0.00000000e+00 5.58207317e+01] [-1.29178833e-02 9.99916561e-01 0.00000000e+00 -6.97589464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04859852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:-0.69, Z:-0.07 [[ 9.99944375e-01 1.05473429e-02 0.00000000e+00 5.58799272e+01] [-1.05473429e-02 9.99944375e-01 0.00000000e+00 -6.94139826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60685385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:-0.68, Z:-0.07 [[ 9.99990761e-01 4.29850632e-03 0.00000000e+00 5.59389066e+01] [-4.29850632e-03 9.99990761e-01 0.00000000e+00 -6.82544606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81530833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:-0.68, Z:-0.07 [[ 9.99992106e-01 -3.97341083e-03 0.00000000e+00 5.59975509e+01] [ 3.97341083e-03 9.99992106e-01 0.00000000e+00 -6.83919625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20411052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.06, Y:-0.68, Z:-0.07 [[ 9.99967916e-01 -8.01043815e-03 0.00000000e+00 5.60601634e+01] [ 8.01043815e-03 9.99967916e-01 0.00000000e+00 -6.76724345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08101998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.12, Y:-0.68, Z:-0.08 [[ 9.99973610e-01 -7.26494735e-03 0.00000000e+00 5.61225190e+01] [ 7.26494735e-03 9.99973610e-01 0.00000000e+00 -6.78153607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89211036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:56.19, Y:-0.67, Z:-0.07 [[ 9.99971349e-01 -7.56972534e-03 0.00000000e+00 5.61852198e+01] [ 7.56972534e-03 9.99971349e-01 0.00000000e+00 -6.72582595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75181508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:56.25, Y:-0.68, Z:-0.07 [[ 9.99964497e-01 -8.42647310e-03 0.00000000e+00 5.62464618e+01] [ 8.42647310e-03 9.99964497e-01 0.00000000e+00 -6.76893210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36932400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:56.31, Y:-0.68, Z:-0.07 [[ 9.99972232e-01 -7.45225558e-03 0.00000000e+00 5.63081639e+01] [ 7.45225558e-03 9.99972232e-01 0.00000000e+00 -6.80710295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10647987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:-0.68, Z:-0.07 [[ 9.99992564e-01 -3.85642847e-03 0.00000000e+00 5.63691268e+01] [ 3.85642847e-03 9.99992564e-01 0.00000000e+00 -6.81247659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36271754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:-0.68, Z:-0.07 [[ 9.99999567e-01 -9.30738310e-04 0.00000000e+00 5.64295859e+01] [ 9.30738310e-04 9.99999567e-01 0.00000000e+00 -6.78279459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14049509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:-0.68, Z:-0.07 [[ 9.99994996e-01 -3.16367824e-03 0.00000000e+00 5.64897224e+01] [ 3.16367824e-03 9.99994996e-01 0.00000000e+00 -6.78815803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76802579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:-0.69, Z:-0.08 [[ 9.99969597e-01 -7.79775704e-03 0.00000000e+00 5.65503178e+01] [ 7.79775704e-03 9.99969597e-01 0.00000000e+00 -6.86642435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45293078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:56.61, Y:-0.69, Z:-0.07 [[ 9.99945226e-01 -1.04663351e-02 0.00000000e+00 5.66120411e+01] [ 1.04663351e-02 9.99945226e-01 0.00000000e+00 -6.91576734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16030982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:56.67, Y:-0.69, Z:-0.07 [[ 9.99901408e-01 -1.40418426e-02 0.00000000e+00 5.66737173e+01] [ 1.40418426e-02 9.99901408e-01 0.00000000e+00 -6.93233026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99509250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:-0.70, Z:-0.07 [[ 9.99849505e-01 -1.73484114e-02 0.00000000e+00 5.67355643e+01] [ 1.73484114e-02 9.99849505e-01 0.00000000e+00 -6.96873156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91529727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:56.80, Y:-0.71, Z:-0.07 [[ 9.99868449e-01 -1.62198994e-02 0.00000000e+00 5.67970577e+01] [ 1.62198994e-02 9.99868449e-01 0.00000000e+00 -7.06579989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32394815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:-0.71, Z:-0.07 [[ 9.99925774e-01 -1.21838400e-02 0.00000000e+00 5.68598295e+01] [ 1.21838400e-02 9.99925774e-01 0.00000000e+00 -7.05356338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16852597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:-0.71, Z:-0.08 [[ 9.99962632e-01 -8.64487673e-03 0.00000000e+00 5.69212790e+01] [ 8.64487673e-03 9.99962632e-01 0.00000000e+00 -7.08118019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80941664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:-0.70, Z:-0.07 [[ 9.99950979e-01 -9.90151811e-03 0.00000000e+00 5.69824111e+01] [ 9.90151811e-03 9.99950979e-01 0.00000000e+00 -7.03029753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46469862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.04, Y:-0.71, Z:-0.07 [[ 9.99892625e-01 -1.46539702e-02 0.00000000e+00 5.70448209e+01] [ 1.46539702e-02 9.99892625e-01 0.00000000e+00 -7.05523522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23524230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:-0.71, Z:-0.07 [[ 9.99810199e-01 -1.94824432e-02 0.00000000e+00 5.71075106e+01] [ 1.94824432e-02 9.99810199e-01 0.00000000e+00 -7.07070707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18874433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:-0.71, Z:-0.08 [[ 9.99662164e-01 -2.59915061e-02 0.00000000e+00 5.71683708e+01] [ 2.59915061e-02 9.99662164e-01 0.00000000e+00 -7.12374754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87035361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:-0.71, Z:-0.08 [[ 9.99673511e-01 -2.55513641e-02 0.00000000e+00 5.72290073e+01] [ 2.55513641e-02 9.99673511e-01 0.00000000e+00 -7.14409002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29974540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:-0.72, Z:-0.08 [[ 9.99774552e-01 -2.12331171e-02 0.00000000e+00 5.72916346e+01] [ 2.12331171e-02 9.99774552e-01 0.00000000e+00 -7.18554220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21679824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:-0.72, Z:-0.07 [[ 9.99878598e-01 -1.55816881e-02 0.00000000e+00 5.73532020e+01] [ 1.55816881e-02 9.99878598e-01 0.00000000e+00 -7.20695487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39885445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:-0.72, Z:-0.08 [[ 9.99917301e-01 -1.28604406e-02 0.00000000e+00 5.74141987e+01] [ 1.28604406e-02 9.99917301e-01 0.00000000e+00 -7.23290771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35702079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.73, Z:-0.07 [[ 9.99918623e-01 -1.27572440e-02 0.00000000e+00 5.74746821e+01] [ 1.27572440e-02 9.99918623e-01 0.00000000e+00 -7.30730526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44100441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:-0.73, Z:-0.08 [[ 9.99886035e-01 -1.50969158e-02 0.00000000e+00 5.75343135e+01] [ 1.50969158e-02 9.99886035e-01 0.00000000e+00 -7.33219661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28967565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:57.60, Y:-0.74, Z:-0.09 [[ 9.99774008e-01 -2.12587364e-02 0.00000000e+00 5.75952558e+01] [ 2.12587364e-02 9.99774008e-01 0.00000000e+00 -7.39536978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72200821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:57.66, Y:-0.75, Z:-0.09 [[ 9.99666096e-01 -2.58398167e-02 0.00000000e+00 5.76552047e+01] [ 2.58398167e-02 9.99666096e-01 0.00000000e+00 -7.47712768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69862382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:57.71, Y:-0.75, Z:-0.09 [[ 9.99553531e-01 -2.98787264e-02 0.00000000e+00 5.77148156e+01] [ 2.98787264e-02 9.99553531e-01 0.00000000e+00 -7.54239479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31824101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:-0.77, Z:-0.10 [[ 9.99539976e-01 -3.03288052e-02 0.00000000e+00 5.77757222e+01] [ 3.03288052e-02 9.99539976e-01 0.00000000e+00 -7.66901236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69216604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters Centerline goodness : 0.998461 with order 1 Centerline is valid? [True, True] Translation: X:57.84, Y:-0.77, Z:-0.09 [[ 9.99674541e-01 -2.55110098e-02 0.00000000e+00 5.78372270e+01] [ 2.55110098e-02 9.99674541e-01 0.00000000e+00 -7.73489057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.27837584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:57.90, Y:-0.78, Z:-0.09 [[ 9.99861329e-01 -1.66530058e-02 0.00000000e+00 5.78973753e+01] [ 1.66530058e-02 9.99861329e-01 0.00000000e+00 -7.77761583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08766420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:57.96, Y:-0.78, Z:-0.09 [[ 9.99945584e-01 -1.04321354e-02 0.00000000e+00 5.79569360e+01] [ 1.04321354e-02 9.99945584e-01 0.00000000e+00 -7.82081443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59291934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.02, Y:-0.78, Z:-0.08 [[ 9.99953053e-01 -9.68973168e-03 0.00000000e+00 5.80192168e+01] [ 9.68973168e-03 9.99953053e-01 0.00000000e+00 -7.78365891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54451636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.78, Z:-0.08 [[ 9.99910190e-01 -1.34019191e-02 0.00000000e+00 5.80788317e+01] [ 1.34019191e-02 9.99910190e-01 0.00000000e+00 -7.75113021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92786695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.78, Z:-0.08 [[ 9.99840490e-01 -1.78604393e-02 0.00000000e+00 5.81395792e+01] [ 1.78604393e-02 9.99840490e-01 0.00000000e+00 -7.76222664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32234378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.79, Z:-0.10 [[ 9.99814091e-01 -1.92817075e-02 0.00000000e+00 5.82004198e+01] [ 1.92817075e-02 9.99814091e-01 0.00000000e+00 -7.90442998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83126230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:58.26, Y:-0.80, Z:-0.09 [[ 9.99849009e-01 -1.73769766e-02 0.00000000e+00 5.82609293e+01] [ 1.73769766e-02 9.99849009e-01 0.00000000e+00 -7.97252800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29899620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.79, Z:-0.08 [[ 9.99928357e-01 -1.19700117e-02 0.00000000e+00 5.83217415e+01] [ 1.19700117e-02 9.99928357e-01 0.00000000e+00 -7.87434346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75594811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:-0.79, Z:-0.09 [[ 9.99997083e-01 -2.41549379e-03 0.00000000e+00 5.83817347e+01] [ 2.41549379e-03 9.99997083e-01 0.00000000e+00 -7.94200485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00546419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.81, Z:-0.08 [[ 9.99989167e-01 4.65471354e-03 0.00000000e+00 5.84430043e+01] [-4.65471354e-03 9.99989167e-01 0.00000000e+00 -8.08021688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17326810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:-0.81, Z:-0.07 [[ 9.99987833e-01 4.93283578e-03 0.00000000e+00 5.85030615e+01] [-4.93283578e-03 9.99987833e-01 0.00000000e+00 -8.10933784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35440357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:-0.81, Z:-0.07 [[ 9.99994054e-01 3.44846385e-03 0.00000000e+00 5.85617535e+01] [-3.44846385e-03 9.99994054e-01 0.00000000e+00 -8.08701430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97860854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:-0.82, Z:-0.07 [[ 9.99999886e-01 4.76651310e-04 0.00000000e+00 5.86200463e+01] [-4.76651310e-04 9.99999886e-01 0.00000000e+00 -8.23259628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39678564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:-0.82, Z:-0.07 [[ 9.99999490e-01 1.01025833e-03 0.00000000e+00 5.86796332e+01] [-1.01025833e-03 9.99999490e-01 0.00000000e+00 -8.21689211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98422888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:-0.82, Z:-0.06 [[ 9.99999983e-01 -1.84148058e-04 0.00000000e+00 5.87401931e+01] [ 1.84148058e-04 9.99999983e-01 0.00000000e+00 -8.24025097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39766895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.83, Z:-0.07 [[ 9.99999634e-01 -8.55387300e-04 0.00000000e+00 5.88004285e+01] [ 8.55387300e-04 9.99999634e-01 0.00000000e+00 -8.25293619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95021599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.82, Z:-0.07 [[ 9.99994292e-01 -3.37883318e-03 0.00000000e+00 5.88613072e+01] [ 3.37883318e-03 9.99994292e-01 0.00000000e+00 -8.22235229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63302569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.82, Z:-0.06 [[ 9.99958817e-01 -9.07548716e-03 0.00000000e+00 5.89228777e+01] [ 9.07548716e-03 9.99958817e-01 0.00000000e+00 -8.20168033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38282052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.82, Z:-0.07 [[ 9.99787588e-01 -2.06101694e-02 0.00000000e+00 5.89833791e+01] [ 2.06101694e-02 9.99787588e-01 0.00000000e+00 -8.18010761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08965035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:-0.82, Z:-0.07 [[ 9.99742759e-01 -2.26807199e-02 0.00000000e+00 5.90459655e+01] [ 2.26807199e-02 9.99742759e-01 0.00000000e+00 -8.20340353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13344125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:-0.82, Z:-0.07 [[ 9.99767926e-01 -2.15428355e-02 0.00000000e+00 5.91079780e+01] [ 2.15428355e-02 9.99767926e-01 0.00000000e+00 -8.21544756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86727730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:-0.82, Z:-0.08 [[ 9.99822986e-01 -1.88147770e-02 0.00000000e+00 5.91675124e+01] [ 1.88147770e-02 9.99822986e-01 0.00000000e+00 -8.19178806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96463151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.82, Z:-0.08 [[ 9.99887376e-01 -1.50078743e-02 0.00000000e+00 5.92286856e+01] [ 1.50078743e-02 9.99887376e-01 0.00000000e+00 -8.22553949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29544030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.83, Z:-0.08 [[ 9.99945108e-01 -1.04776744e-02 0.00000000e+00 5.92886658e+01] [ 1.04776744e-02 9.99945108e-01 0.00000000e+00 -8.27175974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29778540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.82, Z:-0.06 [[ 9.99995041e-01 -3.14942126e-03 0.00000000e+00 5.93493528e+01] [ 3.14942126e-03 9.99995041e-01 0.00000000e+00 -8.21520995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39764873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.83, Z:-0.08 [[ 9.99999735e-01 7.28064207e-04 0.00000000e+00 5.94102363e+01] [-7.28064207e-04 9.99999735e-01 0.00000000e+00 -8.27066536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71394432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.82, Z:-0.08 [[ 9.99999185e-01 -1.27649398e-03 0.00000000e+00 5.94702651e+01] [ 1.27649398e-03 9.99999185e-01 0.00000000e+00 -8.19796541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52017042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.82, Z:-0.08 [[ 9.99991713e-01 -4.07119666e-03 0.00000000e+00 5.95310688e+01] [ 4.07119666e-03 9.99991713e-01 0.00000000e+00 -8.18880077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07528050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.81, Z:-0.07 [[ 9.99989916e-01 -4.49083358e-03 0.00000000e+00 5.95914171e+01] [ 4.49083358e-03 9.99989916e-01 0.00000000e+00 -8.10878422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85763405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.81, Z:-0.07 [[ 9.99991623e-01 -4.09312519e-03 0.00000000e+00 5.96529108e+01] [ 4.09312519e-03 9.99991623e-01 0.00000000e+00 -8.09381405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22934688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-0.80, Z:-0.07 [[ 9.99991914e-01 -4.02146703e-03 0.00000000e+00 5.97137018e+01] [ 4.02146703e-03 9.99991914e-01 0.00000000e+00 -8.00380471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51871713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.79, Z:-0.06 [[ 9.99992392e-01 -3.90068786e-03 0.00000000e+00 5.97761569e+01] [ 3.90068786e-03 9.99992392e-01 0.00000000e+00 -7.94757605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47032261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.79, Z:-0.07 [[ 9.99984673e-01 -5.53655670e-03 0.00000000e+00 5.98375681e+01] [ 5.53655670e-03 9.99984673e-01 0.00000000e+00 -7.86922168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25003669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.78, Z:-0.07 [[ 9.99965086e-01 -8.35628725e-03 0.00000000e+00 5.98995709e+01] [ 8.35628725e-03 9.99965086e-01 0.00000000e+00 -7.83131105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44285754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:-0.78, Z:-0.07 [[ 9.99936315e-01 -1.12856886e-02 0.00000000e+00 5.99622074e+01] [ 1.12856886e-02 9.99936315e-01 0.00000000e+00 -7.78837431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16332893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:-0.77, Z:-0.06 [[ 9.99932475e-01 -1.16209391e-02 0.00000000e+00 6.00239772e+01] [ 1.16209391e-02 9.99932475e-01 0.00000000e+00 -7.72388776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21667738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.77, Z:-0.06 [[ 9.99996332e-01 -2.70833817e-03 0.00000000e+00 6.00856818e+01] [ 2.70833817e-03 9.99996332e-01 0.00000000e+00 -7.66596658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27872221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.76, Z:-0.08 [[ 9.99979772e-01 6.36050050e-03 0.00000000e+00 6.01459708e+01] [-6.36050050e-03 9.99979772e-01 0.00000000e+00 -7.60798889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55200983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.76, Z:-0.07 [[ 9.99968281e-01 7.96476202e-03 0.00000000e+00 6.02052956e+01] [-7.96476202e-03 9.99968281e-01 0.00000000e+00 -7.59004690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12771538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:-0.75, Z:-0.07 [[ 9.99960482e-01 8.89018344e-03 0.00000000e+00 6.02641407e+01] [-8.89018344e-03 9.99960482e-01 0.00000000e+00 -7.50769579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07844742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:-0.75, Z:-0.07 [[ 9.99976850e-01 6.80436789e-03 0.00000000e+00 6.03222284e+01] [-6.80436789e-03 9.99976850e-01 0.00000000e+00 -7.46582587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49726812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.75, Z:-0.09 [[ 1.00000000e+00 -5.30518658e-06 0.00000000e+00 6.03814368e+01] [ 5.30518658e-06 1.00000000e+00 0.00000000e+00 -7.46772706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61761166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.74, Z:-0.09 [[ 9.99997216e-01 -2.35979235e-03 0.00000000e+00 6.04421601e+01] [ 2.35979235e-03 9.99997216e-01 0.00000000e+00 -7.39458349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05438885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters Centerline goodness : 0.996154 with order 1 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.73, Z:-0.10 [[ 9.99999999e-01 -4.16123482e-05 0.00000000e+00 6.05025588e+01] [ 4.16123482e-05 9.99999999e-01 0.00000000e+00 -7.32572039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75279010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:60.56, Y:-0.73, Z:-0.10 [[ 9.99996109e-01 2.78949767e-03 0.00000000e+00 6.05632947e+01] [-2.78949767e-03 9.99996109e-01 0.00000000e+00 -7.34969178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54452014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters Centerline goodness : 0.995572 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.73, Z:-0.11 [[ 9.99994918e-01 3.18798187e-03 0.00000000e+00 6.06224342e+01] [-3.18798187e-03 9.99994918e-01 0.00000000e+00 -7.29061585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10468247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:-0.72, Z:-0.10 [[ 9.99998904e-01 1.48086039e-03 0.00000000e+00 6.06808809e+01] [-1.48086039e-03 9.99998904e-01 0.00000000e+00 -7.24008658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02910140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters Centerline goodness : 0.997976 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.72, Z:-0.10 [[ 9.99999881e-01 -4.87498022e-04 0.00000000e+00 6.07415809e+01] [ 4.87498022e-04 9.99999881e-01 0.00000000e+00 -7.24403927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03172853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.71, Z:-0.10 [[ 9.99999665e-01 8.18229909e-04 0.00000000e+00 6.08019893e+01] [-8.18229909e-04 9.99999665e-01 0.00000000e+00 -7.12489841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79272692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-0.72, Z:-0.11 [[ 9.99996806e-01 2.52748768e-03 0.00000000e+00 6.08616835e+01] [-2.52748768e-03 9.99996806e-01 0.00000000e+00 -7.17686606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12991923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters Centerline goodness : 0.995122 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.71, Z:-0.11 [[ 9.99995020e-01 -3.15602708e-03 0.00000000e+00 6.09207102e+01] [ 3.15602708e-03 9.99995020e-01 0.00000000e+00 -7.12744162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13443284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters Centerline goodness : 0.993725 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:-0.70, Z:-0.12 [[ 9.99958299e-01 -9.13236665e-03 0.00000000e+00 6.09818020e+01] [ 9.13236665e-03 9.99958299e-01 0.00000000e+00 -7.04135870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18870918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:-0.71, Z:-0.11 [[ 9.99913272e-01 -1.31699897e-02 0.00000000e+00 6.10439165e+01] [ 1.31699897e-02 9.99913272e-01 0.00000000e+00 -7.09003154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10528374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters Centerline goodness : 0.996056 with order 1 Centerline is valid? [True, True] Translation: X:61.11, Y:-0.70, Z:-0.11 [[ 9.99932033e-01 -1.16588684e-02 0.00000000e+00 6.11054108e+01] [ 1.16588684e-02 9.99932033e-01 0.00000000e+00 -7.02064064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08135576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters Centerline goodness : 0.995553 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.70, Z:-0.11 [[ 9.99975990e-01 -6.92958339e-03 0.00000000e+00 6.11672704e+01] [ 6.92958339e-03 9.99975990e-01 0.00000000e+00 -6.96046913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08415369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters Centerline goodness : 0.993400 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.69, Z:-0.12 [[ 9.99992240e-01 -3.93956361e-03 0.00000000e+00 6.12286637e+01] [ 3.93956361e-03 9.99992240e-01 0.00000000e+00 -6.94676506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21807293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters Centerline goodness : 0.994838 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.68, Z:-0.11 [[ 9.99995239e-01 -3.08583053e-03 0.00000000e+00 6.12907945e+01] [ 3.08583053e-03 9.99995239e-01 0.00000000e+00 -6.75612246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06405139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters Centerline goodness : 0.996437 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.67, Z:-0.11 [[ 9.99993268e-01 -3.66939118e-03 0.00000000e+00 6.13517472e+01] [ 3.66939118e-03 9.99993268e-01 0.00000000e+00 -6.67999855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06917557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-0.67, Z:-0.12 [[ 9.99986709e-01 -5.15567764e-03 0.00000000e+00 6.14124511e+01] [ 5.15567764e-03 9.99986709e-01 0.00000000e+00 -6.74800995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22007510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters Centerline goodness : 0.996632 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:-0.67, Z:-0.11 [[ 9.99969204e-01 -7.84802283e-03 0.00000000e+00 6.14736589e+01] [ 7.84802283e-03 9.99969204e-01 0.00000000e+00 -6.66209357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10021321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:61.53, Y:-0.66, Z:-0.11 [[ 9.99968739e-01 -7.90703354e-03 0.00000000e+00 6.15347874e+01] [ 7.90703354e-03 9.99968739e-01 0.00000000e+00 -6.61178428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12589709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters Centerline goodness : 0.993002 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.66, Z:-0.12 [[ 9.99999836e-01 5.72062901e-04 0.00000000e+00 6.15956599e+01] [-5.72062901e-04 9.99999836e-01 0.00000000e+00 -6.56251415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15186518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters Centerline goodness : 0.996788 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.64, Z:-0.11 [[ 9.99970881e-01 7.63128883e-03 0.00000000e+00 6.16546053e+01] [-7.63128883e-03 9.99970881e-01 0.00000000e+00 -6.44816641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08393228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:61.71, Y:-0.65, Z:-0.11 [[ 9.99967074e-01 8.11483511e-03 0.00000000e+00 6.17145901e+01] [-8.11483511e-03 9.99967074e-01 0.00000000e+00 -6.45182155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05258803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:61.77, Y:-0.64, Z:-0.09 [[ 1.00000000e+00 -4.06824890e-06 0.00000000e+00 6.17746065e+01] [ 4.06824890e-06 1.00000000e+00 0.00000000e+00 -6.41848291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41192253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:61.83, Y:-0.64, Z:-0.10 [[ 9.99980489e-01 -6.24677032e-03 0.00000000e+00 6.18346973e+01] [ 6.24677032e-03 9.99980489e-01 0.00000000e+00 -6.37654439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66583720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.64, Z:-0.11 [[ 9.99949447e-01 -1.00550317e-02 0.00000000e+00 6.18966425e+01] [ 1.00550317e-02 9.99949447e-01 0.00000000e+00 -6.42440857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11592073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:-0.64, Z:-0.11 [[ 9.99965257e-01 -8.33569455e-03 0.00000000e+00 6.19572455e+01] [ 8.33569455e-03 9.99965257e-01 0.00000000e+00 -6.36325488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09715165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:-0.62, Z:-0.09 [[ 9.99996551e-01 -2.62624655e-03 0.00000000e+00 6.20187611e+01] [ 2.62624655e-03 9.99996551e-01 0.00000000e+00 -6.18962186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28960714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters Centerline goodness : 0.996577 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.61, Z:-0.12 [[ 9.99996388e-01 -2.68761478e-03 0.00000000e+00 6.20790645e+01] [ 2.68761478e-03 9.99996388e-01 0.00000000e+00 -6.14724919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21213169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.61, Z:-0.11 [[ 9.99993213e-01 -3.68425074e-03 0.00000000e+00 6.21418652e+01] [ 3.68425074e-03 9.99993213e-01 0.00000000e+00 -6.13451225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05519567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:62.20, Y:-0.60, Z:-0.10 [[ 9.99989319e-01 -4.62192169e-03 0.00000000e+00 6.22039698e+01] [ 4.62192169e-03 9.99989319e-01 0.00000000e+00 -6.04748520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74318442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.59, Z:-0.10 [[ 9.99981927e-01 -6.01214480e-03 0.00000000e+00 6.22640096e+01] [ 6.01214480e-03 9.99981927e-01 0.00000000e+00 -5.92614937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58407278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.59, Z:-0.12 [[ 9.99977436e-01 -6.71770970e-03 0.00000000e+00 6.23249613e+01] [ 6.71770970e-03 9.99977436e-01 0.00000000e+00 -5.91729531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15273161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.57, Z:-0.09 [[ 9.99992647e-01 -3.83472676e-03 0.00000000e+00 6.23877265e+01] [ 3.83472676e-03 9.99992647e-01 0.00000000e+00 -5.69374843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95742167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:-0.57, Z:-0.10 [[ 9.99990465e-01 -4.36696831e-03 0.00000000e+00 6.24490229e+01] [ 4.36696831e-03 9.99990465e-01 0.00000000e+00 -5.71388345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01041345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:-0.57, Z:-0.10 [[ 9.99963959e-01 -8.49002867e-03 0.00000000e+00 6.25110491e+01] [ 8.49002867e-03 9.99963959e-01 0.00000000e+00 -5.68542304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02543250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:-0.55, Z:-0.08 [[ 9.99902835e-01 -1.39399219e-02 0.00000000e+00 6.25720459e+01] [ 1.39399219e-02 9.99902835e-01 0.00000000e+00 -5.51335950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25085806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.63, Y:-0.55, Z:-0.09 [[ 9.99916751e-01 -1.29031453e-02 0.00000000e+00 6.26340419e+01] [ 1.29031453e-02 9.99916751e-01 0.00000000e+00 -5.50898791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68305069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:-0.54, Z:-0.09 [[ 9.99964973e-01 -8.36977287e-03 0.00000000e+00 6.26954724e+01] [ 8.36977287e-03 9.99964973e-01 0.00000000e+00 -5.37395989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60809533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:62.76, Y:-0.53, Z:-0.09 [[ 9.99981091e-01 -6.14956606e-03 0.00000000e+00 6.27564458e+01] [ 6.14956606e-03 9.99981091e-01 0.00000000e+00 -5.31250326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81900671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:62.82, Y:-0.53, Z:-0.09 [[ 9.99936974e-01 -1.12271134e-02 0.00000000e+00 6.28165265e+01] [ 1.12271134e-02 9.99936974e-01 0.00000000e+00 -5.27990420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68708271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:62.88, Y:-0.52, Z:-0.08 [[ 9.99889584e-01 -1.48599835e-02 0.00000000e+00 6.28791317e+01] [ 1.48599835e-02 9.99889584e-01 0.00000000e+00 -5.17267327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22467184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:62.94, Y:-0.51, Z:-0.10 [[ 9.99834714e-01 -1.81808771e-02 0.00000000e+00 6.29397765e+01] [ 1.81808771e-02 9.99834714e-01 0.00000000e+00 -5.11010803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61003556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:-0.50, Z:-0.10 [[ 9.99860367e-01 -1.67106920e-02 0.00000000e+00 6.30014356e+01] [ 1.67106920e-02 9.99860367e-01 0.00000000e+00 -4.99567488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78520216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters Centerline goodness : 0.997827 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.49, Z:-0.11 [[ 9.99832350e-01 -1.83104470e-02 0.00000000e+00 6.30607786e+01] [ 1.83104470e-02 9.99832350e-01 0.00000000e+00 -4.90077186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11028769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.48, Z:-0.10 [[ 9.99796279e-01 -2.01841801e-02 0.00000000e+00 6.31222715e+01] [ 2.01841801e-02 9.99796279e-01 0.00000000e+00 -4.84111037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01747034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:63.18, Y:-0.47, Z:-0.09 [[ 9.99794132e-01 -2.02902353e-02 0.00000000e+00 6.31833560e+01] [ 2.02902353e-02 9.99794132e-01 0.00000000e+00 -4.68717875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96208017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:63.24, Y:-0.46, Z:-0.08 [[ 9.99816940e-01 -1.91333883e-02 0.00000000e+00 6.32428481e+01] [ 1.91333883e-02 9.99816940e-01 0.00000000e+00 -4.60083477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02144289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:-0.46, Z:-0.07 [[ 9.99747215e-01 -2.24834822e-02 0.00000000e+00 6.33034025e+01] [ 2.24834822e-02 9.99747215e-01 0.00000000e+00 -4.58253118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46032219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:-0.45, Z:-0.08 [[ 9.99531564e-01 -3.06047671e-02 0.00000000e+00 6.33632067e+01] [ 3.06047671e-02 9.99531564e-01 0.00000000e+00 -4.48231202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49271634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:63.42, Y:-0.44, Z:-0.09 [[ 9.99413175e-01 -3.42535604e-02 0.00000000e+00 6.34239209e+01] [ 3.42535604e-02 9.99413175e-01 0.00000000e+00 -4.41546556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26220220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:63.48, Y:-0.43, Z:-0.10 [[ 9.99302577e-01 -3.73411206e-02 0.00000000e+00 6.34847254e+01] [ 3.73411206e-02 9.99302577e-01 0.00000000e+00 -4.33930762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52939464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-0.43, Z:-0.10 [[ 9.99235437e-01 -3.90965745e-02 0.00000000e+00 6.35455993e+01] [ 3.90965745e-02 9.99235437e-01 0.00000000e+00 -4.30025648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92671210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters Centerline goodness : 0.996483 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-0.42, Z:-0.11 [[ 9.99453731e-01 -3.30490538e-02 0.00000000e+00 6.36064663e+01] [ 3.30490538e-02 9.99453731e-01 0.00000000e+00 -4.22986045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14722152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters Centerline goodness : 0.997773 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.42, Z:-0.11 [[ 9.99651415e-01 -2.64016906e-02 0.00000000e+00 6.36672636e+01] [ 2.64016906e-02 9.99651415e-01 0.00000000e+00 -4.16357772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10593228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:63.73, Y:-0.41, Z:-0.10 [[ 9.99727795e-01 -2.33310132e-02 0.00000000e+00 6.37282211e+01] [ 2.33310132e-02 9.99727795e-01 0.00000000e+00 -4.09208327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01955234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:63.79, Y:-0.40, Z:-0.10 [[ 9.99702942e-01 -2.43726659e-02 0.00000000e+00 6.37886232e+01] [ 2.43726659e-02 9.99702942e-01 0.00000000e+00 -4.02972837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74689027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.40, Z:-0.10 [[ 9.99680152e-01 -2.52901836e-02 0.00000000e+00 6.38510252e+01] [ 2.52901836e-02 9.99680152e-01 0.00000000e+00 -3.96571103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94131935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:63.91, Y:-0.39, Z:-0.09 [[ 9.99662937e-01 -2.59617327e-02 0.00000000e+00 6.39131433e+01] [ 2.59617327e-02 9.99662937e-01 0.00000000e+00 -3.86762999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12683768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:63.97, Y:-0.38, Z:-0.08 [[ 9.99567232e-01 -2.94168086e-02 0.00000000e+00 6.39732789e+01] [ 2.94168086e-02 9.99567232e-01 0.00000000e+00 -3.81822529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14051115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.04, Y:-0.38, Z:-0.07 [[ 9.99545327e-01 -3.01519492e-02 0.00000000e+00 6.40350345e+01] [ 3.01519492e-02 9.99545327e-01 0.00000000e+00 -3.80724171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32676434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.10, Y:-0.38, Z:-0.08 [[ 9.99492871e-01 -3.18433840e-02 0.00000000e+00 6.40962475e+01] [ 3.18433840e-02 9.99492871e-01 0.00000000e+00 -3.77652671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24975005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:-0.37, Z:-0.08 [[ 9.99502533e-01 -3.15386586e-02 0.00000000e+00 6.41573901e+01] [ 3.15386586e-02 9.99502533e-01 0.00000000e+00 -3.69384630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46831092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:64.22, Y:-0.37, Z:-0.08 [[ 9.99513298e-01 -3.11956262e-02 0.00000000e+00 6.42201882e+01] [ 3.11956262e-02 9.99513298e-01 0.00000000e+00 -3.66371877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35522528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:64.28, Y:-0.37, Z:-0.09 [[ 9.99629981e-01 -2.72011121e-02 0.00000000e+00 6.42803473e+01] [ 2.72011121e-02 9.99629981e-01 0.00000000e+00 -3.69417930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60762761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:-0.36, Z:-0.07 [[ 9.99770921e-01 -2.14034169e-02 0.00000000e+00 6.43409750e+01] [ 2.14034169e-02 9.99770921e-01 0.00000000e+00 -3.59760966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57970938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.36, Z:-0.08 [[ 9.99741299e-01 -2.27450109e-02 0.00000000e+00 6.44026001e+01] [ 2.27450109e-02 9.99741299e-01 0.00000000e+00 -3.64204656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06157329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.37, Z:-0.09 [[ 9.99694482e-01 -2.47172562e-02 0.00000000e+00 6.44631782e+01] [ 2.47172562e-02 9.99694482e-01 0.00000000e+00 -3.67912553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62347368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.53, Y:-0.36, Z:-0.08 [[ 9.99774330e-01 -2.12435570e-02 0.00000000e+00 6.45251671e+01] [ 2.12435570e-02 9.99774330e-01 0.00000000e+00 -3.62746087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65879554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:-0.36, Z:-0.07 [[ 9.99929582e-01 -1.18672095e-02 0.00000000e+00 6.45867634e+01] [ 1.18672095e-02 9.99929582e-01 0.00000000e+00 -3.64264941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14000466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:-0.37, Z:-0.07 [[ 9.99993331e-01 -3.65210061e-03 0.00000000e+00 6.46479130e+01] [ 3.65210061e-03 9.99993331e-01 0.00000000e+00 -3.65244995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92304767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.36, Z:-0.06 [[ 9.99985178e-01 5.44460107e-03 0.00000000e+00 6.47099890e+01] [-5.44460107e-03 9.99985178e-01 0.00000000e+00 -3.55666796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24391099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.35, Z:-0.07 [[ 9.99954785e-01 9.50935910e-03 0.00000000e+00 6.47681596e+01] [-9.50935910e-03 9.99954785e-01 0.00000000e+00 -3.52393793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08002283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.35, Z:-0.07 [[ 9.99977563e-01 6.69883454e-03 0.00000000e+00 6.48267714e+01] [-6.69883454e-03 9.99977563e-01 0.00000000e+00 -3.45897534e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29284872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:-0.35, Z:-0.08 [[ 9.99995731e-01 2.92199953e-03 0.00000000e+00 6.48851369e+01] [-2.92199953e-03 9.99995731e-01 0.00000000e+00 -3.48400255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72084972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.34, Z:-0.06 [[ 9.99996554e-01 -2.62540832e-03 0.00000000e+00 6.49457173e+01] [ 2.62540832e-03 9.99996554e-01 0.00000000e+00 -3.41789464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86244433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.35, Z:-0.07 [[ 9.99972514e-01 -7.41420072e-03 0.00000000e+00 6.50090393e+01] [ 7.41420072e-03 9.99972514e-01 0.00000000e+00 -3.47626838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76116320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-0.34, Z:-0.06 [[ 9.99921288e-01 -1.25465958e-02 0.00000000e+00 6.50709459e+01] [ 1.25465958e-02 9.99921288e-01 0.00000000e+00 -3.42673109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29230577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:-0.34, Z:-0.06 [[ 9.99925473e-01 -1.22085456e-02 0.00000000e+00 6.51341263e+01] [ 1.22085456e-02 9.99925473e-01 0.00000000e+00 -3.38573593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06868951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.20, Y:-0.35, Z:-0.06 [[ 9.99948144e-01 -1.01837419e-02 0.00000000e+00 6.51962706e+01] [ 1.01837419e-02 9.99948144e-01 0.00000000e+00 -3.45091961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24433417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:65.26, Y:-0.34, Z:-0.05 [[ 9.99944720e-01 -1.05145968e-02 0.00000000e+00 6.52598735e+01] [ 1.05145968e-02 9.99944720e-01 0.00000000e+00 -3.40423925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34358116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:65.32, Y:-0.34, Z:-0.07 [[ 9.99913825e-01 -1.31279295e-02 0.00000000e+00 6.53207428e+01] [ 1.31279295e-02 9.99913825e-01 0.00000000e+00 -3.43470795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60474796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:65.38, Y:-0.34, Z:-0.06 [[ 9.99893978e-01 -1.45613786e-02 0.00000000e+00 6.53834437e+01] [ 1.45613786e-02 9.99893978e-01 0.00000000e+00 -3.41163676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01571877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:-0.34, Z:-0.06 [[ 9.99888380e-01 -1.49408306e-02 0.00000000e+00 6.54450048e+01] [ 1.49408306e-02 9.99888380e-01 0.00000000e+00 -3.39103436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84261523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:-0.34, Z:-0.05 [[ 9.99923048e-01 -1.24055436e-02 0.00000000e+00 6.55075109e+01] [ 1.24055436e-02 9.99923048e-01 0.00000000e+00 -3.38392420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21712320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:-0.34, Z:-0.06 [[ 9.99955339e-01 -9.45097525e-03 0.00000000e+00 6.55688033e+01] [ 9.45097525e-03 9.99955339e-01 0.00000000e+00 -3.44869704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88767018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:-0.33, Z:-0.05 [[ 9.99996556e-01 -2.62448205e-03 0.00000000e+00 6.56301096e+01] [ 2.62448205e-03 9.99996556e-01 0.00000000e+00 -3.33952551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70384991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:-0.33, Z:-0.05 [[ 9.99997025e-01 2.43914591e-03 0.00000000e+00 6.56922519e+01] [-2.43914591e-03 9.99997025e-01 0.00000000e+00 -3.31607090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11016721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:-0.33, Z:-0.06 [[ 9.99997964e-01 2.01810409e-03 0.00000000e+00 6.57503865e+01] [-2.01810409e-03 9.99997964e-01 0.00000000e+00 -3.33727467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68080078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:-0.32, Z:-0.05 [[ 9.99999890e-01 4.69424015e-04 0.00000000e+00 6.58093592e+01] [-4.69424015e-04 9.99999890e-01 0.00000000e+00 -3.21692662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16962803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:-0.32, Z:-0.06 [[ 9.99998109e-01 1.94470414e-03 0.00000000e+00 6.58687246e+01] [-1.94470414e-03 9.99998109e-01 0.00000000e+00 -3.17320017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78374413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:65.93, Y:-0.31, Z:-0.06 [[ 9.99995451e-01 3.01633868e-03 0.00000000e+00 6.59277903e+01] [-3.01633868e-03 9.99995451e-01 0.00000000e+00 -3.11627870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79640914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:65.99, Y:-0.31, Z:-0.05 [[ 9.99999526e-01 9.73943848e-04 0.00000000e+00 6.59851800e+01] [-9.73943848e-04 9.99999526e-01 0.00000000e+00 -3.07075836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45170611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:-0.29, Z:-0.05 [[ 9.99997694e-01 -2.14777010e-03 0.00000000e+00 6.60442104e+01] [ 2.14777010e-03 9.99997694e-01 0.00000000e+00 -2.93880641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62824413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.11, Y:-0.29, Z:-0.06 [[ 9.99986101e-01 -5.27233217e-03 0.00000000e+00 6.61056729e+01] [ 5.27233217e-03 9.99986101e-01 0.00000000e+00 -2.90992227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35747384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.28, Z:-0.06 [[ 9.99983501e-01 -5.74428379e-03 0.00000000e+00 6.61681620e+01] [ 5.74428379e-03 9.99983501e-01 0.00000000e+00 -2.82156649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10535074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.27, Z:-0.05 [[ 9.99987262e-01 -5.04743350e-03 0.00000000e+00 6.62309839e+01] [ 5.04743350e-03 9.99987262e-01 0.00000000e+00 -2.66529217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70546009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.25, Z:-0.05 [[ 9.99975535e-01 -6.99491391e-03 0.00000000e+00 6.62930740e+01] [ 6.99491391e-03 9.99975535e-01 0.00000000e+00 -2.54090767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49685739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:-0.24, Z:-0.05 [[ 9.99941284e-01 -1.08364680e-02 0.00000000e+00 6.63546992e+01] [ 1.08364680e-02 9.99941284e-01 0.00000000e+00 -2.38586905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12906963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.24, Z:-0.06 [[ 9.99847036e-01 -1.74901405e-02 0.00000000e+00 6.64175084e+01] [ 1.74901405e-02 9.99847036e-01 0.00000000e+00 -2.35507618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33995669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:66.48, Y:-0.22, Z:-0.05 [[ 9.99653413e-01 -2.63259020e-02 0.00000000e+00 6.64792327e+01] [ 2.63259020e-02 9.99653413e-01 0.00000000e+00 -2.19043361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98757150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:66.54, Y:-0.22, Z:-0.06 [[ 9.99505506e-01 -3.14442980e-02 0.00000000e+00 6.65425700e+01] [ 3.14442980e-02 9.99505506e-01 0.00000000e+00 -2.15978154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67034946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:-0.21, Z:-0.06 [[ 9.99511487e-01 -3.12536042e-02 0.00000000e+00 6.66057435e+01] [ 3.12536042e-02 9.99511487e-01 0.00000000e+00 -2.10036672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88611446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:-0.19, Z:-0.05 [[ 9.99571149e-01 -2.92834181e-02 0.00000000e+00 6.66688173e+01] [ 2.92834181e-02 9.99571149e-01 0.00000000e+00 -1.93093892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29533578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:66.73, Y:-0.19, Z:-0.06 [[ 9.99580867e-01 -2.89498070e-02 0.00000000e+00 6.67299817e+01] [ 2.89498070e-02 9.99580867e-01 0.00000000e+00 -1.87129903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71847953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:66.79, Y:-0.17, Z:-0.06 [[ 9.99678336e-01 -2.53618678e-02 0.00000000e+00 6.67896472e+01] [ 2.53618678e-02 9.99678336e-01 0.00000000e+00 -1.72412013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29075027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:-0.16, Z:-0.06 [[ 9.99818732e-01 -1.90394901e-02 0.00000000e+00 6.68524646e+01] [ 1.90394901e-02 9.99818732e-01 0.00000000e+00 -1.58129889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09180991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:66.91, Y:-0.15, Z:-0.07 [[ 9.99840792e-01 -1.78434951e-02 0.00000000e+00 6.69147173e+01] [ 1.78434951e-02 9.99840792e-01 0.00000000e+00 -1.51443451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62115266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters Centerline goodness : 0.997241 with order 1 Centerline is valid? [True, True] Translation: X:66.97, Y:-0.13, Z:-0.07 [[ 9.99854293e-01 -1.70702339e-02 0.00000000e+00 6.69747370e+01] [ 1.70702339e-02 9.99854293e-01 0.00000000e+00 -1.34346279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32046781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters Centerline goodness : 0.994672 with order 1 Centerline is valid? [True, True] Translation: X:67.04, Y:-0.12, Z:-0.08 [[ 9.99863661e-01 -1.65123833e-02 0.00000000e+00 6.70364267e+01] [ 1.65123833e-02 9.99863661e-01 0.00000000e+00 -1.16493400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69762998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters Centerline goodness : 0.994799 with order 1 Centerline is valid? [True, True] Translation: X:67.10, Y:-0.09, Z:-0.08 [[ 9.99879669e-01 -1.55128358e-02 0.00000000e+00 6.70985582e+01] [ 1.55128358e-02 9.99879669e-01 0.00000000e+00 -9.22753713e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07870861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters Centerline goodness : 0.995682 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:-0.07, Z:-0.08 [[ 9.99874219e-01 -1.58602064e-02 0.00000000e+00 6.71597120e+01] [ 1.58602064e-02 9.99874219e-01 0.00000000e+00 -7.00561699e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00588188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters Centerline goodness : 0.994013 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:-0.04, Z:-0.07 [[ 9.99693431e-01 -2.47597390e-02 0.00000000e+00 6.72224480e+01] [ 2.47597390e-02 9.99693431e-01 0.00000000e+00 -4.22534127e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54391775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters Centerline goodness : 0.993972 with order 1 Centerline is valid? [True, True] Translation: X:67.29, Y:-0.03, Z:-0.07 [[ 9.99405110e-01 -3.44880573e-02 0.00000000e+00 6.72853764e+01] [ 3.44880573e-02 9.99405110e-01 0.00000000e+00 -2.88471473e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17396980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters Centerline goodness : 0.992937 with order 1 Centerline is valid? [True, True] Translation: X:67.35, Y:-0.00, Z:-0.07 [[ 9.99060279e-01 -4.33423539e-02 0.00000000e+00 6.73489187e+01] [ 4.33423539e-02 9.99060279e-01 0.00000000e+00 -4.44500678e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42452117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters Centerline goodness : 0.990045 with order 1 Centerline is valid? [True, True] Translation: X:67.41, Y:0.01, Z:-0.08 [[ 9.98975875e-01 -4.52460175e-02 0.00000000e+00 6.74092963e+01] [ 4.52460175e-02 9.98975875e-01 0.00000000e+00 1.19947291e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75766374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters Centerline goodness : 0.988786 with order 1 Centerline is valid? [True, True] Translation: X:67.47, Y:0.02, Z:-0.07 [[ 9.98255350e-01 -5.90445205e-02 0.00000000e+00 6.74718130e+01] [ 5.90445205e-02 9.98255350e-01 0.00000000e+00 1.55752968e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59652139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters Centerline goodness : 0.990841 with order 1 Centerline is valid? [True, True] Translation: X:67.53, Y:-0.00, Z:-0.08 [[ 9.98438341e-01 -5.58648350e-02 0.00000000e+00 6.75339316e+01] [ 5.58648350e-02 9.98438341e-01 0.00000000e+00 -5.93285036e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33870165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters Centerline goodness : 0.994073 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:0.01, Z:-0.07 [[ 9.99065394e-01 -4.32242871e-02 0.00000000e+00 6.75959277e+01] [ 4.32242871e-02 9.99065394e-01 0.00000000e+00 9.37137559e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79517749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters Centerline goodness : 0.994696 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:0.02, Z:-0.06 [[ 9.99133492e-01 -4.16204929e-02 0.00000000e+00 6.76576203e+01] [ 4.16204929e-02 9.99133492e-01 0.00000000e+00 1.64487290e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39500267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters Centerline goodness : 0.997873 with order 1 Centerline is valid? [True, True] Translation: X:67.72, Y:0.00, Z:-0.08 [[ 9.99032549e-01 -4.39768707e-02 0.00000000e+00 6.77187509e+01] [ 4.39768707e-02 9.99032549e-01 0.00000000e+00 1.57440431e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.74873139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:67.78, Y:0.00, Z:-0.05 [[ 9.98942991e-01 -4.59662952e-02 0.00000000e+00 6.77794312e+01] [ 4.59662952e-02 9.98942991e-01 0.00000000e+00 4.09364970e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01041771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:0.01, Z:-0.06 [[ 9.99283532e-01 -3.78473635e-02 0.00000000e+00 6.78401602e+01] [ 3.78473635e-02 9.99283532e-01 0.00000000e+00 1.43027596e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01588390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:0.01, Z:-0.06 [[ 9.99196187e-01 -4.00871477e-02 0.00000000e+00 6.79025111e+01] [ 4.00871477e-02 9.99196187e-01 0.00000000e+00 1.25504077e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83292572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:0.00, Z:-0.05 [[ 9.98870554e-01 -4.75143731e-02 0.00000000e+00 6.79631867e+01] [ 4.75143731e-02 9.98870554e-01 0.00000000e+00 4.26986215e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30777954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:0.01, Z:-0.06 [[ 9.99190820e-01 -4.02206998e-02 0.00000000e+00 6.80237170e+01] [ 4.02206998e-02 9.99190820e-01 0.00000000e+00 9.61312415e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73399087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:0.01, Z:-0.06 [[ 9.99357951e-01 -3.58285544e-02 0.00000000e+00 6.80832923e+01] [ 3.58285544e-02 9.99357951e-01 0.00000000e+00 5.44190585e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38923482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.14, Y:-0.00, Z:-0.05 [[ 9.99244227e-01 -3.88712685e-02 0.00000000e+00 6.81445735e+01] [ 3.88712685e-02 9.99244227e-01 0.00000000e+00 -1.85795601e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31992413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:0.01, Z:-0.05 [[ 9.99507565e-01 -3.13787866e-02 0.00000000e+00 6.82061230e+01] [ 3.13787866e-02 9.99507565e-01 0.00000000e+00 6.44749100e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13895256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:-0.00, Z:-0.05 [[ 9.99297123e-01 -3.74868039e-02 0.00000000e+00 6.82683794e+01] [ 3.74868039e-02 9.99297123e-01 0.00000000e+00 -4.05853254e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88149645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.01, Z:-0.05 [[ 9.99758653e-01 -2.19689913e-02 0.00000000e+00 6.83302242e+01] [ 2.19689913e-02 9.99758653e-01 0.00000000e+00 -8.60897916e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28225395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.00, Z:-0.05 [[ 9.99780879e-01 -2.09330935e-02 0.00000000e+00 6.83914850e+01] [ 2.09330935e-02 9.99780879e-01 0.00000000e+00 -2.86859446e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61660147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.45, Y:-0.00, Z:-0.05 [[ 9.99806890e-01 -1.96515175e-02 0.00000000e+00 6.84545116e+01] [ 1.96515175e-02 9.99806890e-01 0.00000000e+00 -2.12520571e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61157362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.01, Z:-0.05 [[ 9.99829485e-01 -1.84662365e-02 0.00000000e+00 6.85163466e+01] [ 1.84662365e-02 9.99829485e-01 0.00000000e+00 -7.59855080e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65590955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.01, Z:-0.05 [[ 9.99779599e-01 -2.09941069e-02 0.00000000e+00 6.85785872e+01] [ 2.09941069e-02 9.99779599e-01 0.00000000e+00 -6.61326965e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54485022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.00, Z:-0.03 [[ 9.99914383e-01 -1.30853721e-02 0.00000000e+00 6.86412162e+01] [ 1.30853721e-02 9.99914383e-01 0.00000000e+00 -3.03984108e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03607321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.01, Z:-0.04 [[ 9.99933459e-01 -1.15359662e-02 0.00000000e+00 6.87040784e+01] [ 1.15359662e-02 9.99933459e-01 0.00000000e+00 -5.51475325e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74965209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.01, Z:-0.05 [[ 9.99879272e-01 -1.55383925e-02 0.00000000e+00 6.87663074e+01] [ 1.55383925e-02 9.99879272e-01 0.00000000e+00 -1.34309000e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68093867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.01, Z:-0.04 [[ 9.99958112e-01 -9.15283591e-03 0.00000000e+00 6.88273582e+01] [ 9.15283591e-03 9.99958112e-01 0.00000000e+00 -5.62966048e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53201584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:-0.01, Z:-0.03 [[ 9.99941348e-01 -1.08305502e-02 0.00000000e+00 6.88909730e+01] [ 1.08305502e-02 9.99941348e-01 0.00000000e+00 -6.94479262e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83847996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.01, Z:-0.04 [[ 9.99997702e-01 2.14399511e-03 0.00000000e+00 6.89523436e+01] [-2.14399511e-03 9.99997702e-01 0.00000000e+00 -9.44134529e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35073566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.01, Z:-0.03 [[ 9.99998049e-01 1.97515935e-03 0.00000000e+00 6.90111436e+01] [-1.97515935e-03 9.99998049e-01 0.00000000e+00 -6.39142020e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32651585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:-0.01, Z:-0.05 [[ 9.99999805e-01 -6.24632970e-04 0.00000000e+00 6.90684445e+01] [ 6.24632970e-04 9.99999805e-01 0.00000000e+00 -1.13889975e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70512096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:69.13, Y:-0.01, Z:-0.04 [[ 9.99996511e-01 2.64150342e-03 0.00000000e+00 6.91293053e+01] [-2.64150342e-03 9.99996511e-01 0.00000000e+00 -9.83177652e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14314985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.19, Y:-0.01, Z:-0.02 [[ 9.99981679e-01 -6.05325642e-03 0.00000000e+00 6.91877708e+01] [ 6.05325642e-03 9.99981679e-01 0.00000000e+00 -8.32533314e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29408726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.01, Z:-0.02 [[ 9.99990852e-01 -4.27727642e-03 0.00000000e+00 6.92495062e+01] [ 4.27727642e-03 9.99990852e-01 0.00000000e+00 -8.36985694e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38793958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:69.31, Y:-0.01, Z:-0.04 [[ 9.99999613e-01 -8.80078468e-04 0.00000000e+00 6.93106416e+01] [ 8.80078468e-04 9.99999613e-01 0.00000000e+00 -1.00974278e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59203869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.01, Z:-0.04 [[ 9.99998035e-01 -1.98251277e-03 0.00000000e+00 6.93724486e+01] [ 1.98251277e-03 9.99998035e-01 0.00000000e+00 -1.30112891e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77269122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.02, Z:-0.05 [[ 9.99995517e-01 2.99438991e-03 0.00000000e+00 6.94335646e+01] [-2.99438991e-03 9.99995517e-01 0.00000000e+00 -1.79360801e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07437786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.02, Z:-0.05 [[ 9.99983024e-01 5.82676849e-03 0.00000000e+00 6.94917971e+01] [-5.82676849e-03 9.99983024e-01 0.00000000e+00 -2.00435475e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88414859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.01, Z:-0.03 [[ 9.99949207e-01 1.00789054e-02 0.00000000e+00 6.95509062e+01] [-1.00789054e-02 9.99949207e-01 0.00000000e+00 -1.45070068e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62499358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:-0.02, Z:-0.02 [[ 9.99889691e-01 1.48527952e-02 0.00000000e+00 6.96093107e+01] [-1.48527952e-02 9.99889691e-01 0.00000000e+00 -1.62851985e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22786011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:-0.02, Z:-0.02 [[ 9.99950418e-01 9.95801938e-03 0.00000000e+00 6.96678203e+01] [-9.95801938e-03 9.99950418e-01 0.00000000e+00 -2.05968805e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43610321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:-0.02, Z:-0.03 [[ 9.99993782e-01 3.52639293e-03 0.00000000e+00 6.97264320e+01] [-3.52639293e-03 9.99993782e-01 0.00000000e+00 -2.40935251e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48932413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:-0.02, Z:-0.04 [[ 9.99992299e-01 3.92458003e-03 0.00000000e+00 6.97845054e+01] [-3.92458003e-03 9.99992299e-01 0.00000000e+00 -2.43524010e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65633907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:-0.03, Z:-0.03 [[ 9.99989742e-01 4.52952191e-03 0.00000000e+00 6.98418504e+01] [-4.52952191e-03 9.99989742e-01 0.00000000e+00 -2.82713214e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47873678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:-0.03, Z:-0.05 [[ 9.99985546e-01 5.37664607e-03 0.00000000e+00 6.99005328e+01] [-5.37664607e-03 9.99985546e-01 0.00000000e+00 -3.01469538e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63599386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:-0.03, Z:-0.05 [[ 9.99994225e-01 3.39855470e-03 0.00000000e+00 6.99590276e+01] [-3.39855470e-03 9.99994225e-01 0.00000000e+00 -3.05457246e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64944794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.03, Z:-0.04 [[ 9.99998930e-01 -1.46283757e-03 0.00000000e+00 7.00169377e+01] [ 1.46283757e-03 9.99998930e-01 0.00000000e+00 -3.00835822e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22085543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:-0.03, Z:-0.05 [[ 9.99999037e-01 -1.38799046e-03 0.00000000e+00 7.00789031e+01] [ 1.38799046e-03 9.99999037e-01 0.00000000e+00 -3.27900343e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74214134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:-0.04, Z:-0.05 [[ 9.99997765e-01 -2.11440765e-03 0.00000000e+00 7.01412834e+01] [ 2.11440765e-03 9.99997765e-01 0.00000000e+00 -3.73622376e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81298247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters Centerline goodness : 0.999882 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:-0.04, Z:-0.03 [[ 9.99999991e-01 1.30605614e-04 0.00000000e+00 7.02021169e+01] [-1.30605614e-04 9.99999991e-01 0.00000000e+00 -3.55704985e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47920369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:-0.04, Z:-0.03 [[ 9.99999994e-01 -1.08017806e-04 0.00000000e+00 7.02621877e+01] [ 1.08017806e-04 9.99999994e-01 0.00000000e+00 -3.60144881e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38214767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:-0.04, Z:-0.04 [[ 9.99999269e-01 -1.20923694e-03 0.00000000e+00 7.03228379e+01] [ 1.20923694e-03 9.99999269e-01 0.00000000e+00 -4.10557452e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81432444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:-0.05, Z:-0.05 [[ 9.99999054e-01 -1.37555663e-03 0.00000000e+00 7.03845464e+01] [ 1.37555663e-03 9.99999054e-01 0.00000000e+00 -4.52223774e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59073340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:70.44, Y:-0.05, Z:-0.05 [[ 9.99999790e-01 6.48324129e-04 0.00000000e+00 7.04446777e+01] [-6.48324129e-04 9.99999790e-01 0.00000000e+00 -4.79761260e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20716979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.04, Z:-0.04 [[ 9.99990791e-01 4.29159045e-03 0.00000000e+00 7.05032406e+01] [-4.29159045e-03 9.99990791e-01 0.00000000e+00 -4.26139888e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25033213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.05, Z:-0.05 [[ 9.99966073e-01 8.23731098e-03 0.00000000e+00 7.05618310e+01] [-8.23731098e-03 9.99966073e-01 0.00000000e+00 -4.79732269e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92595840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.05, Z:-0.06 [[ 9.99958921e-01 9.06403889e-03 0.00000000e+00 7.06191376e+01] [-9.06403889e-03 9.99958921e-01 0.00000000e+00 -5.00191198e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58097056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.05, Z:-0.05 [[ 9.99959867e-01 8.95908662e-03 0.00000000e+00 7.06783144e+01] [-8.95908662e-03 9.99959867e-01 0.00000000e+00 -4.96013190e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29304607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.05, Z:-0.04 [[ 9.99928248e-01 1.19790840e-02 0.00000000e+00 7.07365807e+01] [-1.19790840e-02 9.99928248e-01 0.00000000e+00 -4.60024212e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93743954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.05, Z:-0.05 [[ 9.99901432e-01 1.40401433e-02 0.00000000e+00 7.07944342e+01] [-1.40401433e-02 9.99901432e-01 0.00000000e+00 -4.74951640e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57596939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.05, Z:-0.06 [[ 9.99888622e-01 1.49246163e-02 0.00000000e+00 7.08524754e+01] [-1.49246163e-02 9.99888622e-01 0.00000000e+00 -5.08131331e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91603847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.04, Z:-0.04 [[ 9.99871392e-01 1.60374578e-02 0.00000000e+00 7.09108128e+01] [-1.60374578e-02 9.99871392e-01 0.00000000e+00 -4.26609638e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92136438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.97, Y:-0.04, Z:-0.04 [[ 9.99871649e-01 1.60213792e-02 0.00000000e+00 7.09699109e+01] [-1.60213792e-02 9.99871649e-01 0.00000000e+00 -4.42810390e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86543247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:71.03, Y:-0.05, Z:-0.04 [[ 9.99794578e-01 2.02682228e-02 0.00000000e+00 7.10293695e+01] [-2.02682228e-02 9.99794578e-01 0.00000000e+00 -5.05962818e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35913519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:71.09, Y:-0.04, Z:-0.02 [[ 9.99719749e-01 2.36732488e-02 0.00000000e+00 7.10876015e+01] [-2.36732488e-02 9.99719749e-01 0.00000000e+00 -4.17210327e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25080044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.15, Y:-0.05, Z:-0.04 [[ 9.99708814e-01 2.41306447e-02 0.00000000e+00 7.11457483e+01] [-2.41306447e-02 9.99708814e-01 0.00000000e+00 -4.76120015e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53258138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.20, Y:-0.05, Z:-0.04 [[ 9.99668273e-01 2.57554511e-02 0.00000000e+00 7.12031116e+01] [-2.57554511e-02 9.99668273e-01 0.00000000e+00 -4.95417191e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89260476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:71.26, Y:-0.05, Z:-0.03 [[ 9.99604732e-01 2.81137089e-02 0.00000000e+00 7.12613532e+01] [-2.81137089e-02 9.99604732e-01 0.00000000e+00 -4.59423584e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86817104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.32, Y:-0.05, Z:-0.04 [[ 9.99559200e-01 2.96884941e-02 0.00000000e+00 7.13185532e+01] [-2.96884941e-02 9.99559200e-01 0.00000000e+00 -5.10333516e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14110609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:71.38, Y:-0.05, Z:-0.04 [[ 9.99633686e-01 2.70646340e-02 0.00000000e+00 7.13759432e+01] [-2.70646340e-02 9.99633686e-01 0.00000000e+00 -5.10011705e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04413177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.05, Z:-0.04 [[ 9.99620658e-01 2.75416085e-02 0.00000000e+00 7.14345271e+01] [-2.75416085e-02 9.99620658e-01 0.00000000e+00 -5.14953162e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84694736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.05, Z:-0.03 [[ 9.99644216e-01 2.66728568e-02 0.00000000e+00 7.14932828e+01] [-2.66728568e-02 9.99644216e-01 0.00000000e+00 -5.06727600e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16104517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.05, Z:-0.02 [[ 9.99804330e-01 1.97813481e-02 0.00000000e+00 7.15518830e+01] [-1.97813481e-02 9.99804330e-01 0.00000000e+00 -5.27229393e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43485330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.05, Z:-0.03 [[ 9.99698038e-01 2.45730239e-02 0.00000000e+00 7.16094238e+01] [-2.45730239e-02 9.99698038e-01 0.00000000e+00 -5.20878370e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32770704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:-0.05, Z:-0.03 [[ 9.99727448e-01 2.33458531e-02 0.00000000e+00 7.16682950e+01] [-2.33458531e-02 9.99727448e-01 0.00000000e+00 -5.02280053e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78975934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:-0.06, Z:-0.03 [[ 9.99791443e-01 2.04223073e-02 0.00000000e+00 7.17258444e+01] [-2.04223073e-02 9.99791443e-01 0.00000000e+00 -5.66766233e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87050907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.06, Z:-0.04 [[ 9.99630616e-01 2.71777802e-02 0.00000000e+00 7.17826668e+01] [-2.71777802e-02 9.99630616e-01 0.00000000e+00 -5.56868676e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59400461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.05, Z:-0.03 [[ 9.99597976e-01 2.83528960e-02 0.00000000e+00 7.18410989e+01] [-2.83528960e-02 9.99597976e-01 0.00000000e+00 -5.44687772e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69314258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:71.90, Y:-0.05, Z:-0.02 [[ 9.99576422e-01 2.91028650e-02 0.00000000e+00 7.19001321e+01] [-2.91028650e-02 9.99576422e-01 0.00000000e+00 -5.38015649e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29822001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:-0.06, Z:-0.03 [[ 9.99588364e-01 2.86897747e-02 0.00000000e+00 7.19577492e+01] [-2.86897747e-02 9.99588364e-01 0.00000000e+00 -5.83792585e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92353167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:72.02, Y:-0.06, Z:-0.03 [[ 9.99598659e-01 2.83288004e-02 0.00000000e+00 7.20156812e+01] [-2.83288004e-02 9.99598659e-01 0.00000000e+00 -5.85571232e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17851093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:-0.06, Z:-0.03 [[ 9.99572941e-01 2.92221838e-02 0.00000000e+00 7.20738513e+01] [-2.92221838e-02 9.99572941e-01 0.00000000e+00 -5.57775077e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50084027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.06, Z:-0.03 [[ 9.99568231e-01 2.93828597e-02 0.00000000e+00 7.21304075e+01] [-2.93828597e-02 9.99568231e-01 0.00000000e+00 -5.90359294e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21267087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.06, Z:-0.04 [[ 9.99503056e-01 3.15220696e-02 0.00000000e+00 7.21886436e+01] [-3.15220696e-02 9.99503056e-01 0.00000000e+00 -6.18218950e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50572164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:72.25, Y:-0.06, Z:-0.02 [[ 9.99439079e-01 3.34892227e-02 0.00000000e+00 7.22476905e+01] [-3.34892227e-02 9.99439079e-01 0.00000000e+00 -5.76585663e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89937129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.30, Y:-0.06, Z:-0.02 [[ 9.99410733e-01 3.43247313e-02 0.00000000e+00 7.23049708e+01] [-3.43247313e-02 9.99410733e-01 0.00000000e+00 -6.09154704e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41880454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:72.36, Y:-0.06, Z:-0.03 [[ 9.99423057e-01 3.39639863e-02 0.00000000e+00 7.23621954e+01] [-3.39639863e-02 9.99423057e-01 0.00000000e+00 -6.32172735e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62214949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:-0.06, Z:-0.02 [[ 9.99529462e-01 3.06733380e-02 0.00000000e+00 7.24194547e+01] [-3.06733380e-02 9.99529462e-01 0.00000000e+00 -5.98387538e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93102124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:72.48, Y:-0.06, Z:-0.01 [[ 9.99524444e-01 3.08364276e-02 0.00000000e+00 7.24773781e+01] [-3.08364276e-02 9.99524444e-01 0.00000000e+00 -5.88821812e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43293710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.53, Y:-0.06, Z:-0.02 [[ 9.99541223e-01 3.02876638e-02 0.00000000e+00 7.25341091e+01] [-3.02876638e-02 9.99541223e-01 0.00000000e+00 -6.08741164e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61463867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:-0.07, Z:-0.03 [[ 9.99474327e-01 3.24201977e-02 0.00000000e+00 7.25921701e+01] [-3.24201977e-02 9.99474327e-01 0.00000000e+00 -6.65105810e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58174823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:-0.07, Z:-0.02 [[ 9.99335555e-01 3.64478953e-02 0.00000000e+00 7.26492738e+01] [-3.64478953e-02 9.99335555e-01 0.00000000e+00 -6.66750303e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30260061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.71, Y:-0.07, Z:-0.02 [[ 9.99280641e-01 3.79236170e-02 0.00000000e+00 7.27071683e+01] [-3.79236170e-02 9.99280641e-01 0.00000000e+00 -6.52549446e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01383783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.07, Z:-0.02 [[ 9.99388505e-01 3.49659386e-02 0.00000000e+00 7.27652679e+01] [-3.49659386e-02 9.99388505e-01 0.00000000e+00 -6.55568991e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24114823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.07, Z:-0.04 [[ 9.99512149e-01 3.12324127e-02 0.00000000e+00 7.28218807e+01] [-3.12324127e-02 9.99512149e-01 0.00000000e+00 -7.24457538e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64258048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:-0.07, Z:-0.03 [[ 9.99573150e-01 2.92150289e-02 0.00000000e+00 7.28793767e+01] [-2.92150289e-02 9.99573150e-01 0.00000000e+00 -7.17005189e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98351069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:-0.07, Z:-0.04 [[ 9.99644121e-01 2.66764192e-02 0.00000000e+00 7.29380801e+01] [-2.66764192e-02 9.99644121e-01 0.00000000e+00 -7.29573943e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52046800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:73.00, Y:-0.07, Z:-0.04 [[ 9.99736577e-01 2.29516294e-02 0.00000000e+00 7.29972559e+01] [-2.29516294e-02 9.99736577e-01 0.00000000e+00 -7.39682882e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17278800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:-0.08, Z:-0.04 [[ 9.99751155e-01 2.23075738e-02 0.00000000e+00 7.30561745e+01] [-2.23075738e-02 9.99751155e-01 0.00000000e+00 -7.53158120e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35233656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.08, Z:-0.04 [[ 9.99711533e-01 2.40177151e-02 0.00000000e+00 7.31148385e+01] [-2.40177151e-02 9.99711533e-01 0.00000000e+00 -7.64785892e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98549454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:73.17, Y:-0.08, Z:-0.03 [[ 9.99661784e-01 2.60061027e-02 0.00000000e+00 7.31732512e+01] [-2.60061027e-02 9.99661784e-01 0.00000000e+00 -7.66230755e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37375065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.23, Y:-0.08, Z:-0.03 [[ 9.99677981e-01 2.53758776e-02 0.00000000e+00 7.32308152e+01] [-2.53758776e-02 9.99677981e-01 0.00000000e+00 -7.75622458e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11137180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.29, Y:-0.09, Z:-0.03 [[ 9.99733197e-01 2.30983656e-02 0.00000000e+00 7.32885336e+01] [-2.30983656e-02 9.99733197e-01 0.00000000e+00 -8.72136130e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35979135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters Centerline goodness : 0.999929 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.08, Z:-0.04 [[ 9.99802276e-01 1.98848958e-02 0.00000000e+00 7.33468056e+01] [-1.98848958e-02 9.99802276e-01 0.00000000e+00 -8.21407019e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61943885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.09, Z:-0.05 [[ 9.99842933e-01 1.77231020e-02 0.00000000e+00 7.34052817e+01] [-1.77231020e-02 9.99842933e-01 0.00000000e+00 -8.63845473e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58077398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:73.46, Y:-0.09, Z:-0.05 [[ 9.99819721e-01 1.89874932e-02 0.00000000e+00 7.34636693e+01] [-1.89874932e-02 9.99819721e-01 0.00000000e+00 -9.02322306e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81281640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:73.52, Y:-0.09, Z:-0.04 [[ 9.99782876e-01 2.08374861e-02 0.00000000e+00 7.35217099e+01] [-2.08374861e-02 9.99782876e-01 0.00000000e+00 -8.50518332e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67731450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.58, Y:-0.09, Z:-0.03 [[ 9.99846439e-01 1.75242337e-02 0.00000000e+00 7.35805033e+01] [-1.75242337e-02 9.99846439e-01 0.00000000e+00 -9.27507299e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49283245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:73.64, Y:-0.09, Z:-0.05 [[ 9.99691729e-01 2.48283571e-02 0.00000000e+00 7.36388763e+01] [-2.48283571e-02 9.99691729e-01 0.00000000e+00 -9.16124220e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59525854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:-0.09, Z:-0.04 [[ 9.99601688e-01 2.82217253e-02 0.00000000e+00 7.36964316e+01] [-2.82217253e-02 9.99601688e-01 0.00000000e+00 -9.04639653e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47810067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:-0.09, Z:-0.04 [[ 9.99643412e-01 2.67029630e-02 0.00000000e+00 7.37548454e+01] [-2.67029630e-02 9.99643412e-01 0.00000000e+00 -9.37636963e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62101245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:-0.10, Z:-0.04 [[ 9.99533538e-01 3.05402397e-02 0.00000000e+00 7.38119769e+01] [-3.05402397e-02 9.99533538e-01 0.00000000e+00 -9.75842755e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15063309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.10, Z:-0.04 [[ 9.99415811e-01 3.41765396e-02 0.00000000e+00 7.38696176e+01] [-3.41765396e-02 9.99415811e-01 0.00000000e+00 -9.56441321e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61411596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.10, Z:-0.04 [[ 9.99250474e-01 3.87103347e-02 0.00000000e+00 7.39282965e+01] [-3.87103347e-02 9.99250474e-01 0.00000000e+00 -9.71402005e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60937587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:-0.10, Z:-0.03 [[ 9.99204759e-01 3.98729298e-02 0.00000000e+00 7.39860097e+01] [-3.98729298e-02 9.99204759e-01 0.00000000e+00 -9.56667333e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33155639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.04, Y:-0.10, Z:-0.04 [[ 9.98941902e-01 4.59899628e-02 0.00000000e+00 7.40442192e+01] [-4.59899628e-02 9.98941902e-01 0.00000000e+00 -1.03034483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07940585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:-0.10, Z:-0.03 [[ 9.99156385e-01 4.10672333e-02 0.00000000e+00 7.41008440e+01] [-4.10672333e-02 9.99156385e-01 0.00000000e+00 -9.64237746e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49949568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.10, Z:-0.04 [[ 9.98921110e-01 4.64393698e-02 0.00000000e+00 7.41590688e+01] [-4.64393698e-02 9.98921110e-01 0.00000000e+00 -9.79903714e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62967808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.10, Z:-0.04 [[ 9.99210745e-01 3.97226296e-02 0.00000000e+00 7.42171718e+01] [-3.97226296e-02 9.99210745e-01 0.00000000e+00 -9.53619517e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98770580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.09, Z:-0.03 [[ 9.99076848e-01 4.29587237e-02 0.00000000e+00 7.42758348e+01] [-4.29587237e-02 9.99076848e-01 0.00000000e+00 -9.31335886e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75208264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:74.33, Y:-0.09, Z:-0.03 [[ 9.99434155e-01 3.36358376e-02 0.00000000e+00 7.43338576e+01] [-3.36358376e-02 9.99434155e-01 0.00000000e+00 -8.93554202e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15520378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.39, Y:-0.10, Z:-0.04 [[ 9.99312758e-01 3.70676717e-02 0.00000000e+00 7.43923843e+01] [-3.70676717e-02 9.99312758e-01 0.00000000e+00 -9.97406639e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29348074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:-0.09, Z:-0.02 [[ 9.99452589e-01 3.30835603e-02 0.00000000e+00 7.44505125e+01] [-3.30835603e-02 9.99452589e-01 0.00000000e+00 -9.08693197e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17402036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:-0.09, Z:-0.02 [[ 9.99253390e-01 3.86349913e-02 0.00000000e+00 7.45077363e+01] [-3.86349913e-02 9.99253390e-01 0.00000000e+00 -8.95112959e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22248632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.56, Y:-0.09, Z:-0.03 [[ 9.99341518e-01 3.62840244e-02 0.00000000e+00 7.45648295e+01] [-3.62840244e-02 9.99341518e-01 0.00000000e+00 -9.30527119e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23414543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.62, Y:-0.09, Z:-0.03 [[ 9.99256070e-01 3.85656090e-02 0.00000000e+00 7.46225239e+01] [-3.85656090e-02 9.99256070e-01 0.00000000e+00 -9.39976692e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21197848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.68, Y:-0.09, Z:-0.03 [[ 9.99296506e-01 3.75032378e-02 0.00000000e+00 7.46792427e+01] [-3.75032378e-02 9.99296506e-01 0.00000000e+00 -9.25709171e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25033231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.74, Y:-0.09, Z:-0.02 [[ 9.99236283e-01 3.90749300e-02 0.00000000e+00 7.47377521e+01] [-3.90749300e-02 9.99236283e-01 0.00000000e+00 -8.75903747e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40890414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.80, Y:-0.09, Z:-0.03 [[ 9.99346128e-01 3.61568227e-02 0.00000000e+00 7.47956990e+01] [-3.61568227e-02 9.99346128e-01 0.00000000e+00 -9.33376026e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98443099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:-0.10, Z:-0.04 [[ 9.99410143e-01 3.43418904e-02 0.00000000e+00 7.48529806e+01] [-3.43418904e-02 9.99410143e-01 0.00000000e+00 -9.52907528e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83525643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:-0.09, Z:-0.03 [[ 9.99400355e-01 3.46255645e-02 0.00000000e+00 7.49116276e+01] [-3.46255645e-02 9.99400355e-01 0.00000000e+00 -9.20605588e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66236305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.97, Y:-0.09, Z:-0.02 [[ 9.99328553e-01 3.66393788e-02 0.00000000e+00 7.49690710e+01] [-3.66393788e-02 9.99328553e-01 0.00000000e+00 -8.88939381e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47048633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.09, Z:-0.03 [[ 9.99567033e-01 2.94235781e-02 0.00000000e+00 7.50269730e+01] [-2.94235781e-02 9.99567033e-01 0.00000000e+00 -8.71041843e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78141292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.10, Z:-0.03 [[ 9.99286174e-01 3.77775484e-02 0.00000000e+00 7.50853268e+01] [-3.77775484e-02 9.99286174e-01 0.00000000e+00 -9.51302447e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33791943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:75.14, Y:-0.09, Z:-0.04 [[ 9.99220831e-01 3.94680999e-02 0.00000000e+00 7.51427485e+01] [-3.94680999e-02 9.99220831e-01 0.00000000e+00 -8.95219479e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59678494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.20, Y:-0.09, Z:-0.03 [[ 9.99169172e-01 4.07549551e-02 0.00000000e+00 7.52008935e+01] [-4.07549551e-02 9.99169172e-01 0.00000000e+00 -9.15570080e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48363754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:75.26, Y:-0.09, Z:-0.02 [[ 9.99414702e-01 3.42089592e-02 0.00000000e+00 7.52581867e+01] [-3.42089592e-02 9.99414702e-01 0.00000000e+00 -9.11813398e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36621067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:-0.09, Z:-0.03 [[ 9.99116332e-01 4.20304031e-02 0.00000000e+00 7.53165071e+01] [-4.20304031e-02 9.99116332e-01 0.00000000e+00 -8.93635846e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12195510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.37, Y:-0.09, Z:-0.03 [[ 9.99281674e-01 3.78963748e-02 0.00000000e+00 7.53750000e+01] [-3.78963748e-02 9.99281674e-01 0.00000000e+00 -9.29698483e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02264122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:75.43, Y:-0.09, Z:-0.02 [[ 9.99467806e-01 3.26206084e-02 0.00000000e+00 7.54331153e+01] [-3.26206084e-02 9.99467806e-01 0.00000000e+00 -8.76856521e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06311207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:-0.09, Z:-0.03 [[ 9.99097691e-01 4.24712200e-02 0.00000000e+00 7.54904383e+01] [-4.24712200e-02 9.99097691e-01 0.00000000e+00 -8.93936287e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57784232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.09, Z:-0.03 [[ 9.99137894e-01 4.15146730e-02 0.00000000e+00 7.55490179e+01] [-4.15146730e-02 9.99137894e-01 0.00000000e+00 -9.07933606e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61531690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.09, Z:-0.03 [[ 9.99194119e-01 4.01386753e-02 0.00000000e+00 7.56066551e+01] [-4.01386753e-02 9.99194119e-01 0.00000000e+00 -9.09953874e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70317239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters Centerline goodness : 0.999881 with order 1 Centerline is valid? [True, True] Translation: X:75.66, Y:-0.10, Z:-0.04 [[ 9.99161436e-01 4.09441565e-02 0.00000000e+00 7.56642618e+01] [-4.09441565e-02 9.99161436e-01 0.00000000e+00 -9.62321953e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89127311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.72, Y:-0.09, Z:-0.01 [[ 9.99249928e-01 3.87244260e-02 0.00000000e+00 7.57233203e+01] [-3.87244260e-02 9.99249928e-01 0.00000000e+00 -8.93041242e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41697931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:75.78, Y:-0.09, Z:-0.03 [[ 9.99055037e-01 4.34629991e-02 0.00000000e+00 7.57819592e+01] [-4.34629991e-02 9.99055037e-01 0.00000000e+00 -9.40472929e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45082222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.84, Y:-0.10, Z:-0.03 [[ 9.99186358e-01 4.03314113e-02 0.00000000e+00 7.58401554e+01] [-4.03314113e-02 9.99186358e-01 0.00000000e+00 -9.64710644e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73150874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.10, Z:-0.02 [[ 9.99182238e-01 4.04333516e-02 0.00000000e+00 7.58982193e+01] [-4.04333516e-02 9.99182238e-01 0.00000000e+00 -9.51061765e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28186269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:75.96, Y:-0.09, Z:-0.02 [[ 9.98893966e-01 4.70196261e-02 0.00000000e+00 7.59570081e+01] [-4.70196261e-02 9.98893966e-01 0.00000000e+00 -9.13990782e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56028496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.02, Y:-0.10, Z:-0.02 [[ 9.98932980e-01 4.61833396e-02 0.00000000e+00 7.60157105e+01] [-4.61833396e-02 9.98932980e-01 0.00000000e+00 -9.63383409e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49421674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.07, Y:-0.10, Z:-0.03 [[ 9.98837132e-01 4.82118665e-02 0.00000000e+00 7.60745148e+01] [-4.82118665e-02 9.98837132e-01 0.00000000e+00 -9.80412287e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99536508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:76.13, Y:-0.10, Z:-0.03 [[ 9.98731632e-01 5.03500441e-02 0.00000000e+00 7.61324656e+01] [-5.03500441e-02 9.98731632e-01 0.00000000e+00 -9.74287613e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07788048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:76.19, Y:-0.11, Z:-0.03 [[ 9.98487378e-01 5.49814133e-02 0.00000000e+00 7.61912834e+01] [-5.49814133e-02 9.98487378e-01 0.00000000e+00 -1.05028230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87661945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:76.25, Y:-0.10, Z:-0.03 [[ 9.98530611e-01 5.41905872e-02 0.00000000e+00 7.62487311e+01] [-5.41905872e-02 9.98530611e-01 0.00000000e+00 -1.01202288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28499591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.31, Y:-0.10, Z:-0.03 [[ 9.98449272e-01 5.56691242e-02 0.00000000e+00 7.63076318e+01] [-5.56691242e-02 9.98449272e-01 0.00000000e+00 -1.01012561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67327150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.37, Y:-0.11, Z:-0.02 [[ 9.98569179e-01 5.34751871e-02 0.00000000e+00 7.63660231e+01] [-5.34751871e-02 9.98569179e-01 0.00000000e+00 -1.07247758e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16515756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:-0.10, Z:-0.03 [[ 9.98863419e-01 4.76641379e-02 0.00000000e+00 7.64248843e+01] [-4.76641379e-02 9.98863419e-01 0.00000000e+00 -1.03350025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60228186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.48, Y:-0.11, Z:-0.02 [[ 9.98864557e-01 4.76402927e-02 0.00000000e+00 7.64819300e+01] [-4.76402927e-02 9.98864557e-01 0.00000000e+00 -1.07501763e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22813354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:-0.10, Z:-0.03 [[ 9.99054238e-01 4.34813643e-02 0.00000000e+00 7.65410908e+01] [-4.34813643e-02 9.99054238e-01 0.00000000e+00 -1.02776881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72763079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:-0.11, Z:-0.03 [[ 9.99147130e-01 4.12917966e-02 0.00000000e+00 7.65989706e+01] [-4.12917966e-02 9.99147130e-01 0.00000000e+00 -1.05292478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02044074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:-0.10, Z:-0.02 [[ 9.99053739e-01 4.34928368e-02 0.00000000e+00 7.66562907e+01] [-4.34928368e-02 9.99053739e-01 0.00000000e+00 -1.00413893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07785604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-0.10, Z:-0.03 [[ 9.99015724e-01 4.43574444e-02 0.00000000e+00 7.67142945e+01] [-4.43574444e-02 9.99015724e-01 0.00000000e+00 -1.01487338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80019477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-0.11, Z:-0.03 [[ 9.99070173e-01 4.31136727e-02 0.00000000e+00 7.67731880e+01] [-4.31136727e-02 9.99070173e-01 0.00000000e+00 -1.10472898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19063694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-0.11, Z:-0.04 [[ 9.98991143e-01 4.49076404e-02 0.00000000e+00 7.68331108e+01] [-4.49076404e-02 9.98991143e-01 0.00000000e+00 -1.07161711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18057190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-0.10, Z:-0.02 [[ 9.98782881e-01 4.93229879e-02 0.00000000e+00 7.68918684e+01] [-4.93229879e-02 9.98782881e-01 0.00000000e+00 -1.00251306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44474352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.10, Z:-0.03 [[ 9.98604037e-01 5.28202393e-02 0.00000000e+00 7.69492905e+01] [-5.28202393e-02 9.98604037e-01 0.00000000e+00 -1.01777882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68871431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:-0.10, Z:-0.03 [[ 9.98420612e-01 5.61807859e-02 0.00000000e+00 7.70077476e+01] [-5.61807859e-02 9.98420612e-01 0.00000000e+00 -1.02795614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90929162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-0.10, Z:-0.03 [[ 9.98240530e-01 5.92945486e-02 0.00000000e+00 7.70649980e+01] [-5.92945486e-02 9.98240530e-01 0.00000000e+00 -1.03130736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99445803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:-0.10, Z:-0.01 [[ 9.98102446e-01 6.15752200e-02 0.00000000e+00 7.71239840e+01] [-6.15752200e-02 9.98102446e-01 0.00000000e+00 -1.03008820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06330872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:77.18, Y:-0.10, Z:-0.02 [[ 9.98011622e-01 6.30301739e-02 0.00000000e+00 7.71826667e+01] [-6.30301739e-02 9.98011622e-01 0.00000000e+00 -1.01091704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00546075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.24, Y:-0.11, Z:-0.02 [[ 9.98399300e-01 5.65582720e-02 0.00000000e+00 7.72406482e+01] [-5.65582720e-02 9.98399300e-01 0.00000000e+00 -1.09464095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11563488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.30, Y:-0.11, Z:-0.02 [[ 9.98392225e-01 5.66830202e-02 0.00000000e+00 7.72989695e+01] [-5.66830202e-02 9.98392225e-01 0.00000000e+00 -1.09362394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76529341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:77.36, Y:-0.10, Z:-0.02 [[ 9.98620944e-01 5.24996123e-02 0.00000000e+00 7.73578911e+01] [-5.24996123e-02 9.98620944e-01 0.00000000e+00 -1.04377565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58562351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:-0.12, Z:-0.02 [[ 9.98944667e-01 4.59298704e-02 0.00000000e+00 7.74175485e+01] [-4.59298704e-02 9.98944667e-01 0.00000000e+00 -1.15927808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56989624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:-0.12, Z:-0.02 [[ 9.98752642e-01 4.99315498e-02 0.00000000e+00 7.74763757e+01] [-4.99315498e-02 9.98752642e-01 0.00000000e+00 -1.17076945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19262496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.53, Y:-0.12, Z:-0.02 [[ 9.98658827e-01 5.17739996e-02 0.00000000e+00 7.75341630e+01] [-5.17739996e-02 9.98658827e-01 0.00000000e+00 -1.20667491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88852897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.59, Y:-0.12, Z:-0.01 [[ 9.98360729e-01 5.72350854e-02 0.00000000e+00 7.75930596e+01] [-5.72350854e-02 9.98360729e-01 0.00000000e+00 -1.23909035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17095013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.65, Y:-0.12, Z:-0.01 [[ 9.98157173e-01 6.06816196e-02 0.00000000e+00 7.76506360e+01] [-6.06816196e-02 9.98157173e-01 0.00000000e+00 -1.24700201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29116340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.71, Y:-0.13, Z:-0.02 [[ 9.97684032e-01 6.80189054e-02 0.00000000e+00 7.77096057e+01] [-6.80189054e-02 9.97684032e-01 0.00000000e+00 -1.28478493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43963744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.77, Y:-0.13, Z:-0.01 [[ 9.97057234e-01 7.66607592e-02 0.00000000e+00 7.77678930e+01] [-7.66607592e-02 9.97057234e-01 0.00000000e+00 -1.25917704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15945931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.83, Y:-0.12, Z:-0.01 [[ 9.96276197e-01 8.62191399e-02 0.00000000e+00 7.78257665e+01] [-8.62191399e-02 9.96276197e-01 0.00000000e+00 -1.23990597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08921461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:-0.12, Z:-0.01 [[ 9.95417152e-01 9.56278955e-02 0.00000000e+00 7.78834465e+01] [-9.56278955e-02 9.95417152e-01 0.00000000e+00 -1.16704295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08798264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:-0.11, Z:-0.00 [[ 9.95493265e-01 9.48322649e-02 0.00000000e+00 7.79409900e+01] [-9.48322649e-02 9.95493265e-01 0.00000000e+00 -1.12600284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85448744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.00, Y:-0.11, Z:-0.01 [[ 9.95555503e-01 9.41766420e-02 0.00000000e+00 7.79988671e+01] [-9.41766420e-02 9.95555503e-01 0.00000000e+00 -1.08107061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94857782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:-0.11, Z:-0.01 [[ 9.96120609e-01 8.79984777e-02 0.00000000e+00 7.80573842e+01] [-8.79984777e-02 9.96120609e-01 0.00000000e+00 -1.05933139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03257407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:-0.10, Z:-0.00 [[ 9.97018937e-01 7.71572322e-02 0.00000000e+00 7.81142158e+01] [-7.71572322e-02 9.97018937e-01 0.00000000e+00 -1.04979367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87828414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:-0.11, Z:-0.01 [[ 9.97448201e-01 7.13938776e-02 0.00000000e+00 7.81716130e+01] [-7.13938776e-02 9.97448201e-01 0.00000000e+00 -1.05150452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17906936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:-0.11, Z:-0.01 [[ 9.97686335e-01 6.79851244e-02 0.00000000e+00 7.82281451e+01] [-6.79851244e-02 9.97686335e-01 0.00000000e+00 -1.08036670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03054943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:-0.10, Z:-0.00 [[ 9.97769608e-01 6.67518499e-02 0.00000000e+00 7.82863533e+01] [-6.67518499e-02 9.97769608e-01 0.00000000e+00 -1.04726550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90884626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:-0.10, Z:-0.01 [[ 9.97368932e-01 7.24928578e-02 0.00000000e+00 7.83436401e+01] [-7.24928578e-02 9.97368932e-01 0.00000000e+00 -1.04762976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09088695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.11, Z:-0.01 [[ 9.97325746e-01 7.30845806e-02 0.00000000e+00 7.84023737e+01] [-7.30845806e-02 9.97325746e-01 0.00000000e+00 -1.07503479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91124045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:-0.10, Z:-0.00 [[ 9.97245122e-01 7.41765850e-02 0.00000000e+00 7.84603552e+01] [-7.41765850e-02 9.97245122e-01 0.00000000e+00 -1.04674977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07150945e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters Centerline goodness : 0.999879 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:-0.10, Z:0.00 [[ 9.97247734e-01 7.41414630e-02 0.00000000e+00 7.85187211e+01] [-7.41414630e-02 9.97247734e-01 0.00000000e+00 -1.04398486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29456267e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:78.58, Y:-0.11, Z:-0.01 [[ 9.97253848e-01 7.40591803e-02 0.00000000e+00 7.85761903e+01] [-7.40591803e-02 9.97253848e-01 0.00000000e+00 -1.07312324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25327218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:-0.11, Z:-0.01 [[ 9.97314663e-01 7.32356726e-02 0.00000000e+00 7.86336340e+01] [-7.32356726e-02 9.97314663e-01 0.00000000e+00 -1.11134784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86695463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:-0.10, Z:0.01 [[ 9.97397380e-01 7.21003930e-02 0.00000000e+00 7.86917631e+01] [-7.21003930e-02 9.97397380e-01 0.00000000e+00 -1.04790008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71847789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:-0.11, Z:0.00 [[ 9.97666629e-01 6.82736896e-02 0.00000000e+00 7.87497938e+01] [-6.82736896e-02 9.97666629e-01 0.00000000e+00 -1.09530419e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08108066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:-0.11, Z:0.00 [[ 9.98201137e-01 5.99540675e-02 0.00000000e+00 7.88061123e+01] [-5.99540675e-02 9.98201137e-01 0.00000000e+00 -1.08072900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50525660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:-0.11, Z:-0.01 [[ 9.98565490e-01 5.35440159e-02 0.00000000e+00 7.88643628e+01] [-5.35440159e-02 9.98565490e-01 0.00000000e+00 -1.10898717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45021390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:78.92, Y:-0.11, Z:-0.00 [[ 9.98768273e-01 4.96179157e-02 0.00000000e+00 7.89232224e+01] [-4.96179157e-02 9.98768273e-01 0.00000000e+00 -1.11703609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33551890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:78.98, Y:-0.11, Z:0.01 [[ 9.99032050e-01 4.39882181e-02 0.00000000e+00 7.89821775e+01] [-4.39882181e-02 9.99032050e-01 0.00000000e+00 -1.07233385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02778970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters Centerline goodness : 0.999928 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:-0.11, Z:-0.00 [[ 9.99294011e-01 3.75696514e-02 0.00000000e+00 7.90395436e+01] [-3.75696514e-02 9.99294011e-01 0.00000000e+00 -1.14716252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96775569e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:-0.12, Z:-0.00 [[ 9.99388918e-01 3.49541344e-02 0.00000000e+00 7.90976513e+01] [-3.49541344e-02 9.99388918e-01 0.00000000e+00 -1.15848817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24800348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:79.16, Y:-0.12, Z:-0.01 [[ 9.99488109e-01 3.19924837e-02 0.00000000e+00 7.91561945e+01] [-3.19924837e-02 9.99488109e-01 0.00000000e+00 -1.17359428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17705135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:79.22, Y:-0.12, Z:0.00 [[ 9.99476614e-01 3.23496204e-02 0.00000000e+00 7.92150695e+01] [-3.23496204e-02 9.99476614e-01 0.00000000e+00 -1.15953019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30964890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:-0.12, Z:0.00 [[ 9.99378537e-01 3.52496850e-02 0.00000000e+00 7.92726871e+01] [-3.52496850e-02 9.99378537e-01 0.00000000e+00 -1.19556285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27951675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:79.33, Y:-0.12, Z:0.00 [[ 9.99322022e-01 3.68170756e-02 0.00000000e+00 7.93299053e+01] [-3.68170756e-02 9.99322022e-01 0.00000000e+00 -1.20606458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56264711e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:79.39, Y:-0.12, Z:-0.00 [[ 9.99273830e-01 3.81026563e-02 0.00000000e+00 7.93883716e+01] [-3.81026563e-02 9.99273830e-01 0.00000000e+00 -1.24192520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57404157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:79.45, Y:-0.13, Z:-0.00 [[ 9.99069552e-01 4.31280608e-02 0.00000000e+00 7.94466101e+01] [-4.31280608e-02 9.99069552e-01 0.00000000e+00 -1.28543782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34174108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.51, Y:-0.13, Z:0.00 [[ 9.98880710e-01 4.73003980e-02 0.00000000e+00 7.95054408e+01] [-4.73003980e-02 9.98880710e-01 0.00000000e+00 -1.29429513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00719204e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:-0.13, Z:0.00 [[ 9.98733004e-01 5.03228287e-02 0.00000000e+00 7.95628826e+01] [-5.03228287e-02 9.98733004e-01 0.00000000e+00 -1.32633679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73702116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:-0.14, Z:-0.00 [[ 9.98506298e-01 5.46367341e-02 0.00000000e+00 7.96210488e+01] [-5.46367341e-02 9.98506298e-01 0.00000000e+00 -1.39410469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88855217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:-0.14, Z:0.01 [[ 9.98407656e-01 5.64105629e-02 0.00000000e+00 7.96787895e+01] [-5.64105629e-02 9.98407656e-01 0.00000000e+00 -1.35786552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25516293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:79.74, Y:-0.14, Z:0.00 [[ 9.98322889e-01 5.78913502e-02 0.00000000e+00 7.97373824e+01] [-5.78913502e-02 9.98322889e-01 0.00000000e+00 -1.39358619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63048067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:79.80, Y:-0.14, Z:-0.01 [[ 9.98253787e-01 5.90709476e-02 0.00000000e+00 7.97954927e+01] [-5.90709476e-02 9.98253787e-01 0.00000000e+00 -1.41673486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45540536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:-0.14, Z:-0.00 [[ 9.97540656e-01 7.00902186e-02 0.00000000e+00 7.98540570e+01] [-7.00902186e-02 9.97540656e-01 0.00000000e+00 -1.39645113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18783071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:-0.13, Z:0.01 [[ 9.96595209e-01 8.24499206e-02 0.00000000e+00 7.99125740e+01] [-8.24499206e-02 9.96595209e-01 0.00000000e+00 -1.33648055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47455846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.97, Y:-0.13, Z:0.00 [[ 9.95915682e-01 9.02881694e-02 0.00000000e+00 7.99705868e+01] [-9.02881694e-02 9.95915682e-01 0.00000000e+00 -1.34061794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99916510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:-0.13, Z:-0.01 [[ 9.95843305e-01 9.10829952e-02 0.00000000e+00 8.00285466e+01] [-9.10829952e-02 9.95843305e-01 0.00000000e+00 -1.30021447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72357331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:-0.12, Z:0.00 [[ 9.95736699e-01 9.22411303e-02 0.00000000e+00 8.00864903e+01] [-9.22411303e-02 9.95736699e-01 0.00000000e+00 -1.24717397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59047940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.14, Y:-0.13, Z:0.00 [[ 9.95846395e-01 9.10492075e-02 0.00000000e+00 8.01444855e+01] [-9.10492075e-02 9.95846395e-01 0.00000000e+00 -1.28543732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59436717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.20, Y:-0.13, Z:-0.00 [[ 9.96544997e-01 8.30546158e-02 0.00000000e+00 8.02026640e+01] [-8.30546158e-02 9.96544997e-01 0.00000000e+00 -1.29765777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93040709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:-0.13, Z:0.00 [[ 9.96197949e-01 8.71185719e-02 0.00000000e+00 8.02613746e+01] [-8.71185719e-02 9.96197949e-01 0.00000000e+00 -1.30974964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33730766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:-0.13, Z:0.01 [[ 9.97017222e-01 7.71793902e-02 0.00000000e+00 8.03186707e+01] [-7.71793902e-02 9.97017222e-01 0.00000000e+00 -1.25084321e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76233051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:-0.13, Z:0.00 [[ 9.97191078e-01 7.48996221e-02 0.00000000e+00 8.03774226e+01] [-7.48996221e-02 9.97191078e-01 0.00000000e+00 -1.26763002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19583738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.43, Y:-0.13, Z:0.00 [[ 9.97205762e-01 7.47038670e-02 0.00000000e+00 8.04349784e+01] [-7.47038670e-02 9.97205762e-01 0.00000000e+00 -1.30761988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40389537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:-0.13, Z:0.01 [[ 9.97143912e-01 7.55249560e-02 0.00000000e+00 8.04933385e+01] [-7.55249560e-02 9.97143912e-01 0.00000000e+00 -1.29108911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86328719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.55, Y:-0.12, Z:0.01 [[ 9.97028838e-01 7.70291882e-02 0.00000000e+00 8.05503129e+01] [-7.70291882e-02 9.97028838e-01 0.00000000e+00 -1.24902461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33040765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.61, Y:-0.12, Z:0.01 [[ 9.96560894e-01 8.28636464e-02 0.00000000e+00 8.06074675e+01] [-8.28636464e-02 9.96560894e-01 0.00000000e+00 -1.23592581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05400472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.66, Y:-0.12, Z:0.01 [[ 9.96948682e-01 7.80597580e-02 0.00000000e+00 8.06649249e+01] [-7.80597580e-02 9.96948682e-01 0.00000000e+00 -1.18950092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79369093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.72, Y:-0.12, Z:0.00 [[ 9.97358319e-01 7.26387233e-02 0.00000000e+00 8.07231026e+01] [-7.26387233e-02 9.97358319e-01 0.00000000e+00 -1.20747759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15259050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.78, Y:-0.13, Z:-0.00 [[ 9.97649600e-01 6.85220760e-02 0.00000000e+00 8.07810096e+01] [-6.85220760e-02 9.97649600e-01 0.00000000e+00 -1.28523860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02412483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.84, Y:-0.12, Z:0.01 [[ 9.97504552e-01 7.06021885e-02 0.00000000e+00 8.08398781e+01] [-7.06021885e-02 9.97504552e-01 0.00000000e+00 -1.19201020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32329496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:-0.12, Z:0.00 [[ 9.96921296e-01 7.84087375e-02 0.00000000e+00 8.08974180e+01] [-7.84087375e-02 9.96921296e-01 0.00000000e+00 -1.24974602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67000366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:-0.12, Z:0.00 [[ 9.96927337e-01 7.83318823e-02 0.00000000e+00 8.09541508e+01] [-7.83318823e-02 9.96927337e-01 0.00000000e+00 -1.24475447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43353480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:-0.12, Z:0.00 [[ 9.96790599e-01 8.00531237e-02 0.00000000e+00 8.10130458e+01] [-8.00531237e-02 9.96790599e-01 0.00000000e+00 -1.23685519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46772623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.07, Y:-0.13, Z:-0.00 [[ 9.96673559e-01 8.14973374e-02 0.00000000e+00 8.10720273e+01] [-8.14973374e-02 9.96673559e-01 0.00000000e+00 -1.26799317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82275595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.13, Y:-0.12, Z:0.00 [[ 9.97176579e-01 7.50924085e-02 0.00000000e+00 8.11302004e+01] [-7.50924085e-02 9.97176579e-01 0.00000000e+00 -1.22458675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53110911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.19, Y:-0.12, Z:0.01 [[ 9.96206259e-01 8.70235044e-02 0.00000000e+00 8.11880222e+01] [-8.70235044e-02 9.96206259e-01 0.00000000e+00 -1.22306869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11968694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.25, Y:-0.13, Z:0.00 [[ 9.96291965e-01 8.60367347e-02 0.00000000e+00 8.12462746e+01] [-8.60367347e-02 9.96291965e-01 0.00000000e+00 -1.28843261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93881171e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:-0.12, Z:0.01 [[ 9.96282141e-01 8.61504185e-02 0.00000000e+00 8.13041308e+01] [-8.61504185e-02 9.96282141e-01 0.00000000e+00 -1.24881804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47433781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.36, Y:-0.12, Z:0.01 [[ 9.95328076e-01 9.65506144e-02 0.00000000e+00 8.13615089e+01] [-9.65506144e-02 9.95328076e-01 0.00000000e+00 -1.24319301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18568650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:-0.12, Z:0.00 [[ 9.96252070e-01 8.64974748e-02 0.00000000e+00 8.14200777e+01] [-8.64974748e-02 9.96252070e-01 0.00000000e+00 -1.18538092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11599989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:-0.13, Z:0.00 [[ 9.95512488e-01 9.46302615e-02 0.00000000e+00 8.14787166e+01] [-9.46302615e-02 9.95512488e-01 0.00000000e+00 -1.28105921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35001352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:-0.13, Z:0.00 [[ 9.96050791e-01 8.87852562e-02 0.00000000e+00 8.15371306e+01] [-8.87852562e-02 9.96050791e-01 0.00000000e+00 -1.26140982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81453747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:-0.12, Z:0.01 [[ 9.96144441e-01 8.77282934e-02 0.00000000e+00 8.15951068e+01] [-8.77282934e-02 9.96144441e-01 0.00000000e+00 -1.20176992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08145283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.65, Y:-0.13, Z:0.01 [[ 9.95834532e-01 9.11788596e-02 0.00000000e+00 8.16530696e+01] [-9.11788596e-02 9.95834532e-01 0.00000000e+00 -1.25980799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17616281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:-0.13, Z:0.01 [[ 9.95953933e-01 8.98652489e-02 0.00000000e+00 8.17109558e+01] [-8.98652489e-02 9.95953933e-01 0.00000000e+00 -1.28975287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81193763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.77, Y:-0.12, Z:0.01 [[ 9.96214259e-01 8.69318701e-02 0.00000000e+00 8.17693991e+01] [-8.69318701e-02 9.96214259e-01 0.00000000e+00 -1.19989552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56424366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.83, Y:-0.13, Z:0.01 [[ 9.95830432e-01 9.12236318e-02 0.00000000e+00 8.18270408e+01] [-9.12236318e-02 9.95830432e-01 0.00000000e+00 -1.28127717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91425717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.89, Y:-0.13, Z:0.01 [[ 9.95525362e-01 9.44947233e-02 0.00000000e+00 8.18856169e+01] [-9.44947233e-02 9.95525362e-01 0.00000000e+00 -1.28115912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04360316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.94, Y:-0.13, Z:0.01 [[ 9.95509311e-01 9.46636773e-02 0.00000000e+00 8.19442392e+01] [-9.46636773e-02 9.95509311e-01 0.00000000e+00 -1.27324370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38187008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:-0.13, Z:0.00 [[ 9.95435982e-01 9.54316818e-02 0.00000000e+00 8.20020850e+01] [-9.54316818e-02 9.95435982e-01 0.00000000e+00 -1.30747796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77973060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:-0.13, Z:0.01 [[ 9.95254327e-01 9.73078817e-02 0.00000000e+00 8.20587219e+01] [-9.73078817e-02 9.95254327e-01 0.00000000e+00 -1.30583497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36213564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.12, Y:-0.12, Z:0.03 [[ 9.95066893e-01 9.92062435e-02 0.00000000e+00 8.21176270e+01] [-9.92062435e-02 9.95066893e-01 0.00000000e+00 -1.18425330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57069082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:82.18, Y:-0.13, Z:0.00 [[ 9.94886280e-01 1.01001431e-01 0.00000000e+00 8.21757505e+01] [-1.01001431e-01 9.94886280e-01 0.00000000e+00 -1.27962020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78564838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.23, Y:-0.12, Z:0.01 [[ 9.95213348e-01 9.77261107e-02 0.00000000e+00 8.22329292e+01] [-9.77261107e-02 9.95213348e-01 0.00000000e+00 -1.22322897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40059343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters Centerline goodness : 0.999880 with order 1 Centerline is valid? [True, True] Translation: X:82.29, Y:-0.12, Z:0.01 [[ 9.95857590e-01 9.09266812e-02 0.00000000e+00 8.22903039e+01] [-9.09266812e-02 9.95857590e-01 0.00000000e+00 -1.23247374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28456564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters Centerline goodness : 0.999976 with order 1 Centerline is valid? [True, True] Translation: X:82.35, Y:-0.13, Z:0.01 [[ 9.96401948e-01 8.47535087e-02 0.00000000e+00 8.23475609e+01] [-8.47535087e-02 9.96401948e-01 0.00000000e+00 -1.25712962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63271328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:-0.12, Z:0.02 [[ 9.97230140e-01 7.43777443e-02 0.00000000e+00 8.24061427e+01] [-7.43777443e-02 9.97230140e-01 0.00000000e+00 -1.23855760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87750850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:-0.13, Z:0.01 [[ 9.97496482e-01 7.07161151e-02 0.00000000e+00 8.24638507e+01] [-7.07161151e-02 9.97496482e-01 0.00000000e+00 -1.26372860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06637482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:-0.13, Z:0.00 [[ 9.97934552e-01 6.42388444e-02 0.00000000e+00 8.25222134e+01] [-6.42388444e-02 9.97934552e-01 0.00000000e+00 -1.30069936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07259285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-0.13, Z:0.02 [[ 9.98562851e-01 5.35932224e-02 0.00000000e+00 8.25800529e+01] [-5.35932224e-02 9.98562851e-01 0.00000000e+00 -1.28044024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63983142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-0.14, Z:0.01 [[ 9.98813778e-01 4.86932950e-02 0.00000000e+00 8.26389790e+01] [-4.86932950e-02 9.98813778e-01 0.00000000e+00 -1.37072701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19276737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-0.14, Z:0.01 [[ 9.98681341e-01 5.13378949e-02 0.00000000e+00 8.26974463e+01] [-5.13378949e-02 9.98681341e-01 0.00000000e+00 -1.40606544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05331230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.75, Y:-0.14, Z:0.02 [[ 9.98586499e-01 5.31507700e-02 0.00000000e+00 8.27540818e+01] [-5.31507700e-02 9.98586499e-01 0.00000000e+00 -1.39881118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50055039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.81, Y:-0.14, Z:0.02 [[ 9.98486219e-01 5.50024538e-02 0.00000000e+00 8.28127976e+01] [-5.50024538e-02 9.98486219e-01 0.00000000e+00 -1.40138166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74473075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.87, Y:-0.14, Z:0.01 [[ 9.98404776e-01 5.64615144e-02 0.00000000e+00 8.28709598e+01] [-5.64615144e-02 9.98404776e-01 0.00000000e+00 -1.42155992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41009030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.93, Y:-0.14, Z:0.01 [[ 9.98257895e-01 5.90014914e-02 0.00000000e+00 8.29293068e+01] [-5.90014914e-02 9.98257895e-01 0.00000000e+00 -1.42061429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20880343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:-0.15, Z:-0.00 [[ 9.97799774e-01 6.62994098e-02 0.00000000e+00 8.29876808e+01] [-6.62994098e-02 9.97799774e-01 0.00000000e+00 -1.49499406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20566164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:-0.13, Z:0.03 [[ 9.97151965e-01 7.54185582e-02 0.00000000e+00 8.30460297e+01] [-7.54185582e-02 9.97151965e-01 0.00000000e+00 -1.32662819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22116545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.10, Y:-0.13, Z:0.01 [[ 9.96721101e-01 8.09138238e-02 0.00000000e+00 8.31041748e+01] [-8.09138238e-02 9.96721101e-01 0.00000000e+00 -1.34828354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49027643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.16, Y:-0.13, Z:0.01 [[ 9.96739519e-01 8.06866299e-02 0.00000000e+00 8.31615235e+01] [-8.06866299e-02 9.96739519e-01 0.00000000e+00 -1.31493568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36648812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.22, Y:-0.13, Z:0.02 [[ 9.97153603e-01 7.53969032e-02 0.00000000e+00 8.32189157e+01] [-7.53969032e-02 9.97153603e-01 0.00000000e+00 -1.25715559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65427819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:-0.13, Z:0.01 [[ 9.97634998e-01 6.87343487e-02 0.00000000e+00 8.32759938e+01] [-6.87343487e-02 9.97634998e-01 0.00000000e+00 -1.28210494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33260741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:-0.12, Z:0.02 [[ 9.97952029e-01 6.39667707e-02 0.00000000e+00 8.33344368e+01] [-6.39667707e-02 9.97952029e-01 0.00000000e+00 -1.23591428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05287391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.39, Y:-0.13, Z:0.01 [[ 9.98245495e-01 5.92109046e-02 0.00000000e+00 8.33928789e+01] [-5.92109046e-02 9.98245495e-01 0.00000000e+00 -1.26612242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33377639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.45, Y:-0.12, Z:0.01 [[ 9.98293714e-01 5.83923046e-02 0.00000000e+00 8.34502668e+01] [-5.83923046e-02 9.98293714e-01 0.00000000e+00 -1.24247071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26097902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:-0.12, Z:0.01 [[ 9.98361949e-01 5.72137980e-02 0.00000000e+00 8.35075387e+01] [-5.72137980e-02 9.98361949e-01 0.00000000e+00 -1.21374848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43699283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.57, Y:-0.12, Z:0.01 [[ 9.98432490e-01 5.59693079e-02 0.00000000e+00 8.35663996e+01] [-5.59693079e-02 9.98432490e-01 0.00000000e+00 -1.22195489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47849632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:-0.13, Z:0.01 [[ 9.98538614e-01 5.40429077e-02 0.00000000e+00 8.36237464e+01] [-5.40429077e-02 9.98538614e-01 0.00000000e+00 -1.25649751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20826628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.68, Y:-0.12, Z:0.03 [[ 9.98539855e-01 5.40199813e-02 0.00000000e+00 8.36820384e+01] [-5.40199813e-02 9.98539855e-01 0.00000000e+00 -1.23311466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59136568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:-0.12, Z:0.02 [[ 9.98493189e-01 5.48757856e-02 0.00000000e+00 8.37397321e+01] [-5.48757856e-02 9.98493189e-01 0.00000000e+00 -1.24706852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36381908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:-0.13, Z:0.02 [[ 9.98396064e-01 5.66153671e-02 0.00000000e+00 8.37970441e+01] [-5.66153671e-02 9.98396064e-01 0.00000000e+00 -1.30545766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51939993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:-0.13, Z:0.01 [[ 9.98398111e-01 5.65792516e-02 0.00000000e+00 8.38557263e+01] [-5.65792516e-02 9.98398111e-01 0.00000000e+00 -1.34131886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35119684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:-0.14, Z:0.02 [[ 9.98458591e-01 5.55017376e-02 0.00000000e+00 8.39131427e+01] [-5.55017376e-02 9.98458591e-01 0.00000000e+00 -1.38441723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51093377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:-0.14, Z:0.02 [[ 9.98345022e-01 5.75084113e-02 0.00000000e+00 8.39704946e+01] [-5.75084113e-02 9.98345022e-01 0.00000000e+00 -1.40142730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13255279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.03, Y:-0.14, Z:0.02 [[ 9.98125778e-01 6.11958450e-02 0.00000000e+00 8.40280745e+01] [-6.11958450e-02 9.98125778e-01 0.00000000e+00 -1.42808301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52391656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.09, Y:-0.15, Z:0.01 [[ 9.97854236e-01 6.54746092e-02 0.00000000e+00 8.40855964e+01] [-6.54746092e-02 9.97854236e-01 0.00000000e+00 -1.47770300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15884775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.14, Y:-0.15, Z:0.02 [[ 9.97336183e-01 7.29420238e-02 0.00000000e+00 8.41435766e+01] [-7.29420238e-02 9.97336183e-01 0.00000000e+00 -1.49042255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61410512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.20, Y:-0.15, Z:0.02 [[ 9.96924803e-01 7.83641277e-02 0.00000000e+00 8.42011966e+01] [-7.83641277e-02 9.96924803e-01 0.00000000e+00 -1.46470695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90494686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:-0.15, Z:0.01 [[ 9.96744902e-01 8.06200992e-02 0.00000000e+00 8.42585336e+01] [-8.06200992e-02 9.96744902e-01 0.00000000e+00 -1.50462647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47405105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:-0.15, Z:0.02 [[ 9.96696823e-01 8.12123269e-02 0.00000000e+00 8.43163666e+01] [-8.12123269e-02 9.96696823e-01 0.00000000e+00 -1.50306681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08648864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:-0.15, Z:0.02 [[ 9.96642889e-01 8.18715590e-02 0.00000000e+00 8.43739756e+01] [-8.18715590e-02 9.96642889e-01 0.00000000e+00 -1.50462351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25435171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:-0.16, Z:0.01 [[ 9.96487380e-01 8.37430660e-02 0.00000000e+00 8.44322263e+01] [-8.37430660e-02 9.96487380e-01 0.00000000e+00 -1.55511007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44064593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:-0.15, Z:0.02 [[ 9.96503656e-01 8.35491697e-02 0.00000000e+00 8.44899988e+01] [-8.35491697e-02 9.96503656e-01 0.00000000e+00 -1.52697867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04366789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:-0.16, Z:0.01 [[ 9.96697446e-01 8.12046844e-02 0.00000000e+00 8.45481275e+01] [-8.12046844e-02 9.96697446e-01 0.00000000e+00 -1.56651082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41892680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:-0.16, Z:0.01 [[ 9.96916247e-01 7.84729013e-02 0.00000000e+00 8.46070889e+01] [-7.84729013e-02 9.96916247e-01 0.00000000e+00 -1.63259277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15379954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.66, Y:-0.16, Z:0.02 [[ 9.96986147e-01 7.75797770e-02 0.00000000e+00 8.46634831e+01] [-7.75797770e-02 9.96986147e-01 0.00000000e+00 -1.60237072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65494767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:-0.16, Z:0.02 [[ 9.96976252e-01 7.77068360e-02 0.00000000e+00 8.47212844e+01] [-7.77068360e-02 9.96976252e-01 0.00000000e+00 -1.59194759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95573689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.78, Y:-0.16, Z:0.01 [[ 9.96939146e-01 7.81814560e-02 0.00000000e+00 8.47789538e+01] [-7.81814560e-02 9.96939146e-01 0.00000000e+00 -1.62846675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09417779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-0.16, Z:0.01 [[ 9.97021418e-01 7.71251755e-02 0.00000000e+00 8.48363985e+01] [-7.71251755e-02 9.97021418e-01 0.00000000e+00 -1.60950486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24405027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.90, Y:-0.16, Z:0.01 [[ 9.97023299e-01 7.71008485e-02 0.00000000e+00 8.48950280e+01] [-7.71008485e-02 9.97023299e-01 0.00000000e+00 -1.62504009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00589429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:-0.16, Z:0.02 [[ 9.97257154e-01 7.40146463e-02 0.00000000e+00 8.49530810e+01] [-7.40146463e-02 9.97257154e-01 0.00000000e+00 -1.60002043e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88268043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.01, Y:-0.16, Z:0.02 [[ 9.97748170e-01 6.70715296e-02 0.00000000e+00 8.50111877e+01] [-6.70715296e-02 9.97748170e-01 0.00000000e+00 -1.61106946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04459817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.07, Y:-0.16, Z:0.01 [[ 9.98159705e-01 6.06399563e-02 0.00000000e+00 8.50684577e+01] [-6.06399563e-02 9.98159705e-01 0.00000000e+00 -1.60691432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15491790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.13, Y:-0.15, Z:0.02 [[ 9.98329145e-01 5.77833741e-02 0.00000000e+00 8.51260693e+01] [-5.77833741e-02 9.98329145e-01 0.00000000e+00 -1.51026288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77935557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.18, Y:-0.14, Z:0.00 [[ 9.97970255e-01 6.36817909e-02 0.00000000e+00 8.51841442e+01] [-6.36817909e-02 9.97970255e-01 0.00000000e+00 -1.41167557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93286439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.24, Y:-0.14, Z:0.00 [[ 9.97803748e-01 6.62395628e-02 0.00000000e+00 8.52413757e+01] [-6.62395628e-02 9.97803748e-01 0.00000000e+00 -1.35160314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97638938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.30, Y:-0.13, Z:0.00 [[ 9.97731287e-01 6.73221957e-02 0.00000000e+00 8.52989252e+01] [-6.73221957e-02 9.97731287e-01 0.00000000e+00 -1.34063777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17912042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.36, Y:-0.13, Z:0.00 [[ 9.97568562e-01 6.96919194e-02 0.00000000e+00 8.53574134e+01] [-6.96919194e-02 9.97568562e-01 0.00000000e+00 -1.31984152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86280776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:-0.13, Z:0.01 [[ 9.97499727e-01 7.06703247e-02 0.00000000e+00 8.54156632e+01] [-7.06703247e-02 9.97499727e-01 0.00000000e+00 -1.28762964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41815183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:-0.15, Z:0.03 [[ 9.95062037e-01 9.92549398e-02 0.00000000e+00 8.54734812e+01] [-9.92549398e-02 9.95062037e-01 0.00000000e+00 -1.45864546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53068235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:-0.16, Z:0.03 [[ 9.95735805e-01 9.22507781e-02 0.00000000e+00 8.55312172e+01] [-9.22507781e-02 9.95735805e-01 0.00000000e+00 -1.63095427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59978571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-0.17, Z:0.03 [[ 9.95953349e-01 8.98717211e-02 0.00000000e+00 8.55893033e+01] [-8.98717211e-02 9.95953349e-01 0.00000000e+00 -1.68321254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57537925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:-0.18, Z:0.01 [[ 9.96102339e-01 8.82050463e-02 0.00000000e+00 8.56468112e+01] [-8.82050463e-02 9.96102339e-01 0.00000000e+00 -1.79674007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42869940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:-0.18, Z:0.01 [[ 9.96146232e-01 8.77079468e-02 0.00000000e+00 8.57037250e+01] [-8.77079468e-02 9.96146232e-01 0.00000000e+00 -1.84919678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40220876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:-0.19, Z:0.01 [[ 9.96183446e-01 8.72842619e-02 0.00000000e+00 8.57610974e+01] [-8.72842619e-02 9.96183446e-01 0.00000000e+00 -1.87995499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86237041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:-0.19, Z:0.01 [[ 9.96251984e-01 8.64984631e-02 0.00000000e+00 8.58183447e+01] [-8.64984631e-02 9.96251984e-01 0.00000000e+00 -1.88131005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33101872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.88, Y:-0.19, Z:0.01 [[ 9.96269052e-01 8.63016541e-02 0.00000000e+00 8.58765173e+01] [-8.63016541e-02 9.96269052e-01 0.00000000e+00 -1.87166109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33101872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:-0.19, Z:0.02 [[ 9.96324123e-01 8.56635402e-02 0.00000000e+00 8.59346455e+01] [-8.56635402e-02 9.96324123e-01 0.00000000e+00 -1.86666681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14651159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.99, Y:-0.19, Z:0.03 [[ 9.96425031e-01 8.44817036e-02 0.00000000e+00 8.59927115e+01] [-8.44817036e-02 9.96425031e-01 0.00000000e+00 -1.87458213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81330447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.05, Y:-0.19, Z:0.03 [[ 9.96532776e-01 8.32011224e-02 0.00000000e+00 8.60497220e+01] [-8.32011224e-02 9.96532776e-01 0.00000000e+00 -1.91852791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88989331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-0.20, Z:0.02 [[ 9.96724400e-01 8.08731792e-02 0.00000000e+00 8.61074502e+01] [-8.08731792e-02 9.96724400e-01 0.00000000e+00 -1.99118787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45216742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.17, Y:-0.21, Z:0.02 [[ 9.96924663e-01 7.83659109e-02 0.00000000e+00 8.61653621e+01] [-7.83659109e-02 9.96924663e-01 0.00000000e+00 -2.06144023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05202912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:-0.21, Z:0.02 [[ 9.96939909e-01 7.81717169e-02 0.00000000e+00 8.62235430e+01] [-7.81717169e-02 9.96939909e-01 0.00000000e+00 -2.05111016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05202912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.28, Y:-0.21, Z:0.02 [[ 9.97226762e-01 7.44230198e-02 0.00000000e+00 8.62800884e+01] [-7.44230198e-02 9.97226762e-01 0.00000000e+00 -2.14079895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41627634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.34, Y:-0.21, Z:0.02 [[ 9.97241015e-01 7.42317908e-02 0.00000000e+00 8.63382752e+01] [-7.42317908e-02 9.97241015e-01 0.00000000e+00 -2.13023183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41627634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:-0.22, Z:0.03 [[ 9.97543583e-01 7.00485512e-02 0.00000000e+00 8.63964751e+01] [-7.00485512e-02 9.97543583e-01 0.00000000e+00 -2.18239466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94092613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.45, Y:-0.23, Z:0.02 [[ 9.97842115e-01 6.56590779e-02 0.00000000e+00 8.64548167e+01] [-6.56590779e-02 9.97842115e-01 0.00000000e+00 -2.30955318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67976374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.51, Y:-0.25, Z:0.01 [[ 9.98161676e-01 6.06074920e-02 0.00000000e+00 8.65124659e+01] [-6.06074920e-02 9.98161676e-01 0.00000000e+00 -2.52616529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17298453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.57, Y:-0.26, Z:0.02 [[ 9.98306412e-01 5.81748079e-02 0.00000000e+00 8.65701724e+01] [-5.81748079e-02 9.98306412e-01 0.00000000e+00 -2.60489433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96687342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:86.63, Y:-0.28, Z:0.02 [[ 9.98404897e-01 5.64593886e-02 0.00000000e+00 8.66277813e+01] [-5.64593886e-02 9.98404897e-01 0.00000000e+00 -2.79781489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26025807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:-0.29, Z:0.02 [[ 9.98468297e-01 5.53268416e-02 0.00000000e+00 8.66846268e+01] [-5.53268416e-02 9.98468297e-01 0.00000000e+00 -2.94176947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54771271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:-0.30, Z:0.02 [[ 9.98406362e-01 5.64334628e-02 0.00000000e+00 8.67420989e+01] [-5.64334628e-02 9.98406362e-01 0.00000000e+00 -3.00880871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28391821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:-0.31, Z:0.02 [[ 9.98365733e-01 5.71477302e-02 0.00000000e+00 8.67997281e+01] [-5.71477302e-02 9.98365733e-01 0.00000000e+00 -3.13716213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65573353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:-0.33, Z:0.01 [[ 9.98353622e-01 5.73589166e-02 0.00000000e+00 8.68577767e+01] [-5.73589166e-02 9.98353622e-01 0.00000000e+00 -3.27139909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88639023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:86.92, Y:-0.33, Z:0.01 [[ 9.98280583e-01 5.86163627e-02 0.00000000e+00 8.69164723e+01] [-5.86163627e-02 9.98280583e-01 0.00000000e+00 -3.29100642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23940580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:86.98, Y:-0.34, Z:0.00 [[ 9.98203251e-01 5.99188647e-02 0.00000000e+00 8.69757791e+01] [-5.99188647e-02 9.98203251e-01 0.00000000e+00 -3.37116052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16926425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:-0.35, Z:-0.01 [[ 9.98240095e-01 5.93018718e-02 0.00000000e+00 8.70342751e+01] [-5.93018718e-02 9.98240095e-01 0.00000000e+00 -3.52414204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35637205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:-0.72, Z:0.01 [[ 9.96279405e-01 8.61820604e-02 0.00000000e+00 8.70985624e+01] [-8.61820604e-02 9.96279405e-01 0.00000000e+00 -7.16807532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12740290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:-0.72, Z:0.02 [[ 9.96806069e-01 7.98602564e-02 0.00000000e+00 8.71575278e+01] [-7.98602564e-02 9.96806069e-01 0.00000000e+00 -7.20009761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95846219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:-0.74, Z:0.01 [[ 9.97138958e-01 7.55903356e-02 0.00000000e+00 8.72165061e+01] [-7.55903356e-02 9.97138958e-01 0.00000000e+00 -7.36953587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23425782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:-0.74, Z:0.02 [[ 9.96850546e-01 7.93031505e-02 0.00000000e+00 8.72738977e+01] [-7.93031505e-02 9.96850546e-01 0.00000000e+00 -7.41936160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69136758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:-0.74, Z:0.02 [[ 9.95894088e-01 9.05260514e-02 0.00000000e+00 8.73328151e+01] [-9.05260514e-02 9.95894088e-01 0.00000000e+00 -7.41593529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34470099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:-0.75, Z:0.02 [[ 9.94500452e-01 1.04732281e-01 0.00000000e+00 8.73908342e+01] [-1.04732281e-01 9.94500452e-01 0.00000000e+00 -7.45190074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03072899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:-0.74, Z:0.02 [[ 9.93094365e-01 1.17318296e-01 0.00000000e+00 8.74472271e+01] [-1.17318296e-01 9.93094365e-01 0.00000000e+00 -7.41393081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04926946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:-0.73, Z:0.03 [[ 9.92544836e-01 1.21880054e-01 0.00000000e+00 8.75059944e+01] [-1.21880054e-01 9.92544836e-01 0.00000000e+00 -7.31636646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37224312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:87.56, Y:-0.74, Z:0.02 [[ 9.93264470e-01 1.15869290e-01 0.00000000e+00 8.75642697e+01] [-1.15869290e-01 9.93264470e-01 0.00000000e+00 -7.40393498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32113688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.62, Y:-0.74, Z:0.03 [[ 9.94459341e-01 1.05121922e-01 0.00000000e+00 8.76226634e+01] [-1.05121922e-01 9.94459341e-01 0.00000000e+00 -7.36288308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08036380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:87.68, Y:-0.74, Z:0.03 [[ 9.95453475e-01 9.52490383e-02 0.00000000e+00 8.76802704e+01] [-9.52490383e-02 9.95453475e-01 0.00000000e+00 -7.41328460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57143212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:87.74, Y:-0.74, Z:0.03 [[ 9.96043412e-01 8.88679988e-02 0.00000000e+00 8.77381658e+01] [-8.88679988e-02 9.96043412e-01 0.00000000e+00 -7.44157054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92112313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:87.80, Y:-0.75, Z:0.03 [[ 9.96315940e-01 8.57586621e-02 0.00000000e+00 8.77959854e+01] [-8.57586621e-02 9.96315940e-01 0.00000000e+00 -7.46015354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24294980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:-0.75, Z:0.03 [[ 9.96254587e-01 8.64684802e-02 0.00000000e+00 8.78531757e+01] [-8.64684802e-02 9.96254587e-01 0.00000000e+00 -7.52496827e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78827973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:-0.76, Z:0.03 [[ 9.96319545e-01 8.57167672e-02 0.00000000e+00 8.79113632e+01] [-8.57167672e-02 9.96319545e-01 0.00000000e+00 -7.55074434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26485977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:87.97, Y:-0.76, Z:0.03 [[ 9.96366911e-01 8.51644224e-02 0.00000000e+00 8.79691878e+01] [-8.51644224e-02 9.96366911e-01 0.00000000e+00 -7.63603807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74202065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:88.03, Y:-0.77, Z:0.03 [[ 9.96162044e-01 8.75281802e-02 0.00000000e+00 8.80269009e+01] [-8.75281802e-02 9.96162044e-01 0.00000000e+00 -7.73085903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81624251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.09, Y:-0.78, Z:0.04 [[ 9.95592767e-01 9.37818919e-02 0.00000000e+00 8.80853412e+01] [-9.37818919e-02 9.95592767e-01 0.00000000e+00 -7.80990629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58493968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:-0.78, Z:0.03 [[ 9.95191373e-01 9.79496307e-02 0.00000000e+00 8.81442323e+01] [-9.79496307e-02 9.95191373e-01 0.00000000e+00 -7.84731845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80399520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:-0.79, Z:0.03 [[ 9.94899890e-01 1.00867287e-01 0.00000000e+00 8.82034810e+01] [-1.00867287e-01 9.94899890e-01 0.00000000e+00 -7.89192139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20369283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:88.26, Y:-0.80, Z:0.02 [[ 9.94632964e-01 1.03466261e-01 0.00000000e+00 8.82616826e+01] [-1.03466261e-01 9.94632964e-01 0.00000000e+00 -8.02952173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46704595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:88.32, Y:-0.80, Z:0.03 [[ 9.94643987e-01 1.03360242e-01 0.00000000e+00 8.83199206e+01] [-1.03360242e-01 9.94643987e-01 0.00000000e+00 -8.03984895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59172227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.38, Y:-0.81, Z:0.03 [[ 9.94831804e-01 1.01536601e-01 0.00000000e+00 8.83779584e+01] [-1.01536601e-01 9.94831804e-01 0.00000000e+00 -8.05465360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93297875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.44, Y:-0.82, Z:0.02 [[ 9.95117465e-01 9.86976756e-02 0.00000000e+00 8.84363692e+01] [-9.86976756e-02 9.95117465e-01 0.00000000e+00 -8.16858263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36092951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:88.50, Y:-0.83, Z:0.02 [[ 9.95203286e-01 9.78285218e-02 0.00000000e+00 8.84955954e+01] [-9.78285218e-02 9.95203286e-01 0.00000000e+00 -8.25214663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40833014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:88.55, Y:-0.83, Z:0.03 [[ 9.95113647e-01 9.87361607e-02 0.00000000e+00 8.85532372e+01] [-9.87361607e-02 9.95113647e-01 0.00000000e+00 -8.29945498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69972742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:-0.84, Z:0.03 [[ 9.95144434e-01 9.84253815e-02 0.00000000e+00 8.86106201e+01] [-9.84253815e-02 9.95144434e-01 0.00000000e+00 -8.41553872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56320098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:88.67, Y:-0.85, Z:0.02 [[ 9.95656031e-01 9.31078259e-02 0.00000000e+00 8.86697718e+01] [-9.31078259e-02 9.95656031e-01 0.00000000e+00 -8.49563599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97439911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.73, Y:-0.87, Z:0.01 [[ 9.95977583e-01 8.96027590e-02 0.00000000e+00 8.87281146e+01] [-8.96027590e-02 9.95977583e-01 0.00000000e+00 -8.67619418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12233293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.79, Y:-0.87, Z:0.03 [[ 9.96087858e-01 8.83684331e-02 0.00000000e+00 8.87871925e+01] [-8.83684331e-02 9.96087858e-01 0.00000000e+00 -8.68840613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16671719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:-0.88, Z:0.03 [[ 9.96008836e-01 8.92546815e-02 0.00000000e+00 8.88441606e+01] [-8.92546815e-02 9.96008836e-01 0.00000000e+00 -8.78625528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84914470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:88.90, Y:-0.89, Z:0.02 [[ 9.95777890e-01 9.17953927e-02 0.00000000e+00 8.89019531e+01] [-9.17953927e-02 9.95777890e-01 0.00000000e+00 -8.94749861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95223171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:-0.90, Z:0.03 [[ 9.95341680e-01 9.64102688e-02 0.00000000e+00 8.89597437e+01] [-9.64102688e-02 9.95341680e-01 0.00000000e+00 -8.96614543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92928208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:-0.91, Z:0.02 [[ 9.95324449e-01 9.65879924e-02 0.00000000e+00 8.90181569e+01] [-9.65879924e-02 9.95324449e-01 0.00000000e+00 -9.06446191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35838064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:-0.91, Z:0.02 [[ 9.95111835e-01 9.87544179e-02 0.00000000e+00 8.90764286e+01] [-9.87544179e-02 9.95111835e-01 0.00000000e+00 -9.14950096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34420780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.13, Y:-0.91, Z:0.03 [[ 9.94661863e-01 1.03188076e-01 0.00000000e+00 8.91329571e+01] [-1.03188076e-01 9.94661863e-01 0.00000000e+00 -9.10004005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82757934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.19, Y:-0.91, Z:0.03 [[ 9.94243288e-01 1.07146092e-01 0.00000000e+00 8.91911632e+01] [-1.07146092e-01 9.94243288e-01 0.00000000e+00 -9.12443591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54391115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:-0.91, Z:0.02 [[ 9.94765408e-01 1.02185042e-01 0.00000000e+00 8.92479487e+01] [-1.02185042e-01 9.94765408e-01 0.00000000e+00 -9.10172714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45204549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:-0.91, Z:0.02 [[ 9.95718014e-01 9.24426153e-02 0.00000000e+00 8.93067658e+01] [-9.24426153e-02 9.95718014e-01 0.00000000e+00 -9.08854378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23003002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:89.36, Y:-0.91, Z:0.02 [[ 9.96537034e-01 8.31501017e-02 0.00000000e+00 8.93632269e+01] [-8.31501017e-02 9.96537034e-01 0.00000000e+00 -9.06777314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23022232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.42, Y:-0.90, Z:0.03 [[ 9.96914724e-01 7.84922481e-02 0.00000000e+00 8.94219075e+01] [-7.84922481e-02 9.96914724e-01 0.00000000e+00 -9.00007269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25632767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.48, Y:-0.90, Z:0.02 [[ 9.97356155e-01 7.26684235e-02 0.00000000e+00 8.94794184e+01] [-7.26684235e-02 9.97356155e-01 0.00000000e+00 -8.97482240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45643688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:89.54, Y:-0.89, Z:0.03 [[ 9.97709641e-01 6.76422384e-02 0.00000000e+00 8.95368961e+01] [-6.76422384e-02 9.97709641e-01 0.00000000e+00 -8.93396087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67546053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.60, Y:-0.89, Z:0.03 [[ 9.97748452e-01 6.70673236e-02 0.00000000e+00 8.95954673e+01] [-6.70673236e-02 9.97748452e-01 0.00000000e+00 -8.88071388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03002554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:-0.89, Z:0.02 [[ 9.97649589e-01 6.85222350e-02 0.00000000e+00 8.96529504e+01] [-6.85222350e-02 9.97649589e-01 0.00000000e+00 -8.89234179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47560647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.71, Y:-0.88, Z:0.02 [[ 9.97437401e-01 7.15446032e-02 0.00000000e+00 8.97117172e+01] [-7.15446032e-02 9.97437401e-01 0.00000000e+00 -8.75624652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79267258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:-0.87, Z:0.02 [[ 9.97083895e-01 7.63132106e-02 0.00000000e+00 8.97694817e+01] [-7.63132106e-02 9.97083895e-01 0.00000000e+00 -8.72243229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64030473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:-0.86, Z:0.03 [[ 9.97065364e-01 7.65549532e-02 0.00000000e+00 8.98275902e+01] [-7.65549532e-02 9.97065364e-01 0.00000000e+00 -8.55703853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71313999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:-0.85, Z:0.02 [[ 9.97555829e-01 6.98739491e-02 0.00000000e+00 8.98857057e+01] [-6.98739491e-02 9.97555829e-01 0.00000000e+00 -8.46300896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46005812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:89.94, Y:-0.85, Z:0.03 [[ 9.98793750e-01 4.91023845e-02 0.00000000e+00 8.99431043e+01] [-4.91023845e-02 9.98793750e-01 0.00000000e+00 -8.46370956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51028815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:90.00, Y:-0.84, Z:0.03 [[ 9.99432586e-01 3.36824192e-02 0.00000000e+00 9.00004679e+01] [-3.36824192e-02 9.99432586e-01 0.00000000e+00 -8.44858399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90808091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.06, Y:-0.85, Z:0.03 [[ 9.99739109e-01 2.28410447e-02 0.00000000e+00 9.00586150e+01] [-2.28410447e-02 9.99739109e-01 0.00000000e+00 -8.50859266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84318108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:-0.86, Z:0.02 [[ 9.99785314e-01 2.07201953e-02 0.00000000e+00 9.01161747e+01] [-2.07201953e-02 9.99785314e-01 0.00000000e+00 -8.60012789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31468836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.17, Y:-0.86, Z:0.03 [[ 9.99695730e-01 2.46667111e-02 0.00000000e+00 9.01737579e+01] [-2.46667111e-02 9.99695730e-01 0.00000000e+00 -8.63366835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80762663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.23, Y:-0.87, Z:0.03 [[ 9.99502024e-01 3.15547799e-02 0.00000000e+00 9.02318738e+01] [-3.15547799e-02 9.99502024e-01 0.00000000e+00 -8.71554657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05367959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.29, Y:-0.88, Z:0.03 [[ 9.99218317e-01 3.95316889e-02 0.00000000e+00 9.02895015e+01] [-3.95316889e-02 9.99218317e-01 0.00000000e+00 -8.81817780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86235975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.35, Y:-0.90, Z:0.02 [[ 9.98846809e-01 4.80109604e-02 0.00000000e+00 9.03473329e+01] [-4.80109604e-02 9.98846809e-01 0.00000000e+00 -8.96042322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32333385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.41, Y:-0.90, Z:0.03 [[ 9.97860724e-01 6.53756452e-02 0.00000000e+00 9.04051893e+01] [-6.53756452e-02 9.97860724e-01 0.00000000e+00 -9.03125885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06730655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.46, Y:-0.90, Z:0.03 [[ 9.96902189e-01 7.86512966e-02 0.00000000e+00 9.04632730e+01] [-7.86512966e-02 9.96902189e-01 0.00000000e+00 -9.04568345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35267728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.52, Y:-0.91, Z:0.02 [[ 9.96150129e-01 8.76636769e-02 0.00000000e+00 9.05212171e+01] [-8.76636769e-02 9.96150129e-01 0.00000000e+00 -9.12732885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49001142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:90.58, Y:-0.91, Z:0.03 [[ 9.95974000e-01 8.96425723e-02 0.00000000e+00 9.05792684e+01] [-8.96425723e-02 9.95974000e-01 0.00000000e+00 -9.12873912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89241432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:-0.91, Z:0.03 [[ 9.96476465e-01 8.38728503e-02 0.00000000e+00 9.06370154e+01] [-8.38728503e-02 9.96476465e-01 0.00000000e+00 -9.09426133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01099517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.69, Y:-0.93, Z:0.02 [[ 9.97003344e-01 7.73584617e-02 0.00000000e+00 9.06947753e+01] [-7.73584617e-02 9.97003344e-01 0.00000000e+00 -9.29038276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59704459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:90.75, Y:-0.92, Z:0.03 [[ 9.97634156e-01 6.87465719e-02 0.00000000e+00 9.07527023e+01] [-6.87465719e-02 9.97634156e-01 0.00000000e+00 -9.17669766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16221282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.81, Y:-0.93, Z:0.03 [[ 9.98135298e-01 6.10403703e-02 0.00000000e+00 9.08110095e+01] [-6.10403703e-02 9.98135298e-01 0.00000000e+00 -9.25786291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34824697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:-0.94, Z:0.03 [[ 9.98286954e-01 5.85077550e-02 0.00000000e+00 9.08687809e+01] [-5.85077550e-02 9.98286954e-01 0.00000000e+00 -9.39370327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25253736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.93, Y:-0.93, Z:0.04 [[ 9.98162512e-01 6.05937200e-02 0.00000000e+00 9.09261652e+01] [-6.05937200e-02 9.98162512e-01 0.00000000e+00 -9.31964906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93233523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:-0.95, Z:0.03 [[ 9.98212855e-01 5.97586522e-02 0.00000000e+00 9.09850697e+01] [-5.97586522e-02 9.98212855e-01 0.00000000e+00 -9.50139505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63714252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:-0.95, Z:0.03 [[ 9.98387584e-01 5.67647124e-02 0.00000000e+00 9.10421309e+01] [-5.67647124e-02 9.98387584e-01 0.00000000e+00 -9.54510843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15198413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.10, Y:-0.96, Z:0.03 [[ 9.98415415e-01 5.62730839e-02 0.00000000e+00 9.10989728e+01] [-5.62730839e-02 9.98415415e-01 0.00000000e+00 -9.59522110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37501559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:-0.98, Z:0.03 [[ 9.98205314e-01 5.98844859e-02 0.00000000e+00 9.11571188e+01] [-5.98844859e-02 9.98205314e-01 0.00000000e+00 -9.84942041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59551336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:-0.99, Z:0.03 [[ 9.97518390e-01 7.04064048e-02 0.00000000e+00 9.12155092e+01] [-7.04064048e-02 9.97518390e-01 0.00000000e+00 -9.91301323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85883027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:-1.00, Z:0.03 [[ 9.96675826e-01 8.14696152e-02 0.00000000e+00 9.12744808e+01] [-8.14696152e-02 9.96675826e-01 0.00000000e+00 -1.00008308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27999844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:-1.01, Z:0.03 [[ 9.95931069e-01 9.01182874e-02 0.00000000e+00 9.13327012e+01] [-9.01182874e-02 9.95931069e-01 0.00000000e+00 -1.00793273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99473517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:-1.01, Z:0.02 [[ 9.95257136e-01 9.72791535e-02 0.00000000e+00 9.13915171e+01] [-9.72791535e-02 9.95257136e-01 0.00000000e+00 -1.00967412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25933195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:-1.00, Z:0.03 [[ 9.94712007e-01 1.02703571e-01 0.00000000e+00 9.14495384e+01] [-1.02703571e-01 9.94712007e-01 0.00000000e+00 -1.00384456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68758531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:-1.00, Z:0.03 [[ 9.94275611e-01 1.06845726e-01 0.00000000e+00 9.15075031e+01] [-1.06845726e-01 9.94275611e-01 0.00000000e+00 -9.97924466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05877700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:-0.98, Z:0.03 [[ 9.94480471e-01 1.04921838e-01 0.00000000e+00 9.15644461e+01] [-1.04921838e-01 9.94480471e-01 0.00000000e+00 -9.81236969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18355576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:-0.97, Z:0.03 [[ 9.95009648e-01 9.97787538e-02 0.00000000e+00 9.16227757e+01] [-9.97787538e-02 9.95009648e-01 0.00000000e+00 -9.67890147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57604192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.68, Y:-0.95, Z:0.03 [[ 9.95974823e-01 8.96334310e-02 0.00000000e+00 9.16796124e+01] [-8.96334310e-02 9.95974823e-01 0.00000000e+00 -9.52557456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77521605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:-0.95, Z:0.02 [[ 9.97195040e-01 7.48468622e-02 0.00000000e+00 9.17381322e+01] [-7.48468622e-02 9.97195040e-01 0.00000000e+00 -9.45988576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02033936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:-0.93, Z:0.03 [[ 9.98340437e-01 5.75879563e-02 0.00000000e+00 9.17956556e+01] [-5.75879563e-02 9.98340437e-01 0.00000000e+00 -9.25295336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37107441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:-0.92, Z:0.03 [[ 9.99112397e-01 4.21238332e-02 0.00000000e+00 9.18545138e+01] [-4.21238332e-02 9.99112397e-01 0.00000000e+00 -9.24462927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07942596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:-0.92, Z:0.03 [[ 9.99277607e-01 3.80034789e-02 0.00000000e+00 9.19117904e+01] [-3.80034789e-02 9.99277607e-01 0.00000000e+00 -9.18428081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21161736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:91.97, Y:-0.91, Z:0.04 [[ 9.99356564e-01 3.58672210e-02 0.00000000e+00 9.19693060e+01] [-3.58672210e-02 9.99356564e-01 0.00000000e+00 -9.06911958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61069569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:-0.91, Z:0.03 [[ 9.99313756e-01 3.70407586e-02 0.00000000e+00 9.20271783e+01] [-3.70407586e-02 9.99313756e-01 0.00000000e+00 -9.09695116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17799314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.09, Y:-0.91, Z:0.03 [[ 9.99146636e-01 4.13037395e-02 0.00000000e+00 9.20855422e+01] [-4.13037395e-02 9.99146636e-01 0.00000000e+00 -9.12026705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93254693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.14, Y:-0.91, Z:0.03 [[ 9.98522933e-01 5.43318701e-02 0.00000000e+00 9.21427785e+01] [-5.43318701e-02 9.98522933e-01 0.00000000e+00 -9.05481202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08495530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:-0.91, Z:0.03 [[ 9.98147954e-01 6.08330676e-02 0.00000000e+00 9.22006332e+01] [-6.08330676e-02 9.98147954e-01 0.00000000e+00 -9.05916692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60309993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.26, Y:-0.90, Z:0.03 [[ 9.97546356e-01 7.00090595e-02 0.00000000e+00 9.22591044e+01] [-7.00090595e-02 9.97546356e-01 0.00000000e+00 -8.99019242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49842848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:-0.89, Z:0.03 [[ 9.97032182e-01 7.69858943e-02 0.00000000e+00 9.23160270e+01] [-7.69858943e-02 9.97032182e-01 0.00000000e+00 -8.94881726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40091854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.37, Y:-0.88, Z:0.03 [[ 9.96759922e-01 8.04341845e-02 0.00000000e+00 9.23733784e+01] [-8.04341845e-02 9.96759922e-01 0.00000000e+00 -8.83582364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30895042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:92.43, Y:-0.88, Z:0.03 [[ 9.96654766e-01 8.17268492e-02 0.00000000e+00 9.24307252e+01] [-8.17268492e-02 9.96654766e-01 0.00000000e+00 -8.75975480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25169618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:-0.86, Z:0.03 [[ 9.96819827e-01 7.96883520e-02 0.00000000e+00 9.24890640e+01] [-7.96883520e-02 9.96819827e-01 0.00000000e+00 -8.56246908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17198012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:92.55, Y:-0.84, Z:0.04 [[ 9.97290153e-01 7.35686782e-02 0.00000000e+00 9.25459410e+01] [-7.35686782e-02 9.97290153e-01 0.00000000e+00 -8.43284188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71443095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-0.83, Z:0.03 [[ 9.97929689e-01 6.43143544e-02 0.00000000e+00 9.26032810e+01] [-6.43143544e-02 9.97929689e-01 0.00000000e+00 -8.34449812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34024164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:92.66, Y:-0.82, Z:0.04 [[ 9.98687183e-01 5.12241260e-02 0.00000000e+00 9.26606289e+01] [-5.12241260e-02 9.98687183e-01 0.00000000e+00 -8.17052281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71698256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:92.72, Y:-0.82, Z:0.03 [[ 9.99292305e-01 3.76150099e-02 0.00000000e+00 9.27191482e+01] [-3.76150099e-02 9.99292305e-01 0.00000000e+00 -8.24578165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65801919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.78, Y:-0.82, Z:0.04 [[ 9.99595949e-01 2.84242550e-02 0.00000000e+00 9.27773553e+01] [-2.84242550e-02 9.99595949e-01 0.00000000e+00 -8.23462443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50574045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-0.83, Z:0.04 [[ 9.99692825e-01 2.47841669e-02 0.00000000e+00 9.28349888e+01] [-2.47841669e-02 9.99692825e-01 0.00000000e+00 -8.27606134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02161642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:-0.83, Z:0.04 [[ 9.99519896e-01 3.09834920e-02 0.00000000e+00 9.28922750e+01] [-3.09834920e-02 9.99519896e-01 0.00000000e+00 -8.29405489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04244427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-0.83, Z:0.03 [[ 9.99175645e-01 4.05959365e-02 0.00000000e+00 9.29509122e+01] [-4.05959365e-02 9.99175645e-01 0.00000000e+00 -8.32935183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17918218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-0.83, Z:0.04 [[ 9.98815790e-01 4.86520086e-02 0.00000000e+00 9.30090145e+01] [-4.86520086e-02 9.98815790e-01 0.00000000e+00 -8.27235133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89962291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:-0.84, Z:0.04 [[ 9.98442000e-01 5.57993984e-02 0.00000000e+00 9.30682981e+01] [-5.57993984e-02 9.98442000e-01 0.00000000e+00 -8.36041524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71359000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:-0.84, Z:0.04 [[ 9.98139816e-01 6.09664445e-02 0.00000000e+00 9.31257000e+01] [-6.09664445e-02 9.98139816e-01 0.00000000e+00 -8.36112715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18726684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-0.84, Z:0.03 [[ 9.98236724e-01 5.93585947e-02 0.00000000e+00 9.31835487e+01] [-5.93585947e-02 9.98236724e-01 0.00000000e+00 -8.43505604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38600801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:-0.85, Z:0.04 [[ 9.98543633e-01 5.39500893e-02 0.00000000e+00 9.32416605e+01] [-5.39500893e-02 9.98543633e-01 0.00000000e+00 -8.45041390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50859855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:93.30, Y:-0.86, Z:0.03 [[ 9.98677879e-01 5.14051932e-02 0.00000000e+00 9.32995708e+01] [-5.14051932e-02 9.98677879e-01 0.00000000e+00 -8.56153258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30520305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:93.36, Y:-0.87, Z:0.03 [[ 9.98588070e-01 5.31212435e-02 0.00000000e+00 9.33580843e+01] [-5.31212435e-02 9.98588070e-01 0.00000000e+00 -8.69427231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46996388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:-0.87, Z:0.04 [[ 9.98478724e-01 5.51383594e-02 0.00000000e+00 9.34160495e+01] [-5.51383594e-02 9.98478724e-01 0.00000000e+00 -8.70152978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60274785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:-0.88, Z:0.03 [[ 9.98455141e-01 5.55637639e-02 0.00000000e+00 9.34741004e+01] [-5.55637639e-02 9.98455141e-01 0.00000000e+00 -8.83896725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05505499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:93.53, Y:-0.89, Z:0.03 [[ 9.98490720e-01 5.49206882e-02 0.00000000e+00 9.35326973e+01] [-5.49206882e-02 9.98490720e-01 0.00000000e+00 -8.94620415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20398036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.59, Y:-0.90, Z:0.04 [[ 9.98424551e-01 5.61107516e-02 0.00000000e+00 9.35905731e+01] [-5.61107516e-02 9.98424551e-01 0.00000000e+00 -8.98536784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79673406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:-0.91, Z:0.03 [[ 9.98453998e-01 5.55842935e-02 0.00000000e+00 9.36491714e+01] [-5.55842935e-02 9.98453998e-01 0.00000000e+00 -9.10205167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31197860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:-0.92, Z:0.04 [[ 9.98599108e-01 5.29133354e-02 0.00000000e+00 9.37078942e+01] [-5.29133354e-02 9.98599108e-01 0.00000000e+00 -9.20881272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80787073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:-0.93, Z:0.04 [[ 9.98554688e-01 5.37450964e-02 0.00000000e+00 9.37652494e+01] [-5.37450964e-02 9.98554688e-01 0.00000000e+00 -9.33566366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09715180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:-0.93, Z:0.04 [[ 9.98530439e-01 5.41937542e-02 0.00000000e+00 9.38231121e+01] [-5.41937542e-02 9.98530439e-01 0.00000000e+00 -9.33340056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15511260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:-0.94, Z:0.03 [[ 9.98442689e-01 5.57870716e-02 0.00000000e+00 9.38818921e+01] [-5.57870716e-02 9.98442689e-01 0.00000000e+00 -9.41874202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91536878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:-0.96, Z:0.03 [[ 9.98336103e-01 5.76630423e-02 0.00000000e+00 9.39406968e+01] [-5.76630423e-02 9.98336103e-01 0.00000000e+00 -9.57261290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70057188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:-0.96, Z:0.05 [[ 9.98213255e-01 5.97519645e-02 0.00000000e+00 9.39989922e+01] [-5.97519645e-02 9.98213255e-01 0.00000000e+00 -9.62793902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83593709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:-0.97, Z:0.05 [[ 9.98077212e-01 6.19828923e-02 0.00000000e+00 9.40575153e+01] [-6.19828923e-02 9.98077212e-01 0.00000000e+00 -9.67330114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80886362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:-0.98, Z:0.03 [[ 9.97878878e-01 6.50979621e-02 0.00000000e+00 9.41160608e+01] [-6.50979621e-02 9.97878878e-01 0.00000000e+00 -9.84106302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72982122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:-0.98, Z:0.04 [[ 9.97822693e-01 6.59535626e-02 0.00000000e+00 9.41746684e+01] [-6.59535626e-02 9.97822693e-01 0.00000000e+00 -9.76248934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88894263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.23, Y:-0.99, Z:0.03 [[ 9.97846757e-01 6.55884927e-02 0.00000000e+00 9.42332179e+01] [-6.55884927e-02 9.97846757e-01 0.00000000e+00 -9.92849448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19703931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.29, Y:-1.00, Z:0.03 [[ 9.98063776e-01 6.21988743e-02 0.00000000e+00 9.42913837e+01] [-6.21988743e-02 9.98063776e-01 0.00000000e+00 -1.00082501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57966331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.35, Y:-1.00, Z:0.03 [[ 9.98574984e-01 5.33666670e-02 0.00000000e+00 9.43500981e+01] [-5.33666670e-02 9.98574984e-01 0.00000000e+00 -1.00148534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83090159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:94.41, Y:-1.02, Z:0.04 [[ 9.98830025e-01 4.83588861e-02 0.00000000e+00 9.44091835e+01] [-4.83588861e-02 9.98830025e-01 0.00000000e+00 -1.01826625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52115218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.47, Y:-1.03, Z:0.03 [[ 9.98817422e-01 4.86184836e-02 0.00000000e+00 9.44677240e+01] [-4.86184836e-02 9.98817422e-01 0.00000000e+00 -1.03106388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46919089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.53, Y:-1.03, Z:0.03 [[ 9.98457162e-01 5.55274404e-02 0.00000000e+00 9.45266968e+01] [-5.55274404e-02 9.98457162e-01 0.00000000e+00 -1.03221989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45602548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:-1.05, Z:0.02 [[ 9.98011361e-01 6.30343062e-02 0.00000000e+00 9.45848669e+01] [-6.30343062e-02 9.98011361e-01 0.00000000e+00 -1.04542085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39660341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:-1.05, Z:0.03 [[ 9.97558628e-01 6.98339669e-02 0.00000000e+00 9.46434130e+01] [-6.98339669e-02 9.97558628e-01 0.00000000e+00 -1.04728577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26378514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:-1.04, Z:0.04 [[ 9.97353318e-01 7.27073558e-02 0.00000000e+00 9.47021838e+01] [-7.27073558e-02 9.97353318e-01 0.00000000e+00 -1.03895232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21212298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:-1.05, Z:0.03 [[ 9.97387728e-01 7.22337827e-02 0.00000000e+00 9.47618309e+01] [-7.22337827e-02 9.97387728e-01 0.00000000e+00 -1.04774811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82646091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.82, Y:-1.05, Z:0.02 [[ 9.97737494e-01 6.72301571e-02 0.00000000e+00 9.48208653e+01] [-6.72301571e-02 9.97737494e-01 0.00000000e+00 -1.04600370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33526560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:-1.04, Z:0.03 [[ 9.98067000e-01 6.21471141e-02 0.00000000e+00 9.48792967e+01] [-6.21471141e-02 9.98067000e-01 0.00000000e+00 -1.03513228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36166988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.94, Y:-1.04, Z:0.04 [[ 9.98469445e-01 5.53061282e-02 0.00000000e+00 9.49370603e+01] [-5.53061282e-02 9.98469445e-01 0.00000000e+00 -1.03692247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54436680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:-1.04, Z:0.03 [[ 9.98956695e-01 4.56675193e-02 0.00000000e+00 9.49957270e+01] [-4.56675193e-02 9.98956695e-01 0.00000000e+00 -1.03731502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14387733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.05, Y:-1.03, Z:0.03 [[ 9.99278534e-01 3.79790874e-02 0.00000000e+00 9.50537379e+01] [-3.79790874e-02 9.99278534e-01 0.00000000e+00 -1.02952114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10253337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:-1.04, Z:0.03 [[ 9.99424894e-01 3.39098916e-02 0.00000000e+00 9.51124844e+01] [-3.39098916e-02 9.99424894e-01 0.00000000e+00 -1.03605812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11932771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.17, Y:-1.04, Z:0.03 [[ 9.99313645e-01 3.70437380e-02 0.00000000e+00 9.51698338e+01] [-3.70437380e-02 9.99313645e-01 0.00000000e+00 -1.03837110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09977635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:-1.03, Z:0.04 [[ 9.99227901e-01 3.92886973e-02 0.00000000e+00 9.52288324e+01] [-3.92886973e-02 9.99227901e-01 0.00000000e+00 -1.03198100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52029849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:-1.04, Z:0.03 [[ 9.99175994e-01 4.05873572e-02 0.00000000e+00 9.52867807e+01] [-4.05873572e-02 9.99175994e-01 0.00000000e+00 -1.03647099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84480395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.35, Y:-1.04, Z:0.03 [[ 9.99008367e-01 4.45228306e-02 0.00000000e+00 9.53458440e+01] [-4.45228306e-02 9.99008367e-01 0.00000000e+00 -1.04205768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92744977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:-1.04, Z:0.04 [[ 9.98871152e-01 4.75018022e-02 0.00000000e+00 9.54038725e+01] [-4.75018022e-02 9.98871152e-01 0.00000000e+00 -1.03764958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57646959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.46, Y:-1.03, Z:0.03 [[ 9.98900715e-01 4.68760274e-02 0.00000000e+00 9.54629592e+01] [-4.68760274e-02 9.98900715e-01 0.00000000e+00 -1.03363695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78061119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:-1.04, Z:0.02 [[ 9.99003056e-01 4.46418397e-02 0.00000000e+00 9.55221921e+01] [-4.46418397e-02 9.99003056e-01 0.00000000e+00 -1.03564835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87564891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:-1.03, Z:0.03 [[ 9.99249339e-01 3.87396267e-02 0.00000000e+00 9.55802621e+01] [-3.87396267e-02 9.99249339e-01 0.00000000e+00 -1.02968766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75134231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:-1.03, Z:0.04 [[ 9.99536169e-01 3.04539987e-02 0.00000000e+00 9.56375322e+01] [-3.04539987e-02 9.99536169e-01 0.00000000e+00 -1.02824931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86927526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.70, Y:-1.03, Z:0.03 [[ 9.99705949e-01 2.42490115e-02 0.00000000e+00 9.56953534e+01] [-2.42490115e-02 9.99705949e-01 0.00000000e+00 -1.03177514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43599620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.75, Y:-1.03, Z:0.03 [[ 9.99875319e-01 1.57907000e-02 0.00000000e+00 9.57538592e+01] [-1.57907000e-02 9.99875319e-01 0.00000000e+00 -1.03412413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72232146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:95.81, Y:-1.04, Z:0.02 [[ 9.99959174e-01 9.03605068e-03 0.00000000e+00 9.58130251e+01] [-9.03605068e-03 9.99959174e-01 0.00000000e+00 -1.04344051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39064842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:-1.05, Z:0.03 [[ 9.99979616e-01 6.38494311e-03 0.00000000e+00 9.58714043e+01] [-6.38494311e-03 9.99979616e-01 0.00000000e+00 -1.05158567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01512188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:-1.06, Z:0.04 [[ 9.99939167e-01 1.10300710e-02 0.00000000e+00 9.59309810e+01] [-1.10300710e-02 9.99939167e-01 0.00000000e+00 -1.06252094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57877995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:-1.08, Z:0.03 [[ 9.99652264e-01 2.63695186e-02 0.00000000e+00 9.59904613e+01] [-2.63695186e-02 9.99652264e-01 0.00000000e+00 -1.07668361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11255817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:-1.08, Z:0.03 [[ 9.99381274e-01 3.51720083e-02 0.00000000e+00 9.60497573e+01] [-3.51720083e-02 9.99381274e-01 0.00000000e+00 -1.08493455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91379679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:-1.10, Z:0.03 [[ 9.99141612e-01 4.14251126e-02 0.00000000e+00 9.61076133e+01] [-4.14251126e-02 9.99141612e-01 0.00000000e+00 -1.09761556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22218853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:-1.11, Z:0.04 [[ 9.99020429e-01 4.42513568e-02 0.00000000e+00 9.61671425e+01] [-4.42513568e-02 9.99020429e-01 0.00000000e+00 -1.10748358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65966419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:-1.12, Z:0.04 [[ 9.98954822e-01 4.57084610e-02 0.00000000e+00 9.62255499e+01] [-4.57084610e-02 9.98954822e-01 0.00000000e+00 -1.11645503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77683317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:-1.13, Z:0.03 [[ 9.98948072e-01 4.58557538e-02 0.00000000e+00 9.62855690e+01] [-4.58557538e-02 9.98948072e-01 0.00000000e+00 -1.13476956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44683304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:-1.15, Z:0.03 [[ 9.99096839e-01 4.24912469e-02 0.00000000e+00 9.63438776e+01] [-4.24912469e-02 9.99096839e-01 0.00000000e+00 -1.14641299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44328044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:-1.16, Z:0.03 [[ 9.99055841e-01 4.34445218e-02 0.00000000e+00 9.64030135e+01] [-4.34445218e-02 9.99055841e-01 0.00000000e+00 -1.15982031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93093115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:-1.17, Z:0.03 [[ 9.98892921e-01 4.70418048e-02 0.00000000e+00 9.64623056e+01] [-4.70418048e-02 9.98892921e-01 0.00000000e+00 -1.17024976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78114899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:-1.18, Z:0.04 [[ 9.98191048e-01 6.01218087e-02 0.00000000e+00 9.65214206e+01] [-6.01218087e-02 9.98191048e-01 0.00000000e+00 -1.17906297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75537605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:-1.18, Z:0.03 [[ 9.97627047e-01 6.88496609e-02 0.00000000e+00 9.65800758e+01] [-6.88496609e-02 9.97627047e-01 0.00000000e+00 -1.17982021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02016068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:-1.18, Z:0.03 [[ 9.97308329e-01 7.33218692e-02 0.00000000e+00 9.66379193e+01] [-7.33218692e-02 9.97308329e-01 0.00000000e+00 -1.17801588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06284151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:-1.18, Z:0.03 [[ 9.97649561e-01 6.85226474e-02 0.00000000e+00 9.66954606e+01] [-6.85226474e-02 9.97649561e-01 0.00000000e+00 -1.17727202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12070673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:-1.18, Z:0.04 [[ 9.98628256e-01 5.23603430e-02 0.00000000e+00 9.67544692e+01] [-5.23603430e-02 9.98628256e-01 0.00000000e+00 -1.17791024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53640413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:-1.18, Z:0.03 [[ 9.99052985e-01 4.35101445e-02 0.00000000e+00 9.68119280e+01] [-4.35101445e-02 9.99052985e-01 0.00000000e+00 -1.17562133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18477501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:-1.18, Z:0.03 [[ 9.99240142e-01 3.89761169e-02 0.00000000e+00 9.68713492e+01] [-3.89761169e-02 9.99240142e-01 0.00000000e+00 -1.17810596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21833626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-1.17, Z:0.03 [[ 9.99139314e-01 4.14805019e-02 0.00000000e+00 9.69300799e+01] [-4.14805019e-02 9.99139314e-01 0.00000000e+00 -1.17074216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65387605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-1.17, Z:0.03 [[ 9.98981966e-01 4.51113239e-02 0.00000000e+00 9.69874177e+01] [-4.51113239e-02 9.98981966e-01 0.00000000e+00 -1.16507414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93411500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:-1.15, Z:0.03 [[ 9.98484308e-01 5.50371447e-02 0.00000000e+00 9.70457364e+01] [-5.50371447e-02 9.98484308e-01 0.00000000e+00 -1.15060576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79793096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.10, Y:-1.14, Z:0.02 [[ 9.98323239e-01 5.78853294e-02 0.00000000e+00 9.71026199e+01] [-5.78853294e-02 9.98323239e-01 0.00000000e+00 -1.13807854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32829705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.16, Y:-1.13, Z:0.03 [[ 9.98762004e-01 4.97439297e-02 0.00000000e+00 9.71612470e+01] [-4.97439297e-02 9.98762004e-01 0.00000000e+00 -1.12554481e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87651081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.22, Y:-1.12, Z:0.03 [[ 9.99369159e-01 3.55145691e-02 0.00000000e+00 9.72187614e+01] [-3.55145691e-02 9.99369159e-01 0.00000000e+00 -1.11776668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31009511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.28, Y:-1.12, Z:0.04 [[ 9.99775732e-01 2.11774852e-02 0.00000000e+00 9.72778736e+01] [-2.11774852e-02 9.99775732e-01 0.00000000e+00 -1.11608148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70324989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.34, Y:-1.11, Z:0.03 [[ 9.99896263e-01 1.44035932e-02 0.00000000e+00 9.73366094e+01] [-1.44035932e-02 9.99896263e-01 0.00000000e+00 -1.10878686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38935636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.39, Y:-1.12, Z:0.03 [[ 9.99927228e-01 1.20639028e-02 0.00000000e+00 9.73947397e+01] [-1.20639028e-02 9.99927228e-01 0.00000000e+00 -1.11577813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95992900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.45, Y:-1.11, Z:0.03 [[ 9.99957312e-01 9.23986087e-03 0.00000000e+00 9.74531648e+01] [-9.23986087e-03 9.99957312e-01 0.00000000e+00 -1.10982977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30018423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.51, Y:-1.12, Z:0.04 [[ 9.99949986e-01 1.00012453e-02 0.00000000e+00 9.75126384e+01] [-1.00012453e-02 9.99949986e-01 0.00000000e+00 -1.12121974e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82875428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.57, Y:-1.13, Z:0.04 [[ 9.99913779e-01 1.31314382e-02 0.00000000e+00 9.75704209e+01] [-1.31314382e-02 9.99913779e-01 0.00000000e+00 -1.12536428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78711463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:-1.12, Z:0.03 [[ 9.99726646e-01 2.33801749e-02 0.00000000e+00 9.76288927e+01] [-2.33801749e-02 9.99726646e-01 0.00000000e+00 -1.12247146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09257671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:-1.12, Z:0.03 [[ 9.99636785e-01 2.69499237e-02 0.00000000e+00 9.76867811e+01] [-2.69499237e-02 9.99636785e-01 0.00000000e+00 -1.12487417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18689195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.75, Y:-1.13, Z:0.04 [[ 9.99541095e-01 3.02919083e-02 0.00000000e+00 9.77464074e+01] [-3.02919083e-02 9.99541095e-01 0.00000000e+00 -1.13464836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90393004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:-1.13, Z:0.03 [[ 9.99639015e-01 2.68670826e-02 0.00000000e+00 9.78043582e+01] [-2.68670826e-02 9.99639015e-01 0.00000000e+00 -1.13317406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23095999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.86, Y:-1.15, Z:0.02 [[ 9.99770475e-01 2.14242388e-02 0.00000000e+00 9.78625419e+01] [-2.14242388e-02 9.99770475e-01 0.00000000e+00 -1.14603690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44643086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:-1.16, Z:0.03 [[ 9.99836290e-01 1.80940071e-02 0.00000000e+00 9.79219516e+01] [-1.80940071e-02 9.99836290e-01 0.00000000e+00 -1.15996402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02073317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:-1.16, Z:0.04 [[ 9.99655506e-01 2.62463382e-02 0.00000000e+00 9.79796454e+01] [-2.62463382e-02 9.99655506e-01 0.00000000e+00 -1.16239699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61273570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:-1.17, Z:0.03 [[ 9.99101293e-01 4.23863900e-02 0.00000000e+00 9.80383024e+01] [-4.23863900e-02 9.99101293e-01 0.00000000e+00 -1.16790505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43886493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-1.16, Z:0.03 [[ 9.98298424e-01 5.83117119e-02 0.00000000e+00 9.80963307e+01] [-5.83117119e-02 9.98298424e-01 0.00000000e+00 -1.15665934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10118605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:-1.15, Z:0.03 [[ 9.97515787e-01 7.04432791e-02 0.00000000e+00 9.81541601e+01] [-7.04432791e-02 9.97515787e-01 0.00000000e+00 -1.15123959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96131436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:-1.14, Z:0.04 [[ 9.97678356e-01 6.81021205e-02 0.00000000e+00 9.82128077e+01] [-6.81021205e-02 9.97678356e-01 0.00000000e+00 -1.13764132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52248245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:-1.13, Z:0.03 [[ 9.98337762e-01 5.76342963e-02 0.00000000e+00 9.82704374e+01] [-5.76342963e-02 9.98337762e-01 0.00000000e+00 -1.13093986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98226469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:-1.12, Z:0.03 [[ 9.98975904e-01 4.52453741e-02 0.00000000e+00 9.83292753e+01] [-4.52453741e-02 9.98975904e-01 0.00000000e+00 -1.11904682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54134060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:-1.12, Z:0.02 [[ 9.99347889e-01 3.61081321e-02 0.00000000e+00 9.83868982e+01] [-3.61081321e-02 9.99347889e-01 0.00000000e+00 -1.11723790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10944491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-1.11, Z:0.03 [[ 9.99656313e-01 2.62155519e-02 0.00000000e+00 9.84455561e+01] [-2.62155519e-02 9.99656313e-01 0.00000000e+00 -1.10561473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29391064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:-1.10, Z:0.03 [[ 9.99867640e-01 1.62697061e-02 0.00000000e+00 9.85027129e+01] [-1.62697061e-02 9.99867640e-01 0.00000000e+00 -1.09880450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30656407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:-1.11, Z:0.03 [[ 9.99984220e-01 5.61785474e-03 0.00000000e+00 9.85620222e+01] [-5.61785474e-03 9.99984220e-01 0.00000000e+00 -1.10834782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16307118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:-1.10, Z:0.03 [[ 9.99977592e-01 6.69443230e-03 0.00000000e+00 9.86213531e+01] [-6.69443230e-03 9.99977592e-01 0.00000000e+00 -1.09642996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22742440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.68, Y:-1.10, Z:0.02 [[ 9.99954979e-01 9.48896665e-03 0.00000000e+00 9.86812715e+01] [-9.48896665e-03 9.99954979e-01 0.00000000e+00 -1.10083764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35087357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.74, Y:-1.10, Z:0.03 [[ 9.99954353e-01 9.55468233e-03 0.00000000e+00 9.87414799e+01] [-9.55468233e-03 9.99954353e-01 0.00000000e+00 -1.10410959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93755859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:-1.11, Z:0.04 [[ 9.99965753e-01 8.27600480e-03 0.00000000e+00 9.88015015e+01] [-8.27600480e-03 9.99965753e-01 0.00000000e+00 -1.10684758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52584714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:-1.12, Z:0.03 [[ 9.99972583e-01 7.40494781e-03 0.00000000e+00 9.88607602e+01] [-7.40494781e-03 9.99972583e-01 0.00000000e+00 -1.11698271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32632177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:-1.12, Z:0.03 [[ 9.99953051e-01 9.68996476e-03 0.00000000e+00 9.89202286e+01] [-9.68996476e-03 9.99953051e-01 0.00000000e+00 -1.11581526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37403776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:-1.13, Z:0.03 [[ 9.99890642e-01 1.47886634e-02 0.00000000e+00 9.89800332e+01] [-1.47886634e-02 9.99890642e-01 0.00000000e+00 -1.13178576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74419554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:-1.14, Z:0.03 [[ 9.99835752e-01 1.81237198e-02 0.00000000e+00 9.90392561e+01] [-1.81237198e-02 9.99835752e-01 0.00000000e+00 -1.13604499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22633726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.10, Y:-1.15, Z:0.03 [[ 9.99765980e-01 2.16329860e-02 0.00000000e+00 9.90980746e+01] [-2.16329860e-02 9.99765980e-01 0.00000000e+00 -1.14764899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80340431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.16, Y:-1.16, Z:0.03 [[ 9.99557575e-01 2.97431302e-02 0.00000000e+00 9.91577256e+01] [-2.97431302e-02 9.99557575e-01 0.00000000e+00 -1.15875173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76500951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.22, Y:-1.17, Z:0.03 [[ 9.99251902e-01 3.86734540e-02 0.00000000e+00 9.92163994e+01] [-3.86734540e-02 9.99251902e-01 0.00000000e+00 -1.16635987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85017384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.28, Y:-1.18, Z:0.03 [[ 9.98958963e-01 4.56178820e-02 0.00000000e+00 9.92757198e+01] [-4.56178820e-02 9.98958963e-01 0.00000000e+00 -1.17714024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08741422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.33, Y:-1.18, Z:0.03 [[ 9.98853706e-01 4.78672461e-02 0.00000000e+00 9.93342332e+01] [-4.78672461e-02 9.98853706e-01 0.00000000e+00 -1.17842659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81502041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.39, Y:-1.18, Z:0.03 [[ 9.98648552e-01 5.19718109e-02 0.00000000e+00 9.93934628e+01] [-5.19718109e-02 9.98648552e-01 0.00000000e+00 -1.18243898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92585444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.45, Y:-1.18, Z:0.03 [[ 9.98526407e-01 5.42679906e-02 0.00000000e+00 9.94521325e+01] [-5.42679906e-02 9.98526407e-01 0.00000000e+00 -1.18327147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82117952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:-1.18, Z:0.02 [[ 9.98420659e-01 5.61799666e-02 0.00000000e+00 9.95096529e+01] [-5.61799666e-02 9.98420659e-01 0.00000000e+00 -1.18267528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76155742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:-1.17, Z:0.02 [[ 9.98445510e-01 5.57365489e-02 0.00000000e+00 9.95676842e+01] [-5.57365489e-02 9.98445510e-01 0.00000000e+00 -1.17169523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44211644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.63, Y:-1.17, Z:0.02 [[ 9.98993491e-01 4.48553732e-02 0.00000000e+00 9.96260616e+01] [-4.48553732e-02 9.98993491e-01 0.00000000e+00 -1.17006964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31306493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.69, Y:-1.16, Z:0.02 [[ 9.99597893e-01 2.83558305e-02 0.00000000e+00 9.96859019e+01] [-2.83558305e-02 9.99597893e-01 0.00000000e+00 -1.16457208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16748677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.75, Y:-1.17, Z:0.02 [[ 9.99922361e-01 1.24608532e-02 0.00000000e+00 9.97457307e+01] [-1.24608532e-02 9.99922361e-01 0.00000000e+00 -1.16780083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06597866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:-1.17, Z:0.04 [[ 9.99996909e-01 2.48646666e-03 0.00000000e+00 9.98062587e+01] [-2.48646666e-03 9.99996909e-01 0.00000000e+00 -1.17429671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53734920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:-1.17, Z:0.03 [[ 9.99981285e-01 6.11800042e-03 0.00000000e+00 9.98670869e+01] [-6.11800042e-03 9.99981285e-01 0.00000000e+00 -1.17304315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29753120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:-1.18, Z:0.03 [[ 9.99904436e-01 1.38245830e-02 0.00000000e+00 9.99279887e+01] [-1.38245830e-02 9.99904436e-01 0.00000000e+00 -1.18066997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89151247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:-1.17, Z:0.03 [[ 9.99703793e-01 2.43377562e-02 0.00000000e+00 9.99863648e+01] [-2.43377562e-02 9.99703793e-01 0.00000000e+00 -1.17337702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77445846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:-1.17, Z:0.03 [[ 9.99477553e-01 3.23206108e-02 0.00000000e+00 1.00046039e+02] [-3.23206108e-02 9.99477553e-01 0.00000000e+00 -1.17142667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40888098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.11, Y:-1.17, Z:0.03 [[ 9.99388240e-01 3.49734996e-02 0.00000000e+00 1.00106159e+02] [-3.49734996e-02 9.99388240e-01 0.00000000e+00 -1.17303040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36992738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.17, Y:-1.17, Z:0.03 [[ 9.99516370e-01 3.10970587e-02 0.00000000e+00 1.00166251e+02] [-3.10970587e-02 9.99516370e-01 0.00000000e+00 -1.17331199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03888213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.23, Y:-1.17, Z:0.03 [[ 9.99746627e-01 2.25096111e-02 0.00000000e+00 1.00225776e+02] [-2.25096111e-02 9.99746627e-01 0.00000000e+00 -1.16676243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08240394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.29, Y:-1.18, Z:0.03 [[ 9.99882631e-01 1.53206819e-02 0.00000000e+00 1.00285679e+02] [-1.53206819e-02 9.99882631e-01 0.00000000e+00 -1.17706441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35459257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.35, Y:-1.18, Z:0.03 [[ 9.99949010e-01 1.00983693e-02 0.00000000e+00 1.00345088e+02] [-1.00983693e-02 9.99949010e-01 0.00000000e+00 -1.18210317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08552160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:-1.18, Z:0.03 [[ 9.99936893e-01 1.12343032e-02 0.00000000e+00 1.00405108e+02] [-1.12343032e-02 9.99936893e-01 0.00000000e+00 -1.17780568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99331846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.47, Y:-1.18, Z:0.03 [[ 9.99822386e-01 1.88466335e-02 0.00000000e+00 1.00465448e+02] [-1.88466335e-02 9.99822386e-01 0.00000000e+00 -1.18213044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45565831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.53, Y:-1.18, Z:0.03 [[ 9.99583558e-01 2.88567316e-02 0.00000000e+00 1.00525041e+02] [-2.88567316e-02 9.99583558e-01 0.00000000e+00 -1.17814947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37780094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.58, Y:-1.17, Z:0.03 [[ 9.99451898e-01 3.31044343e-02 0.00000000e+00 1.00583775e+02] [-3.31044343e-02 9.99451898e-01 0.00000000e+00 -1.16788385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49653188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.64, Y:-1.17, Z:0.04 [[ 9.99458830e-01 3.28944709e-02 0.00000000e+00 1.00643653e+02] [-3.28944709e-02 9.99458830e-01 0.00000000e+00 -1.16634770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50078552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.70, Y:-1.16, Z:0.03 [[ 9.99530486e-01 3.06399701e-02 0.00000000e+00 1.00702497e+02] [-3.06399701e-02 9.99530486e-01 0.00000000e+00 -1.15976960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42296979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.76, Y:-1.15, Z:0.03 [[ 9.99581517e-01 2.89273506e-02 0.00000000e+00 1.00761628e+02] [-2.89273506e-02 9.99581517e-01 0.00000000e+00 -1.15054773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22708101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.82, Y:-1.15, Z:0.03 [[ 9.99709492e-01 2.41025364e-02 0.00000000e+00 1.00820863e+02] [-2.41025364e-02 9.99709492e-01 0.00000000e+00 -1.14909990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84890819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.88, Y:-1.14, Z:0.04 [[ 9.99817629e-01 1.90973283e-02 0.00000000e+00 1.00880427e+02] [-1.90973283e-02 9.99817629e-01 0.00000000e+00 -1.13584299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85917236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.94, Y:-1.14, Z:0.03 [[ 9.99877886e-01 1.56273363e-02 0.00000000e+00 1.00939947e+02] [-1.56273363e-02 9.99877886e-01 0.00000000e+00 -1.13750637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27821657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.00, Y:-1.13, Z:0.04 [[ 9.99920457e-01 1.26126784e-02 0.00000000e+00 1.01000230e+02] [-1.26126784e-02 9.99920457e-01 0.00000000e+00 -1.13030793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61269503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.06, Y:-1.13, Z:0.03 [[ 9.99929464e-01 1.18771340e-02 0.00000000e+00 1.01060196e+02] [-1.18771340e-02 9.99929464e-01 0.00000000e+00 -1.12714379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44715564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.12, Y:-1.13, Z:0.03 [[ 9.99935797e-01 1.13314929e-02 0.00000000e+00 1.01120069e+02] [-1.13314929e-02 9.99935797e-01 0.00000000e+00 -1.12886959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04179281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.18, Y:-1.12, Z:0.04 [[ 9.99952754e-01 9.72057327e-03 0.00000000e+00 1.01179657e+02] [-9.72057327e-03 9.99952754e-01 0.00000000e+00 -1.12096529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77287488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.24, Y:-1.13, Z:0.03 [[ 9.99952683e-01 9.72788169e-03 0.00000000e+00 1.01239556e+02] [-9.72788169e-03 9.99952683e-01 0.00000000e+00 -1.12999745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87101619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.30, Y:-1.12, Z:0.03 [[ 9.99924303e-01 1.23039885e-02 0.00000000e+00 1.01299445e+02] [-1.23039885e-02 9.99924303e-01 0.00000000e+00 -1.12393144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20546850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.36, Y:-1.12, Z:0.03 [[ 9.99871855e-01 1.60085629e-02 0.00000000e+00 1.01358932e+02] [-1.60085629e-02 9.99871855e-01 0.00000000e+00 -1.11630585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13741542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.42, Y:-1.13, Z:0.03 [[ 9.99899118e-01 1.42040232e-02 0.00000000e+00 1.01418966e+02] [-1.42040232e-02 9.99899118e-01 0.00000000e+00 -1.12573582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19345125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.48, Y:-1.12, Z:0.03 [[ 9.99904025e-01 1.38542747e-02 0.00000000e+00 1.01477822e+02] [-1.38542747e-02 9.99904025e-01 0.00000000e+00 -1.11906507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80620257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:-1.12, Z:0.03 [[ 9.99827285e-01 1.85849392e-02 0.00000000e+00 1.01537221e+02] [-1.85849392e-02 9.99827285e-01 0.00000000e+00 -1.11649590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04756615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:-1.11, Z:0.03 [[ 9.99690482e-01 2.48784971e-02 0.00000000e+00 1.01597202e+02] [-2.48784971e-02 9.99690482e-01 0.00000000e+00 -1.11479029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90195918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.66, Y:-1.11, Z:0.03 [[ 9.99668238e-01 2.57568306e-02 0.00000000e+00 1.01656863e+02] [-2.57568306e-02 9.99668238e-01 0.00000000e+00 -1.11018918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05753896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.72, Y:-1.11, Z:0.03 [[ 9.99722322e-01 2.35643426e-02 0.00000000e+00 1.01717001e+02] [-2.35643426e-02 9.99722322e-01 0.00000000e+00 -1.11284515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01630907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.78, Y:-1.11, Z:0.03 [[ 9.99771331e-01 2.13842338e-02 0.00000000e+00 1.01776786e+02] [-2.13842338e-02 9.99771331e-01 0.00000000e+00 -1.11125583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21940583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:-1.11, Z:0.03 [[ 9.99744695e-01 2.25952251e-02 0.00000000e+00 1.01836109e+02] [-2.25952251e-02 9.99744695e-01 0.00000000e+00 -1.10742719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80518970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.90, Y:-1.11, Z:0.03 [[ 9.99667344e-01 2.57915014e-02 0.00000000e+00 1.01895973e+02] [-2.57915014e-02 9.99667344e-01 0.00000000e+00 -1.11072558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69974990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:-1.11, Z:0.03 [[ 9.99727011e-01 2.33645898e-02 0.00000000e+00 1.01955109e+02] [-2.33645898e-02 9.99727011e-01 0.00000000e+00 -1.10549832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53455331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:-1.11, Z:0.01 [[ 9.99828429e-01 1.85233025e-02 0.00000000e+00 1.02015528e+02] [-1.85233025e-02 9.99828429e-01 0.00000000e+00 -1.10738478e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34046298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.08, Y:-1.11, Z:0.02 [[ 9.99933499e-01 1.15324853e-02 0.00000000e+00 1.02075499e+02] [-1.15324853e-02 9.99933499e-01 0.00000000e+00 -1.11175200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98472238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:102.13, Y:-1.11, Z:0.03 [[ 9.99989772e-01 4.52286266e-03 0.00000000e+00 1.02134817e+02] [-4.52286266e-03 9.99989772e-01 0.00000000e+00 -1.10617659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95043943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.20, Y:-1.11, Z:0.04 [[ 9.99993422e-01 -3.62698662e-03 0.00000000e+00 1.02195405e+02] [ 3.62698662e-03 9.99993422e-01 0.00000000e+00 -1.11135619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59757553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.26, Y:-1.12, Z:0.03 [[ 9.99982608e-01 -5.89782355e-03 0.00000000e+00 1.02256224e+02] [ 5.89782355e-03 9.99982608e-01 0.00000000e+00 -1.11701513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64557310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.32, Y:-1.11, Z:0.03 [[ 9.99999150e-01 1.30359326e-03 0.00000000e+00 1.02315134e+02] [-1.30359326e-03 9.99999150e-01 0.00000000e+00 -1.11326458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67055229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.38, Y:-1.12, Z:0.03 [[ 9.99954154e-01 9.57546624e-03 0.00000000e+00 1.02376009e+02] [-9.57546624e-03 9.99954154e-01 0.00000000e+00 -1.12012857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99280104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.44, Y:-1.11, Z:0.03 [[ 9.99847663e-01 1.74542397e-02 0.00000000e+00 1.02435956e+02] [-1.74542397e-02 9.99847663e-01 0.00000000e+00 -1.11389011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98594603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:-1.12, Z:0.03 [[ 9.99780274e-01 2.09619435e-02 0.00000000e+00 1.02496977e+02] [-2.09619435e-02 9.99780274e-01 0.00000000e+00 -1.11509286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91098647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:-1.12, Z:0.03 [[ 9.99704995e-01 2.42883114e-02 0.00000000e+00 1.02556521e+02] [-2.42883114e-02 9.99704995e-01 0.00000000e+00 -1.12200484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83488629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:-1.12, Z:0.03 [[ 9.99777167e-01 2.11096444e-02 0.00000000e+00 1.02617731e+02] [-2.11096444e-02 9.99777167e-01 0.00000000e+00 -1.11994280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41782875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:-1.13, Z:0.03 [[ 9.99916507e-01 1.29220581e-02 0.00000000e+00 1.02679277e+02] [-1.29220581e-02 9.99916507e-01 0.00000000e+00 -1.12599933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01542697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.74, Y:-1.14, Z:0.03 [[ 9.99972926e-01 7.35841746e-03 0.00000000e+00 1.02740501e+02] [-7.35841746e-03 9.99972926e-01 0.00000000e+00 -1.13991107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28583227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.80, Y:-1.14, Z:0.03 [[ 9.99897185e-01 1.43394506e-02 0.00000000e+00 1.02801556e+02] [-1.43394506e-02 9.99897185e-01 0.00000000e+00 -1.14419145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09186187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.86, Y:-1.14, Z:0.03 [[ 9.99672978e-01 2.55721834e-02 0.00000000e+00 1.02862246e+02] [-2.55721834e-02 9.99672978e-01 0.00000000e+00 -1.14351468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04278066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:-1.14, Z:0.03 [[ 9.99360130e-01 3.57677432e-02 0.00000000e+00 1.02922343e+02] [-3.57677432e-02 9.99360130e-01 0.00000000e+00 -1.14176626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08797058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.98, Y:-1.13, Z:0.03 [[ 9.98939326e-01 4.60458707e-02 0.00000000e+00 1.02982326e+02] [-4.60458707e-02 9.98939326e-01 0.00000000e+00 -1.13373729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30561610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:-1.12, Z:0.03 [[ 9.98981160e-01 4.51291621e-02 0.00000000e+00 1.03042023e+02] [-4.51291621e-02 9.98981160e-01 0.00000000e+00 -1.11946952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80621080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:-1.12, Z:0.03 [[ 9.99340447e-01 3.63135022e-02 0.00000000e+00 1.03103366e+02] [-3.63135022e-02 9.99340447e-01 0.00000000e+00 -1.11674888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04951731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:-1.11, Z:0.03 [[ 9.99852217e-01 1.71913959e-02 0.00000000e+00 1.03164514e+02] [-1.71913959e-02 9.99852217e-01 0.00000000e+00 -1.10926864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82570803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:-1.11, Z:0.03 [[ 9.99914238e-01 1.30964589e-02 0.00000000e+00 1.03224821e+02] [-1.30964589e-02 9.99914238e-01 0.00000000e+00 -1.10700362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12898323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-1.11, Z:0.03 [[ 9.99994205e-01 3.40428202e-03 0.00000000e+00 1.03285323e+02] [-3.40428202e-03 9.99994205e-01 0.00000000e+00 -1.10586984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46647773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:-1.11, Z:0.03 [[ 9.99969683e-01 -7.78676631e-03 0.00000000e+00 1.03345705e+02] [ 7.78676631e-03 9.99969683e-01 0.00000000e+00 -1.10717305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25958695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.41, Y:-1.11, Z:0.03 [[ 9.99883386e-01 -1.52713650e-02 0.00000000e+00 1.03406688e+02] [ 1.52713650e-02 9.99883386e-01 0.00000000e+00 -1.11166724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86192274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.47, Y:-1.12, Z:0.03 [[ 9.99867983e-01 -1.62485588e-02 0.00000000e+00 1.03466612e+02] [ 1.62485588e-02 9.99867983e-01 0.00000000e+00 -1.11828898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25347066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.53, Y:-1.11, Z:0.03 [[ 9.99942208e-01 -1.07508809e-02 0.00000000e+00 1.03526015e+02] [ 1.07508809e-02 9.99942208e-01 0.00000000e+00 -1.11475171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24309856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.59, Y:-1.12, Z:0.03 [[ 9.99993545e-01 -3.59296862e-03 0.00000000e+00 1.03586171e+02] [ 3.59296862e-03 9.99993545e-01 0.00000000e+00 -1.12130289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22369027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:-1.12, Z:0.04 [[ 9.99996224e-01 2.74800519e-03 0.00000000e+00 1.03646368e+02] [-2.74800519e-03 9.99996224e-01 0.00000000e+00 -1.12292384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64058404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.71, Y:-1.13, Z:0.03 [[ 9.99968908e-01 7.88556289e-03 0.00000000e+00 1.03707121e+02] [-7.88556289e-03 9.99968908e-01 0.00000000e+00 -1.12730571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40910299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:-1.13, Z:0.04 [[ 9.99960721e-01 8.86315475e-03 0.00000000e+00 1.03767813e+02] [-8.86315475e-03 9.99960721e-01 0.00000000e+00 -1.13444114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50493437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:-1.15, Z:0.03 [[ 9.99958550e-01 9.10490343e-03 0.00000000e+00 1.03829377e+02] [-9.10490343e-03 9.99958550e-01 0.00000000e+00 -1.14652317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17969422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:-1.14, Z:0.03 [[ 9.99893521e-01 1.45927190e-02 0.00000000e+00 1.03889869e+02] [-1.45927190e-02 9.99893521e-01 0.00000000e+00 -1.14244183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35467666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:-1.16, Z:0.04 [[ 9.99674295e-01 2.55206578e-02 0.00000000e+00 1.03950651e+02] [-2.55206578e-02 9.99674295e-01 0.00000000e+00 -1.15847473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77657176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:-1.15, Z:0.03 [[ 9.99391761e-01 3.48727404e-02 0.00000000e+00 1.04011423e+02] [-3.48727404e-02 9.99391761e-01 0.00000000e+00 -1.15116911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03488870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:-1.15, Z:0.03 [[ 9.99034349e-01 4.39359646e-02 0.00000000e+00 1.04073812e+02] [-4.39359646e-02 9.99034349e-01 0.00000000e+00 -1.14787268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81520511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.14, Y:-1.14, Z:0.03 [[ 9.98784891e-01 4.92822559e-02 0.00000000e+00 1.04135354e+02] [-4.92822559e-02 9.98784891e-01 0.00000000e+00 -1.14232488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23765332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.20, Y:-1.12, Z:0.03 [[ 9.98749387e-01 4.99966105e-02 0.00000000e+00 1.04195722e+02] [-4.99966105e-02 9.98749387e-01 0.00000000e+00 -1.12264621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08785452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.26, Y:-1.11, Z:0.03 [[ 9.99120047e-01 4.19420105e-02 0.00000000e+00 1.04258033e+02] [-4.19420105e-02 9.99120047e-01 0.00000000e+00 -1.11214233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08014204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.32, Y:-1.10, Z:0.03 [[ 9.99561785e-01 2.96013166e-02 0.00000000e+00 1.04318489e+02] [-2.96013166e-02 9.99561785e-01 0.00000000e+00 -1.10315906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08331802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.38, Y:-1.09, Z:0.03 [[ 9.99903553e-01 1.38883204e-02 0.00000000e+00 1.04380372e+02] [-1.38883204e-02 9.99903553e-01 0.00000000e+00 -1.09433133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26780808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.44, Y:-1.09, Z:0.03 [[ 9.99981635e-01 6.06048344e-03 0.00000000e+00 1.04441410e+02] [-6.06048344e-03 9.99981635e-01 0.00000000e+00 -1.08670180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24380336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.50, Y:-1.09, Z:0.03 [[ 9.99997775e-01 2.10956653e-03 0.00000000e+00 1.04501461e+02] [-2.10956653e-03 9.99997775e-01 0.00000000e+00 -1.08566873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81897107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.56, Y:-1.08, Z:0.03 [[ 9.99999740e-01 -7.21035651e-04 0.00000000e+00 1.04562141e+02] [ 7.21035651e-04 9.99999740e-01 0.00000000e+00 -1.08199715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65694545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.62, Y:-1.08, Z:0.03 [[ 9.99999041e-01 -1.38456493e-03 0.00000000e+00 1.04622024e+02] [ 1.38456493e-03 9.99999041e-01 0.00000000e+00 -1.08116940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82707010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.68, Y:-1.08, Z:0.03 [[ 9.99999996e-01 -8.46939561e-05 0.00000000e+00 1.04682334e+02] [ 8.46939561e-05 9.99999996e-01 0.00000000e+00 -1.08308164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73240662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.74, Y:-1.08, Z:0.03 [[ 9.99972830e-01 7.37151738e-03 0.00000000e+00 1.04741502e+02] [-7.37151738e-03 9.99972830e-01 0.00000000e+00 -1.08381947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83398499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.80, Y:-1.09, Z:0.03 [[ 9.99891509e-01 1.47299003e-02 0.00000000e+00 1.04801868e+02] [-1.47299003e-02 9.99891509e-01 0.00000000e+00 -1.08732174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53982295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:-1.08, Z:0.02 [[ 9.99804390e-01 1.97783049e-02 0.00000000e+00 1.04862667e+02] [-1.97783049e-02 9.99804390e-01 0.00000000e+00 -1.08338999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48602692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:-1.08, Z:0.03 [[ 9.99763329e-01 2.17551395e-02 0.00000000e+00 1.04923817e+02] [-2.17551395e-02 9.99763329e-01 0.00000000e+00 -1.08323597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74439367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.98, Y:-1.08, Z:0.04 [[ 9.99736644e-01 2.29487163e-02 0.00000000e+00 1.04984979e+02] [-2.29487163e-02 9.99736644e-01 0.00000000e+00 -1.08331375e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70249601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:105.05, Y:-1.09, Z:0.03 [[ 9.99779324e-01 2.10072431e-02 0.00000000e+00 1.05046719e+02] [-2.10072431e-02 9.99779324e-01 0.00000000e+00 -1.08932140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58081453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.11, Y:-1.09, Z:0.03 [[ 9.99888553e-01 1.49292263e-02 0.00000000e+00 1.05108231e+02] [-1.49292263e-02 9.99888553e-01 0.00000000e+00 -1.08935054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57359006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.17, Y:-1.09, Z:0.02 [[ 9.99930534e-01 1.17867350e-02 0.00000000e+00 1.05169344e+02] [-1.17867350e-02 9.99930534e-01 0.00000000e+00 -1.08874190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16137192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.23, Y:-1.11, Z:0.02 [[ 9.99953421e-01 9.65177292e-03 0.00000000e+00 1.05231617e+02] [-9.65177292e-03 9.99953421e-01 0.00000000e+00 -1.10677954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26071024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.29, Y:-1.11, Z:0.02 [[ 9.99938953e-01 1.10494174e-02 0.00000000e+00 1.05291920e+02] [-1.10494174e-02 9.99938953e-01 0.00000000e+00 -1.11268054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22824442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.35, Y:-1.12, Z:0.02 [[ 9.99844550e-01 1.76316724e-02 0.00000000e+00 1.05353882e+02] [-1.76316724e-02 9.99844550e-01 0.00000000e+00 -1.11874903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48622531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.42, Y:-1.14, Z:0.03 [[ 9.99778147e-01 2.10631817e-02 0.00000000e+00 1.05415863e+02] [-2.10631817e-02 9.99778147e-01 0.00000000e+00 -1.13535919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13569335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.48, Y:-1.13, Z:0.03 [[ 9.99652667e-01 2.63542469e-02 0.00000000e+00 1.05477653e+02] [-2.63542469e-02 9.99652667e-01 0.00000000e+00 -1.13356284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85123574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.54, Y:-1.14, Z:0.03 [[ 9.99508748e-01 3.13410717e-02 0.00000000e+00 1.05539249e+02] [-3.13410717e-02 9.99508748e-01 0.00000000e+00 -1.14311646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51069637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.60, Y:-1.15, Z:0.02 [[ 9.99422065e-01 3.39931725e-02 0.00000000e+00 1.05602303e+02] [-3.39931725e-02 9.99422065e-01 0.00000000e+00 -1.15059525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43749995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.66, Y:-1.16, Z:0.03 [[ 9.99389014e-01 3.49513704e-02 0.00000000e+00 1.05664998e+02] [-3.49513704e-02 9.99389014e-01 0.00000000e+00 -1.16290765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45774892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.73, Y:-1.17, Z:0.03 [[ 9.99414819e-01 3.42055571e-02 0.00000000e+00 1.05727045e+02] [-3.42055571e-02 9.99414819e-01 0.00000000e+00 -1.16683737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47688705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.79, Y:-1.18, Z:0.03 [[ 9.99409603e-01 3.43576205e-02 0.00000000e+00 1.05789844e+02] [-3.43576205e-02 9.99409603e-01 0.00000000e+00 -1.17567034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04537136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:-1.19, Z:0.03 [[ 9.99413873e-01 3.42331685e-02 0.00000000e+00 1.05851441e+02] [-3.42331685e-02 9.99413873e-01 0.00000000e+00 -1.18592178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62430926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:-1.19, Z:0.03 [[ 9.99394074e-01 3.48063950e-02 0.00000000e+00 1.05914037e+02] [-3.48063950e-02 9.99394074e-01 0.00000000e+00 -1.18723033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32098268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.98, Y:-1.20, Z:0.03 [[ 9.99262399e-01 3.84012632e-02 0.00000000e+00 1.05976561e+02] [-3.84012632e-02 9.99262399e-01 0.00000000e+00 -1.19819449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43949810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.04, Y:-1.19, Z:0.03 [[ 9.99240654e-01 3.89630078e-02 0.00000000e+00 1.06039171e+02] [-3.89630078e-02 9.99240654e-01 0.00000000e+00 -1.19275040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49623220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:-1.20, Z:0.03 [[ 9.99481753e-01 3.21904571e-02 0.00000000e+00 1.06101542e+02] [-3.21904571e-02 9.99481753e-01 0.00000000e+00 -1.19746128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73230785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:-1.20, Z:0.03 [[ 9.99730218e-01 2.32269335e-02 0.00000000e+00 1.06164316e+02] [-2.32269335e-02 9.99730218e-01 0.00000000e+00 -1.20459678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45366071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.23, Y:-1.20, Z:0.04 [[ 9.99836064e-01 1.81064980e-02 0.00000000e+00 1.06225053e+02] [-1.81064980e-02 9.99836064e-01 0.00000000e+00 -1.20486060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69836783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:-1.22, Z:0.03 [[ 9.99819473e-01 1.90005794e-02 0.00000000e+00 1.06287384e+02] [-1.90005794e-02 9.99819473e-01 0.00000000e+00 -1.21687172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31464717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:-1.22, Z:0.03 [[ 9.99789790e-01 2.05030624e-02 0.00000000e+00 1.06348786e+02] [-2.05030624e-02 9.99789790e-01 0.00000000e+00 -1.22281502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83507414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:-1.23, Z:0.02 [[ 9.99712113e-01 2.39935822e-02 0.00000000e+00 1.06410169e+02] [-2.39935822e-02 9.99712113e-01 0.00000000e+00 -1.22904982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04516354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.47, Y:-1.24, Z:0.03 [[ 9.99386355e-01 3.50273105e-02 0.00000000e+00 1.06472573e+02] [-3.50273105e-02 9.99386355e-01 0.00000000e+00 -1.24161132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03204407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.53, Y:-1.23, Z:0.03 [[ 9.98603161e-01 5.28367994e-02 0.00000000e+00 1.06533553e+02] [-5.28367994e-02 9.98603161e-01 0.00000000e+00 -1.22708934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14316019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:-1.21, Z:0.03 [[ 9.97884677e-01 6.50090165e-02 0.00000000e+00 1.06595163e+02] [-6.50090165e-02 9.97884677e-01 0.00000000e+00 -1.21415205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10764196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:-1.22, Z:0.03 [[ 9.98125059e-01 6.12075648e-02 0.00000000e+00 1.06656589e+02] [-6.12075648e-02 9.98125059e-01 0.00000000e+00 -1.21541273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95363751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:-1.20, Z:0.03 [[ 9.98590839e-01 5.30691615e-02 0.00000000e+00 1.06718709e+02] [-5.30691615e-02 9.98590839e-01 0.00000000e+00 -1.20257679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01069385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:-1.19, Z:0.03 [[ 9.99093827e-01 4.25620224e-02 0.00000000e+00 1.06779571e+02] [-4.25620224e-02 9.99093827e-01 0.00000000e+00 -1.19252644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58936127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:-1.19, Z:0.02 [[ 9.99493800e-01 3.18141995e-02 0.00000000e+00 1.06841506e+02] [-3.18141995e-02 9.99493800e-01 0.00000000e+00 -1.19437296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17032871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:-1.18, Z:0.03 [[ 9.99879282e-01 1.55377705e-02 0.00000000e+00 1.06903562e+02] [-1.55377705e-02 9.99879282e-01 0.00000000e+00 -1.18371769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79473735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.97, Y:-1.18, Z:0.03 [[ 9.99965117e-01 8.35249048e-03 0.00000000e+00 1.06965433e+02] [-8.35249048e-03 9.99965117e-01 0.00000000e+00 -1.18285247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42302795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.03, Y:-1.18, Z:0.03 [[ 9.99975597e-01 6.98609605e-03 0.00000000e+00 1.07027614e+02] [-6.98609605e-03 9.99975597e-01 0.00000000e+00 -1.18089598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24478925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.09, Y:-1.17, Z:0.03 [[ 9.99944775e-01 1.05093786e-02 0.00000000e+00 1.07088949e+02] [-1.05093786e-02 9.99944775e-01 0.00000000e+00 -1.17118924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86050539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.15, Y:-1.17, Z:0.03 [[ 9.99880406e-01 1.54652380e-02 0.00000000e+00 1.07150331e+02] [-1.54652380e-02 9.99880406e-01 0.00000000e+00 -1.16860126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61187960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.21, Y:-1.16, Z:0.03 [[ 9.99770683e-01 2.14145316e-02 0.00000000e+00 1.07211716e+02] [-2.14145316e-02 9.99770683e-01 0.00000000e+00 -1.16168580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13520512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.27, Y:-1.15, Z:0.04 [[ 9.99675635e-01 2.54681265e-02 0.00000000e+00 1.07273721e+02] [-2.54681265e-02 9.99675635e-01 0.00000000e+00 -1.14992904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57327658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.34, Y:-1.15, Z:0.03 [[ 9.99606167e-01 2.80626372e-02 0.00000000e+00 1.07336191e+02] [-2.80626372e-02 9.99606167e-01 0.00000000e+00 -1.14547822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50130407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.40, Y:-1.14, Z:0.03 [[ 9.99626116e-01 2.73427897e-02 0.00000000e+00 1.07398122e+02] [-2.73427897e-02 9.99626116e-01 0.00000000e+00 -1.13971013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50015813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.46, Y:-1.13, Z:0.03 [[ 9.99772930e-01 2.13093568e-02 0.00000000e+00 1.07460270e+02] [-2.13093568e-02 9.99772930e-01 0.00000000e+00 -1.13429586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22726409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.52, Y:-1.13, Z:0.04 [[ 9.99933449e-01 1.15368224e-02 0.00000000e+00 1.07521148e+02] [-1.15368224e-02 9.99933449e-01 0.00000000e+00 -1.13255190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59084653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.58, Y:-1.13, Z:0.03 [[ 9.99979484e-01 6.40559177e-03 0.00000000e+00 1.07583451e+02] [-6.40559177e-03 9.99979484e-01 0.00000000e+00 -1.13177905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96294455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.65, Y:-1.13, Z:0.03 [[ 9.99997498e-01 2.23703329e-03 0.00000000e+00 1.07645035e+02] [-2.23703329e-03 9.99997498e-01 0.00000000e+00 -1.12837535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79985568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.71, Y:-1.13, Z:0.03 [[ 9.99999611e-01 8.81979120e-04 0.00000000e+00 1.07705321e+02] [-8.81979120e-04 9.99999611e-01 0.00000000e+00 -1.13177639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05175596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.77, Y:-1.14, Z:0.03 [[ 9.99999127e-01 1.32103872e-03 0.00000000e+00 1.07766225e+02] [-1.32103872e-03 9.99999127e-01 0.00000000e+00 -1.14108753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30398748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.83, Y:-1.14, Z:0.03 [[ 9.99998559e-01 1.69768483e-03 0.00000000e+00 1.07826596e+02] [-1.69768483e-03 9.99998559e-01 0.00000000e+00 -1.13856511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40544133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.89, Y:-1.15, Z:0.03 [[ 9.99994869e-01 3.20349039e-03 0.00000000e+00 1.07887673e+02] [-3.20349039e-03 9.99994869e-01 0.00000000e+00 -1.14971464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32425566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.95, Y:-1.16, Z:0.03 [[ 9.99986317e-01 5.23124348e-03 0.00000000e+00 1.07949463e+02] [-5.23124348e-03 9.99986317e-01 0.00000000e+00 -1.16229513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80012598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-1.17, Z:0.03 [[ 9.99958776e-01 9.07997804e-03 0.00000000e+00 1.08010651e+02] [-9.07997804e-03 9.99958776e-01 0.00000000e+00 -1.16577027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17078745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:-1.18, Z:0.04 [[ 9.99908297e-01 1.35424498e-02 0.00000000e+00 1.08071867e+02] [-1.35424498e-02 9.99908297e-01 0.00000000e+00 -1.17998088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61687727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:-1.19, Z:0.03 [[ 9.99782217e-01 2.08690967e-02 0.00000000e+00 1.08134644e+02] [-2.08690967e-02 9.99782217e-01 0.00000000e+00 -1.18640530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83227643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:-1.19, Z:0.03 [[ 9.99591305e-01 2.85870965e-02 0.00000000e+00 1.08196641e+02] [-2.85870965e-02 9.99591305e-01 0.00000000e+00 -1.19207537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41159766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:-1.20, Z:0.03 [[ 9.99395776e-01 3.47574903e-02 0.00000000e+00 1.08259296e+02] [-3.47574903e-02 9.99395776e-01 0.00000000e+00 -1.20185084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16625090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:-1.21, Z:0.03 [[ 9.99293399e-01 3.75859333e-02 0.00000000e+00 1.08321161e+02] [-3.75859333e-02 9.99293399e-01 0.00000000e+00 -1.21052873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45044492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:-1.22, Z:0.03 [[ 9.99386030e-01 3.50366018e-02 0.00000000e+00 1.08384650e+02] [-3.50366018e-02 9.99386030e-01 0.00000000e+00 -1.21663544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35289481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.45, Y:-1.22, Z:0.03 [[ 9.99459547e-01 3.28726885e-02 0.00000000e+00 1.08446290e+02] [-3.28726885e-02 9.99459547e-01 0.00000000e+00 -1.22265773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94049949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.51, Y:-1.23, Z:0.03 [[ 9.99399822e-01 3.46409414e-02 0.00000000e+00 1.08509280e+02] [-3.46409414e-02 9.99399822e-01 0.00000000e+00 -1.22766446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10169354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.57, Y:-1.23, Z:0.03 [[ 9.99376727e-01 3.53009590e-02 0.00000000e+00 1.08571957e+02] [-3.53009590e-02 9.99376727e-01 0.00000000e+00 -1.22724579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90815483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.63, Y:-1.23, Z:0.03 [[ 9.99597658e-01 2.83640843e-02 0.00000000e+00 1.08633473e+02] [-2.83640843e-02 9.99597658e-01 0.00000000e+00 -1.23059567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10469256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.69, Y:-1.24, Z:0.03 [[ 9.99676372e-01 2.54391493e-02 0.00000000e+00 1.08694699e+02] [-2.54391493e-02 9.99676372e-01 0.00000000e+00 -1.24199626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07434911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:-1.24, Z:0.02 [[ 9.99655559e-01 2.62442956e-02 0.00000000e+00 1.08756302e+02] [-2.62442956e-02 9.99655559e-01 0.00000000e+00 -1.23723823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37924193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:-1.24, Z:0.03 [[ 9.99533232e-01 3.05502444e-02 0.00000000e+00 1.08817672e+02] [-3.05502444e-02 9.99533232e-01 0.00000000e+00 -1.23517757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65584588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.88, Y:-1.24, Z:0.03 [[ 9.99392207e-01 3.48599554e-02 0.00000000e+00 1.08880946e+02] [-3.48599554e-02 9.99392207e-01 0.00000000e+00 -1.23841625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01842574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.94, Y:-1.23, Z:0.02 [[ 9.99256772e-01 3.85474192e-02 0.00000000e+00 1.08943080e+02] [-3.85474192e-02 9.99256772e-01 0.00000000e+00 -1.22548298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00666752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.00, Y:-1.21, Z:0.02 [[ 9.99175218e-01 4.06064468e-02 0.00000000e+00 1.09003396e+02] [-4.06064468e-02 9.99175218e-01 0.00000000e+00 -1.21450984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77619288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:-1.21, Z:0.02 [[ 9.99259500e-01 3.84766440e-02 0.00000000e+00 1.09065056e+02] [-3.84766440e-02 9.99259500e-01 0.00000000e+00 -1.21329449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46398324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:-1.20, Z:0.03 [[ 9.99471806e-01 3.24978397e-02 0.00000000e+00 1.09126980e+02] [-3.24978397e-02 9.99471806e-01 0.00000000e+00 -1.20464731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19319975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.19, Y:-1.19, Z:0.02 [[ 9.99724058e-01 2.34905949e-02 0.00000000e+00 1.09188936e+02] [-2.34905949e-02 9.99724058e-01 0.00000000e+00 -1.19131714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44551622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.25, Y:-1.20, Z:0.02 [[ 9.99932956e-01 1.15794751e-02 0.00000000e+00 1.09251403e+02] [-1.15794751e-02 9.99932956e-01 0.00000000e+00 -1.19615431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99213436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.31, Y:-1.19, Z:0.02 [[ 9.99966393e-01 8.19833088e-03 0.00000000e+00 1.09312707e+02] [-8.19833088e-03 9.99966393e-01 0.00000000e+00 -1.18574955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55654524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.37, Y:-1.19, Z:0.01 [[ 9.99951609e-01 9.83764634e-03 0.00000000e+00 1.09374829e+02] [-9.83764634e-03 9.99951609e-01 0.00000000e+00 -1.18994684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43324798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:-1.19, Z:0.02 [[ 9.99896572e-01 1.43820998e-02 0.00000000e+00 1.09435645e+02] [-1.43820998e-02 9.99896572e-01 0.00000000e+00 -1.18504783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93079082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.50, Y:-1.19, Z:0.02 [[ 9.99890565e-01 1.47938500e-02 0.00000000e+00 1.09497522e+02] [-1.47938500e-02 9.99890565e-01 0.00000000e+00 -1.18637011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20003732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:-1.19, Z:0.02 [[ 9.99941495e-01 1.08169814e-02 0.00000000e+00 1.09560603e+02] [-1.08169814e-02 9.99941495e-01 0.00000000e+00 -1.19157728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25442247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:-1.19, Z:0.02 [[ 9.99944401e-01 1.05449342e-02 0.00000000e+00 1.09623154e+02] [-1.05449342e-02 9.99944401e-01 0.00000000e+00 -1.19477884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01572575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:-1.20, Z:0.02 [[ 9.99910919e-01 1.33474194e-02 0.00000000e+00 1.09685800e+02] [-1.33474194e-02 9.99910919e-01 0.00000000e+00 -1.19990701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01213535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:-1.20, Z:0.02 [[ 9.99708812e-01 2.41306942e-02 0.00000000e+00 1.09746533e+02] [-2.41306942e-02 9.99708812e-01 0.00000000e+00 -1.19966660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06439163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:-1.20, Z:0.02 [[ 9.99541080e-01 3.02924055e-02 0.00000000e+00 1.09809009e+02] [-3.02924055e-02 9.99541080e-01 0.00000000e+00 -1.19916241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75034957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:-1.20, Z:0.02 [[ 9.99526008e-01 3.07857135e-02 0.00000000e+00 1.09871058e+02] [-3.07857135e-02 9.99526008e-01 0.00000000e+00 -1.20212884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46156268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.93, Y:-1.20, Z:0.03 [[ 9.99649862e-01 2.64603990e-02 0.00000000e+00 1.09933038e+02] [-2.64603990e-02 9.99649862e-01 0.00000000e+00 -1.19685522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61015733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:-1.19, Z:0.02 [[ 9.99732645e-01 2.31222719e-02 0.00000000e+00 1.09995048e+02] [-2.31222719e-02 9.99732645e-01 0.00000000e+00 -1.19431511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39619334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:-1.20, Z:0.02 [[ 9.99712601e-01 2.39732092e-02 0.00000000e+00 1.10057581e+02] [-2.39732092e-02 9.99712601e-01 0.00000000e+00 -1.19561082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21279166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.12, Y:-1.19, Z:0.02 [[ 9.99681096e-01 2.52528650e-02 0.00000000e+00 1.10119550e+02] [-2.52528650e-02 9.99681096e-01 0.00000000e+00 -1.19161810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11521580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.18, Y:-1.19, Z:0.02 [[ 9.99705851e-01 2.42530683e-02 0.00000000e+00 1.10182690e+02] [-2.42530683e-02 9.99705851e-01 0.00000000e+00 -1.18588431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04311272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.24, Y:-1.19, Z:0.02 [[ 9.99796009e-01 2.01975318e-02 0.00000000e+00 1.10244149e+02] [-2.01975318e-02 9.99796009e-01 0.00000000e+00 -1.19275407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37902081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:-1.19, Z:0.02 [[ 9.99836909e-01 1.80597489e-02 0.00000000e+00 1.10306584e+02] [-1.80597489e-02 9.99836909e-01 0.00000000e+00 -1.19408721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30174123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:-1.20, Z:0.02 [[ 9.99869442e-01 1.61585379e-02 0.00000000e+00 1.10368750e+02] [-1.61585379e-02 9.99869442e-01 0.00000000e+00 -1.19814776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02419741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.43, Y:-1.20, Z:0.02 [[ 9.99806790e-01 1.96566156e-02 0.00000000e+00 1.10430475e+02] [-1.96566156e-02 9.99806790e-01 0.00000000e+00 -1.20213805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20232318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.49, Y:-1.20, Z:0.03 [[ 9.99476602e-01 3.23500056e-02 0.00000000e+00 1.10491753e+02] [-3.23500056e-02 9.99476602e-01 0.00000000e+00 -1.19902824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52291822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.55, Y:-1.19, Z:0.02 [[ 9.99059999e-01 4.33488024e-02 0.00000000e+00 1.10552732e+02] [-4.33488024e-02 9.99059999e-01 0.00000000e+00 -1.18880497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05143853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.62, Y:-1.19, Z:0.02 [[ 9.98888340e-01 4.71389839e-02 0.00000000e+00 1.10615657e+02] [-4.71389839e-02 9.98888340e-01 0.00000000e+00 -1.18706293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21804302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.68, Y:-1.18, Z:0.03 [[ 9.99100082e-01 4.24149364e-02 0.00000000e+00 1.10677360e+02] [-4.24149364e-02 9.99100082e-01 0.00000000e+00 -1.17813107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63720554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.74, Y:-1.18, Z:0.03 [[ 9.99684776e-01 2.51067420e-02 0.00000000e+00 1.10738690e+02] [-2.51067420e-02 9.99684776e-01 0.00000000e+00 -1.17810733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78976672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.80, Y:-1.18, Z:0.03 [[ 9.99939310e-01 1.10171297e-02 0.00000000e+00 1.10801645e+02] [-1.10171297e-02 9.99939310e-01 0.00000000e+00 -1.17670614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61094471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.86, Y:-1.18, Z:0.03 [[ 9.99991497e-01 4.12377803e-03 0.00000000e+00 1.10864146e+02] [-4.12377803e-03 9.99991497e-01 0.00000000e+00 -1.18075110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62696309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:-1.18, Z:0.03 [[ 9.99985437e-01 5.39684455e-03 0.00000000e+00 1.10926691e+02] [-5.39684455e-03 9.99985437e-01 0.00000000e+00 -1.18135544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77369274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:-1.18, Z:0.03 [[ 9.99973533e-01 7.27553203e-03 0.00000000e+00 1.10989165e+02] [-7.27553203e-03 9.99973533e-01 0.00000000e+00 -1.18330055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87628749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:-1.18, Z:0.02 [[ 9.99959335e-01 9.01817343e-03 0.00000000e+00 1.11050699e+02] [-9.01817343e-03 9.99959335e-01 0.00000000e+00 -1.18409135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43051392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.11, Y:-1.19, Z:0.02 [[ 9.99944212e-01 1.05628408e-02 0.00000000e+00 1.11113587e+02] [-1.05628408e-02 9.99944212e-01 0.00000000e+00 -1.18612067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28923108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:-1.19, Z:0.02 [[ 9.99856404e-01 1.69461568e-02 0.00000000e+00 1.11175852e+02] [-1.69461568e-02 9.99856404e-01 0.00000000e+00 -1.19018021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33282088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:-1.18, Z:0.02 [[ 9.99622761e-01 2.74651853e-02 0.00000000e+00 1.11238124e+02] [-2.74651853e-02 9.99622761e-01 0.00000000e+00 -1.18252094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27702721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.30, Y:-1.19, Z:0.03 [[ 9.99474756e-01 3.24069724e-02 0.00000000e+00 1.11300332e+02] [-3.24069724e-02 9.99474756e-01 0.00000000e+00 -1.18692440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84972464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.36, Y:-1.19, Z:0.03 [[ 9.99533322e-01 3.05473231e-02 0.00000000e+00 1.11363132e+02] [-3.05473231e-02 9.99533322e-01 0.00000000e+00 -1.19179085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78122113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:-1.19, Z:0.02 [[ 9.99551609e-01 2.99429494e-02 0.00000000e+00 1.11425134e+02] [-2.99429494e-02 9.99551609e-01 0.00000000e+00 -1.18762600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38244992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.49, Y:-1.19, Z:0.02 [[ 9.99488299e-01 3.19865474e-02 0.00000000e+00 1.11487093e+02] [-3.19865474e-02 9.99488299e-01 0.00000000e+00 -1.19177909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38997253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:-1.19, Z:0.02 [[ 9.99388987e-01 3.49521555e-02 0.00000000e+00 1.11549044e+02] [-3.49521555e-02 9.99388987e-01 0.00000000e+00 -1.19278310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49269899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:-1.18, Z:0.02 [[ 9.99330190e-01 3.65946839e-02 0.00000000e+00 1.11610492e+02] [-3.65946839e-02 9.99330190e-01 0.00000000e+00 -1.18482916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35432972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:-1.19, Z:0.03 [[ 9.99262249e-01 3.84051685e-02 0.00000000e+00 1.11673000e+02] [-3.84051685e-02 9.99262249e-01 0.00000000e+00 -1.18728146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87730472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-1.17, Z:0.02 [[ 9.99350118e-01 3.60463810e-02 0.00000000e+00 1.11735026e+02] [-3.60463810e-02 9.99350118e-01 0.00000000e+00 -1.17408831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31902564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-1.17, Z:0.02 [[ 9.99468676e-01 3.25939414e-02 0.00000000e+00 1.11796828e+02] [-3.25939414e-02 9.99468676e-01 0.00000000e+00 -1.17120854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27289846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-1.18, Z:0.03 [[ 9.99602808e-01 2.81820299e-02 0.00000000e+00 1.11858774e+02] [-2.81820299e-02 9.99602808e-01 0.00000000e+00 -1.17601824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49989908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-1.16, Z:0.03 [[ 9.99725701e-01 2.34205714e-02 0.00000000e+00 1.11920581e+02] [-2.34205714e-02 9.99725701e-01 0.00000000e+00 -1.15849420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21117746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.98, Y:-1.16, Z:0.03 [[ 9.99794364e-01 2.02788229e-02 0.00000000e+00 1.11983340e+02] [-2.02788229e-02 9.99794364e-01 0.00000000e+00 -1.16191811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61767219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:-1.15, Z:0.02 [[ 9.99801765e-01 1.99105763e-02 0.00000000e+00 1.12043932e+02] [-1.99105763e-02 9.99801765e-01 0.00000000e+00 -1.15386351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89317147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:-1.15, Z:0.02 [[ 9.99723134e-01 2.35298625e-02 0.00000000e+00 1.12106075e+02] [-2.35298625e-02 9.99723134e-01 0.00000000e+00 -1.14842790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88971324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.17, Y:-1.14, Z:0.02 [[ 9.99649925e-01 2.64580262e-02 0.00000000e+00 1.12166566e+02] [-2.64580262e-02 9.99649925e-01 0.00000000e+00 -1.14071169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16058020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.23, Y:-1.14, Z:0.03 [[ 9.99667913e-01 2.57694422e-02 0.00000000e+00 1.12227659e+02] [-2.57694422e-02 9.99667913e-01 0.00000000e+00 -1.13724403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84617373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.29, Y:-1.13, Z:0.03 [[ 9.99837865e-01 1.80067653e-02 0.00000000e+00 1.12289876e+02] [-1.80067653e-02 9.99837865e-01 0.00000000e+00 -1.13448738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50253354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.35, Y:-1.14, Z:0.03 [[ 9.99938838e-01 1.10598321e-02 0.00000000e+00 1.12352352e+02] [-1.10598321e-02 9.99938838e-01 0.00000000e+00 -1.13678410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81996760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.41, Y:-1.15, Z:0.03 [[ 9.99992195e-01 3.95101706e-03 0.00000000e+00 1.12414795e+02] [-3.95101706e-03 9.99992195e-01 0.00000000e+00 -1.14769506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76492048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:-1.15, Z:0.03 [[ 9.99998007e-01 1.99628448e-03 0.00000000e+00 1.12476591e+02] [-1.99628448e-03 9.99998007e-01 0.00000000e+00 -1.15179823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67023355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.54, Y:-1.16, Z:0.03 [[ 9.99998997e-01 1.41647702e-03 0.00000000e+00 1.12537233e+02] [-1.41647702e-03 9.99998997e-01 0.00000000e+00 -1.15976007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24637160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:-1.17, Z:0.03 [[ 9.99962531e-01 8.65664358e-03 0.00000000e+00 1.12597901e+02] [-8.65664358e-03 9.99962531e-01 0.00000000e+00 -1.16634204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71374579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.66, Y:-1.17, Z:0.03 [[ 9.99748748e-01 2.24151835e-02 0.00000000e+00 1.12660104e+02] [-2.24151835e-02 9.99748748e-01 0.00000000e+00 -1.17091648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79379184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:-1.17, Z:0.03 [[ 9.99317493e-01 3.69397933e-02 0.00000000e+00 1.12721019e+02] [-3.69397933e-02 9.99317493e-01 0.00000000e+00 -1.16997738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71657359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.78, Y:-1.17, Z:0.02 [[ 9.99292879e-01 3.75997581e-02 0.00000000e+00 1.12783299e+02] [-3.75997581e-02 9.99292879e-01 0.00000000e+00 -1.17348520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09158841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:-1.18, Z:0.02 [[ 9.99446471e-01 3.32678900e-02 0.00000000e+00 1.12845322e+02] [-3.32678900e-02 9.99446471e-01 0.00000000e+00 -1.18425803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26237202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:-1.19, Z:0.02 [[ 9.99530112e-01 3.06521721e-02 0.00000000e+00 1.12907258e+02] [-3.06521721e-02 9.99530112e-01 0.00000000e+00 -1.18838334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27086906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:-1.18, Z:0.01 [[ 9.99413091e-01 3.42559922e-02 0.00000000e+00 1.12968050e+02] [-3.42559922e-02 9.99413091e-01 0.00000000e+00 -1.18397413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46683026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:-1.19, Z:0.02 [[ 9.99259977e-01 3.84642574e-02 0.00000000e+00 1.13030927e+02] [-3.84642574e-02 9.99259977e-01 0.00000000e+00 -1.18572300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68657674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:-1.19, Z:0.02 [[ 9.99054617e-01 4.34726496e-02 0.00000000e+00 1.13093022e+02] [-4.34726496e-02 9.99054617e-01 0.00000000e+00 -1.18805736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47865534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:-1.18, Z:0.02 [[ 9.99031867e-01 4.39923669e-02 0.00000000e+00 1.13154771e+02] [-4.39923669e-02 9.99031867e-01 0.00000000e+00 -1.17734488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99867926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:-1.17, Z:0.02 [[ 9.99104454e-01 4.23118146e-02 0.00000000e+00 1.13216128e+02] [-4.23118146e-02 9.99104454e-01 0.00000000e+00 -1.16722413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03857162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.28, Y:-1.17, Z:0.03 [[ 9.99303342e-01 3.73206380e-02 0.00000000e+00 1.13279233e+02] [-3.73206380e-02 9.99303342e-01 0.00000000e+00 -1.16666772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94708194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.34, Y:-1.16, Z:0.03 [[ 9.99470082e-01 3.25507947e-02 0.00000000e+00 1.13341552e+02] [-3.25507947e-02 9.99470082e-01 0.00000000e+00 -1.16070523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52904835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.40, Y:-1.15, Z:0.03 [[ 9.99683944e-01 2.51398350e-02 0.00000000e+00 1.13403483e+02] [-2.51398350e-02 9.99683944e-01 0.00000000e+00 -1.15188600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54247801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.46, Y:-1.16, Z:0.02 [[ 9.99928097e-01 1.19916717e-02 0.00000000e+00 1.13464743e+02] [-1.19916717e-02 9.99928097e-01 0.00000000e+00 -1.15943957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10752886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:-1.16, Z:0.03 [[ 9.99969341e-01 7.83054133e-03 0.00000000e+00 1.13526968e+02] [-7.83054133e-03 9.99969341e-01 0.00000000e+00 -1.15508827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59621996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.59, Y:-1.16, Z:0.03 [[ 9.99965557e-01 8.29971456e-03 0.00000000e+00 1.13590122e+02] [-8.29971456e-03 9.99965557e-01 0.00000000e+00 -1.16036317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92884098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:-1.17, Z:0.03 [[ 9.99944917e-01 1.04958847e-02 0.00000000e+00 1.13653018e+02] [-1.04958847e-02 9.99944917e-01 0.00000000e+00 -1.16547652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12139811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.71, Y:-1.16, Z:0.02 [[ 9.99900908e-01 1.40774615e-02 0.00000000e+00 1.13714432e+02] [-1.40774615e-02 9.99900908e-01 0.00000000e+00 -1.16470678e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33572124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:-1.16, Z:0.02 [[ 9.99786167e-01 2.06789797e-02 0.00000000e+00 1.13775921e+02] [-2.06789797e-02 9.99786167e-01 0.00000000e+00 -1.16257410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14613458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:-1.16, Z:0.03 [[ 9.99479292e-01 3.22667819e-02 0.00000000e+00 1.13837745e+02] [-3.22667819e-02 9.99479292e-01 0.00000000e+00 -1.15986911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97642462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.90, Y:-1.15, Z:0.03 [[ 9.99236135e-01 3.90787145e-02 0.00000000e+00 1.13899428e+02] [-3.90787145e-02 9.99236135e-01 0.00000000e+00 -1.15126129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19772394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:-1.14, Z:0.03 [[ 9.99392369e-01 3.48553118e-02 0.00000000e+00 1.13959813e+02] [-3.48553118e-02 9.99392369e-01 0.00000000e+00 -1.13774706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16197799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:-1.14, Z:0.04 [[ 9.99710530e-01 2.40594436e-02 0.00000000e+00 1.14021177e+02] [-2.40594436e-02 9.99710530e-01 0.00000000e+00 -1.13620426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77555072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.08, Y:-1.13, Z:0.04 [[ 9.99913362e-01 1.31631608e-02 0.00000000e+00 1.14081738e+02] [-1.31631608e-02 9.99913362e-01 0.00000000e+00 -1.12822531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18660077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.14, Y:-1.13, Z:0.04 [[ 9.99995132e-01 3.12009680e-03 0.00000000e+00 1.14144427e+02] [-3.12009680e-03 9.99995132e-01 0.00000000e+00 -1.13065471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91897644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.21, Y:-1.13, Z:0.04 [[ 9.99988987e-01 -4.69324369e-03 0.00000000e+00 1.14205410e+02] [ 4.69324369e-03 9.99988987e-01 0.00000000e+00 -1.12823212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68373925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:-1.14, Z:0.04 [[ 9.99989592e-01 -4.56245222e-03 0.00000000e+00 1.14264380e+02] [ 4.56245222e-03 9.99989592e-01 0.00000000e+00 -1.13806705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26599063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.32, Y:-1.13, Z:0.05 [[ 9.99999974e-01 -2.28026556e-04 0.00000000e+00 1.14323143e+02] [ 2.28026556e-04 9.99999974e-01 0.00000000e+00 -1.13233079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57480832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:-1.13, Z:0.05 [[ 9.99922569e-01 1.24440969e-02 0.00000000e+00 1.14383541e+02] [-1.24440969e-02 9.99922569e-01 0.00000000e+00 -1.12500171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55640254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.45, Y:-1.12, Z:0.05 [[ 9.99632736e-01 2.70997057e-02 0.00000000e+00 1.14445731e+02] [-2.70997057e-02 9.99632736e-01 0.00000000e+00 -1.12439120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72183439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:-1.12, Z:0.05 [[ 9.99420318e-01 3.40445111e-02 0.00000000e+00 1.14507775e+02] [-3.40445111e-02 9.99420318e-01 0.00000000e+00 -1.11803236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62135419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:-1.11, Z:0.05 [[ 9.99290560e-01 3.76613548e-02 0.00000000e+00 1.14570188e+02] [-3.76613548e-02 9.99290560e-01 0.00000000e+00 -1.11250634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60506679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:-1.11, Z:0.05 [[ 9.99277176e-01 3.80148191e-02 0.00000000e+00 1.14631138e+02] [-3.80148191e-02 9.99277176e-01 0.00000000e+00 -1.10690930e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73253845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.69, Y:-1.11, Z:0.05 [[ 9.99312838e-01 3.70655011e-02 0.00000000e+00 1.14693360e+02] [-3.70655011e-02 9.99312838e-01 0.00000000e+00 -1.10800076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64266439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:-1.10, Z:0.04 [[ 9.99289763e-01 3.76824734e-02 0.00000000e+00 1.14755031e+02] [-3.76824734e-02 9.99289763e-01 0.00000000e+00 -1.09839612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39827555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:-1.09, Z:0.04 [[ 9.99219000e-01 3.95144382e-02 0.00000000e+00 1.14817173e+02] [-3.95144382e-02 9.99219000e-01 0.00000000e+00 -1.09385850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58244526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:-1.08, Z:0.04 [[ 9.99232163e-01 3.91801559e-02 0.00000000e+00 1.14879189e+02] [-3.91801559e-02 9.99232163e-01 0.00000000e+00 -1.08443214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19482107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:-1.07, Z:0.03 [[ 9.99155701e-01 4.10838873e-02 0.00000000e+00 1.14939813e+02] [-4.10838873e-02 9.99155701e-01 0.00000000e+00 -1.06741667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04179874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:-1.06, Z:0.03 [[ 9.99127236e-01 4.17703931e-02 0.00000000e+00 1.15002974e+02] [-4.17703931e-02 9.99127236e-01 0.00000000e+00 -1.06277130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99913858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:-1.05, Z:0.04 [[ 9.99160851e-01 4.09584315e-02 0.00000000e+00 1.15063583e+02] [-4.09584315e-02 9.99160851e-01 0.00000000e+00 -1.04932671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61646587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:-1.04, Z:0.03 [[ 9.99326440e-01 3.66969504e-02 0.00000000e+00 1.15125331e+02] [-3.66969504e-02 9.99326440e-01 0.00000000e+00 -1.03506279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28655377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:-1.02, Z:0.03 [[ 9.99651517e-01 2.63978058e-02 0.00000000e+00 1.15187024e+02] [-2.63978058e-02 9.99651517e-01 0.00000000e+00 -1.02343086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18915532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:-1.01, Z:0.04 [[ 9.99807573e-01 1.96167471e-02 0.00000000e+00 1.15247566e+02] [-1.96167471e-02 9.99807573e-01 0.00000000e+00 -1.01050441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74389108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:-1.00, Z:0.04 [[ 9.99916707e-01 1.29065775e-02 0.00000000e+00 1.15309575e+02] [-1.29065775e-02 9.99916707e-01 0.00000000e+00 -1.00065717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67424096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:-0.99, Z:0.04 [[ 9.99985856e-01 5.31865636e-03 0.00000000e+00 1.15372254e+02] [-5.31865636e-03 9.99985856e-01 0.00000000e+00 -9.91896004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70052827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:-0.99, Z:0.03 [[ 9.99999913e-01 4.17591603e-04 0.00000000e+00 1.15434571e+02] [-4.17591603e-04 9.99999913e-01 0.00000000e+00 -9.89927700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33872072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:-0.99, Z:0.03 [[ 9.99999318e-01 -1.16762146e-03 0.00000000e+00 1.15494609e+02] [ 1.16762146e-03 9.99999318e-01 0.00000000e+00 -9.89297830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78422225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:-0.99, Z:0.03 [[ 9.99999101e-01 -1.34121995e-03 0.00000000e+00 1.15554844e+02] [ 1.34121995e-03 9.99999101e-01 0.00000000e+00 -9.87885400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90873956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:-0.98, Z:0.03 [[ 9.99998896e-01 1.48575457e-03 0.00000000e+00 1.15613824e+02] [-1.48575457e-03 9.99998896e-01 0.00000000e+00 -9.83332693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85468819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.67, Y:-0.99, Z:0.04 [[ 9.99960978e-01 8.83413129e-03 0.00000000e+00 1.15674913e+02] [-8.83413129e-03 9.99960978e-01 0.00000000e+00 -9.94823259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67647960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.74, Y:-0.99, Z:0.03 [[ 9.99909918e-01 1.34221881e-02 0.00000000e+00 1.15736192e+02] [-1.34221881e-02 9.99909918e-01 0.00000000e+00 -9.92775267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46290627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.80, Y:-0.99, Z:0.03 [[ 9.99881799e-01 1.53748886e-02 0.00000000e+00 1.15798701e+02] [-1.53748886e-02 9.99881799e-01 0.00000000e+00 -9.93084469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88852746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.86, Y:-1.01, Z:0.04 [[ 9.99856914e-01 1.69160189e-02 0.00000000e+00 1.15860860e+02] [-1.69160189e-02 9.99856914e-01 0.00000000e+00 -1.00782747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22054454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:-1.01, Z:0.04 [[ 9.99770935e-01 2.14027246e-02 0.00000000e+00 1.15924277e+02] [-2.14027246e-02 9.99770935e-01 0.00000000e+00 -1.01005428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26286417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:-1.01, Z:0.03 [[ 9.99602383e-01 2.81970777e-02 0.00000000e+00 1.15986377e+02] [-2.81970777e-02 9.99602383e-01 0.00000000e+00 -1.00823758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02470582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-1.03, Z:0.03 [[ 9.99435387e-01 3.35992106e-02 0.00000000e+00 1.16048565e+02] [-3.35992106e-02 9.99435387e-01 0.00000000e+00 -1.02575936e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14069423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:-1.03, Z:0.03 [[ 9.99234641e-01 3.91169056e-02 0.00000000e+00 1.16110297e+02] [-3.91169056e-02 9.99234641e-01 0.00000000e+00 -1.02586458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43765273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.17, Y:-1.02, Z:0.04 [[ 9.98979802e-01 4.51592199e-02 0.00000000e+00 1.16172326e+02] [-4.51592199e-02 9.98979802e-01 0.00000000e+00 -1.02325704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54551832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.24, Y:-1.03, Z:0.04 [[ 9.98614064e-01 5.26303162e-02 0.00000000e+00 1.16235483e+02] [-5.26303162e-02 9.98614064e-01 0.00000000e+00 -1.02825646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02673013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.30, Y:-1.02, Z:0.04 [[ 9.98360318e-01 5.72422606e-02 0.00000000e+00 1.16296894e+02] [-5.72422606e-02 9.98360318e-01 0.00000000e+00 -1.01965068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79682334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:-1.01, Z:0.04 [[ 9.98416276e-01 5.62577916e-02 0.00000000e+00 1.16359335e+02] [-5.62577916e-02 9.98416276e-01 0.00000000e+00 -1.01378452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17836860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.42, Y:-1.01, Z:0.04 [[ 9.98951278e-01 4.57858494e-02 0.00000000e+00 1.16421068e+02] [-4.57858494e-02 9.98951278e-01 0.00000000e+00 -1.01048647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42618036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.48, Y:-1.01, Z:0.04 [[ 9.99219800e-01 3.94942012e-02 0.00000000e+00 1.16483002e+02] [-3.94942012e-02 9.99219800e-01 0.00000000e+00 -1.01006044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42003469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:-1.00, Z:0.04 [[ 9.99384574e-01 3.50780912e-02 0.00000000e+00 1.16545952e+02] [-3.50780912e-02 9.99384574e-01 0.00000000e+00 -1.00203494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26105059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:-1.00, Z:0.05 [[ 9.99473705e-01 3.24393806e-02 0.00000000e+00 1.16608110e+02] [-3.24393806e-02 9.99473705e-01 0.00000000e+00 -9.96629593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71492141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:-0.99, Z:0.05 [[ 9.99475185e-01 3.23937481e-02 0.00000000e+00 1.16670760e+02] [-3.23937481e-02 9.99475185e-01 0.00000000e+00 -9.91603400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79032565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:-0.98, Z:0.05 [[ 9.99428353e-01 3.38077880e-02 0.00000000e+00 1.16731325e+02] [-3.38077880e-02 9.99428353e-01 0.00000000e+00 -9.82602872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67587655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:-0.98, Z:0.04 [[ 9.99478730e-01 3.22841653e-02 0.00000000e+00 1.16793013e+02] [-3.22841653e-02 9.99478730e-01 0.00000000e+00 -9.75629995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06993787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:-0.97, Z:0.04 [[ 9.99547621e-01 3.00757807e-02 0.00000000e+00 1.16856100e+02] [-3.00757807e-02 9.99547621e-01 0.00000000e+00 -9.65265277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05204022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:-0.96, Z:0.04 [[ 9.99566422e-01 2.94443252e-02 0.00000000e+00 1.16917290e+02] [-2.94443252e-02 9.99566422e-01 0.00000000e+00 -9.58735198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38682813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:-0.95, Z:0.05 [[ 9.99595787e-01 2.84299572e-02 0.00000000e+00 1.16980203e+02] [-2.84299572e-02 9.99595787e-01 0.00000000e+00 -9.54571840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51244073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:-0.95, Z:0.05 [[ 9.99704764e-01 2.42978410e-02 0.00000000e+00 1.17042503e+02] [-2.42978410e-02 9.99704764e-01 0.00000000e+00 -9.49808676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92880088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:-0.95, Z:0.04 [[ 9.99827060e-01 1.85970587e-02 0.00000000e+00 1.17103673e+02] [-1.85970587e-02 9.99827060e-01 0.00000000e+00 -9.45777960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05467499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.17, Y:-0.95, Z:0.03 [[ 9.99834657e-01 1.81840371e-02 0.00000000e+00 1.17165591e+02] [-1.81840371e-02 9.99834657e-01 0.00000000e+00 -9.49435214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13755495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.23, Y:-0.94, Z:0.04 [[ 9.99750323e-01 2.23448202e-02 0.00000000e+00 1.17227534e+02] [-2.23448202e-02 9.99750323e-01 0.00000000e+00 -9.43556079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50876409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:-0.93, Z:0.03 [[ 9.99569039e-01 2.93553605e-02 0.00000000e+00 1.17288744e+02] [-2.93553605e-02 9.99569039e-01 0.00000000e+00 -9.34871182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48724359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:-0.94, Z:0.04 [[ 9.99367941e-01 3.55488299e-02 0.00000000e+00 1.17350981e+02] [-3.55488299e-02 9.99367941e-01 0.00000000e+00 -9.36514932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91375488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:-0.93, Z:0.04 [[ 9.99414405e-01 3.42176316e-02 0.00000000e+00 1.17412044e+02] [-3.42176316e-02 9.99414405e-01 0.00000000e+00 -9.29505327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95748596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.47, Y:-0.93, Z:0.03 [[ 9.99540909e-01 3.02980369e-02 0.00000000e+00 1.17474010e+02] [-3.02980369e-02 9.99540909e-01 0.00000000e+00 -9.26560214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47873547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.54, Y:-0.93, Z:0.04 [[ 9.99639451e-01 2.68508569e-02 0.00000000e+00 1.17536574e+02] [-2.68508569e-02 9.99639451e-01 0.00000000e+00 -9.30556233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72003810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.60, Y:-0.92, Z:0.04 [[ 9.99694594e-01 2.47127106e-02 0.00000000e+00 1.17597759e+02] [-2.47127106e-02 9.99694594e-01 0.00000000e+00 -9.23304579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71146787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.66, Y:-0.93, Z:0.04 [[ 9.99762153e-01 2.18091111e-02 0.00000000e+00 1.17660675e+02] [-2.18091111e-02 9.99762153e-01 0.00000000e+00 -9.28353385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02761497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:-0.93, Z:0.03 [[ 9.99811141e-01 1.94340751e-02 0.00000000e+00 1.17721531e+02] [-1.94340751e-02 9.99811141e-01 0.00000000e+00 -9.26112957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25737449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:-0.94, Z:0.04 [[ 9.99831689e-01 1.83464856e-02 0.00000000e+00 1.17783359e+02] [-1.83464856e-02 9.99831689e-01 0.00000000e+00 -9.36161546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80327011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.85, Y:-0.94, Z:0.04 [[ 9.99783286e-01 2.08177967e-02 0.00000000e+00 1.17845405e+02] [-2.08177967e-02 9.99783286e-01 0.00000000e+00 -9.36808940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66138795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:-0.94, Z:0.03 [[ 9.99635260e-01 2.70064371e-02 0.00000000e+00 1.17907772e+02] [-2.70064371e-02 9.99635260e-01 0.00000000e+00 -9.35621875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06391438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:-0.95, Z:0.04 [[ 9.99408030e-01 3.44033277e-02 0.00000000e+00 1.17970204e+02] [-3.44033277e-02 9.99408030e-01 0.00000000e+00 -9.45527950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56798120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.03, Y:-0.94, Z:0.03 [[ 9.99276610e-01 3.80296755e-02 0.00000000e+00 1.18031939e+02] [-3.80296755e-02 9.99276610e-01 0.00000000e+00 -9.37780779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04649244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.09, Y:-0.94, Z:0.03 [[ 9.99258641e-01 3.84989366e-02 0.00000000e+00 1.18094555e+02] [-3.84989366e-02 9.99258641e-01 0.00000000e+00 -9.42418811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26067981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:-0.95, Z:0.04 [[ 9.99265618e-01 3.83174151e-02 0.00000000e+00 1.18156588e+02] [-3.83174151e-02 9.99265618e-01 0.00000000e+00 -9.45711510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00209462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.22, Y:-0.94, Z:0.04 [[ 9.99271841e-01 3.81547935e-02 0.00000000e+00 1.18219590e+02] [-3.81547935e-02 9.99271841e-01 0.00000000e+00 -9.41352863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68781929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:-0.94, Z:0.04 [[ 9.99357909e-01 3.58297287e-02 0.00000000e+00 1.18282694e+02] [-3.58297287e-02 9.99357909e-01 0.00000000e+00 -9.44633046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76075123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:-0.95, Z:0.03 [[ 9.99509520e-01 3.13164496e-02 0.00000000e+00 1.18344109e+02] [-3.13164496e-02 9.99509520e-01 0.00000000e+00 -9.46042052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42625561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.41, Y:-0.95, Z:0.03 [[ 9.99593050e-01 2.85260179e-02 0.00000000e+00 1.18406637e+02] [-2.85260179e-02 9.99593050e-01 0.00000000e+00 -9.50325487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33971877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:-0.95, Z:0.04 [[ 9.99574281e-01 2.91763116e-02 0.00000000e+00 1.18467727e+02] [-2.91763116e-02 9.99574281e-01 0.00000000e+00 -9.48506820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54737733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:-0.95, Z:0.03 [[ 9.99506036e-01 3.14274378e-02 0.00000000e+00 1.18529693e+02] [-3.14274378e-02 9.99506036e-01 0.00000000e+00 -9.49962041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29983957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.59, Y:-0.95, Z:0.04 [[ 9.99384460e-01 3.50813619e-02 0.00000000e+00 1.18591289e+02] [-3.50813619e-02 9.99384460e-01 0.00000000e+00 -9.49529751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97019562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.65, Y:-0.95, Z:0.04 [[ 9.99318772e-01 3.69051698e-02 0.00000000e+00 1.18652422e+02] [-3.69051698e-02 9.99318772e-01 0.00000000e+00 -9.48913286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32608865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.71, Y:-0.95, Z:0.04 [[ 9.99288947e-01 3.77041134e-02 0.00000000e+00 1.18714349e+02] [-3.77041134e-02 9.99288947e-01 0.00000000e+00 -9.46879398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96464003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.78, Y:-0.95, Z:0.04 [[ 9.99348653e-01 3.60869802e-02 0.00000000e+00 1.18776128e+02] [-3.60869802e-02 9.99348653e-01 0.00000000e+00 -9.47976273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93158237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.84, Y:-0.94, Z:0.04 [[ 9.99372918e-01 3.54086236e-02 0.00000000e+00 1.18838075e+02] [-3.54086236e-02 9.99372918e-01 0.00000000e+00 -9.44443449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59066353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:-0.94, Z:0.03 [[ 9.99379176e-01 3.52315429e-02 0.00000000e+00 1.18898949e+02] [-3.52315429e-02 9.99379176e-01 0.00000000e+00 -9.42929933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34076847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:-0.94, Z:0.04 [[ 9.99442245e-01 3.33945912e-02 0.00000000e+00 1.18961999e+02] [-3.33945912e-02 9.99442245e-01 0.00000000e+00 -9.42261860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56257623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:-0.94, Z:0.04 [[ 9.99662794e-01 2.59672567e-02 0.00000000e+00 1.19024418e+02] [-2.59672567e-02 9.99662794e-01 0.00000000e+00 -9.39338540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15144712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:-0.94, Z:0.04 [[ 9.99712852e-01 2.39627694e-02 0.00000000e+00 1.19085596e+02] [-2.39627694e-02 9.99712852e-01 0.00000000e+00 -9.39743727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33958219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.15, Y:-0.94, Z:0.04 [[ 9.99820610e-01 1.89406343e-02 0.00000000e+00 1.19148296e+02] [-1.89406343e-02 9.99820610e-01 0.00000000e+00 -9.40444239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28709775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.21, Y:-0.94, Z:0.04 [[ 9.99890467e-01 1.48004544e-02 0.00000000e+00 1.19210505e+02] [-1.48004544e-02 9.99890467e-01 0.00000000e+00 -9.44957408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87110697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:-0.95, Z:0.04 [[ 9.99930136e-01 1.18204711e-02 0.00000000e+00 1.19273413e+02] [-1.18204711e-02 9.99930136e-01 0.00000000e+00 -9.48990590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80590299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.34, Y:-0.95, Z:0.04 [[ 9.99923014e-01 1.24083278e-02 0.00000000e+00 1.19335869e+02] [-1.24083278e-02 9.99923014e-01 0.00000000e+00 -9.52655234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15772098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:-0.96, Z:0.04 [[ 9.99838761e-01 1.79569593e-02 0.00000000e+00 1.19397609e+02] [-1.79569593e-02 9.99838761e-01 0.00000000e+00 -9.56020882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08137273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.46, Y:-0.96, Z:0.04 [[ 9.99744000e-01 2.26259907e-02 0.00000000e+00 1.19458382e+02] [-2.26259907e-02 9.99744000e-01 0.00000000e+00 -9.62692359e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45362187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.52, Y:-0.97, Z:0.04 [[ 9.99766920e-01 2.15894587e-02 0.00000000e+00 1.19520564e+02] [-2.15894587e-02 9.99766920e-01 0.00000000e+00 -9.65199029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64917417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.58, Y:-0.98, Z:0.04 [[ 9.99821761e-01 1.88797888e-02 0.00000000e+00 1.19582551e+02] [-1.88797888e-02 9.99821761e-01 0.00000000e+00 -9.79823723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65047636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:-0.99, Z:0.04 [[ 9.99865357e-01 1.64093890e-02 0.00000000e+00 1.19645256e+02] [-1.64093890e-02 9.99865357e-01 0.00000000e+00 -9.92520097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72460995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.71, Y:-1.00, Z:0.02 [[ 9.99857079e-01 1.69062730e-02 0.00000000e+00 1.19706551e+02] [-1.69062730e-02 9.99857079e-01 0.00000000e+00 -9.95884129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45733484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:-1.01, Z:0.03 [[ 9.99819639e-01 1.89918114e-02 0.00000000e+00 1.19768647e+02] [-1.89918114e-02 9.99819639e-01 0.00000000e+00 -1.01395176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37073343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.83, Y:-1.03, Z:0.04 [[ 9.99782570e-01 2.08521764e-02 0.00000000e+00 1.19830428e+02] [-2.08521764e-02 9.99782570e-01 0.00000000e+00 -1.03064410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93324685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:-1.04, Z:0.03 [[ 9.99751263e-01 2.23027462e-02 0.00000000e+00 1.19892286e+02] [-2.23027462e-02 9.99751263e-01 0.00000000e+00 -1.03600425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14374120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:-1.06, Z:0.03 [[ 9.99760644e-01 2.18781704e-02 0.00000000e+00 1.19954928e+02] [-2.18781704e-02 9.99760644e-01 0.00000000e+00 -1.06124711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15218885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:-1.08, Z:0.04 [[ 9.99651356e-01 2.64039019e-02 0.00000000e+00 1.20015850e+02] [-2.64039019e-02 9.99651356e-01 0.00000000e+00 -1.08172768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84164609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:-1.08, Z:0.03 [[ 9.99275560e-01 3.80572523e-02 0.00000000e+00 1.20076690e+02] [-3.80572523e-02 9.99275560e-01 0.00000000e+00 -1.08028546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67239884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:-1.10, Z:0.03 [[ 9.98726591e-01 5.04499480e-02 0.00000000e+00 1.20139288e+02] [-5.04499480e-02 9.98726591e-01 0.00000000e+00 -1.10180482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04594797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:-1.10, Z:0.03 [[ 9.98092156e-01 6.17417786e-02 0.00000000e+00 1.20201606e+02] [-6.17417786e-02 9.98092156e-01 0.00000000e+00 -1.10380622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28178377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:-1.10, Z:0.03 [[ 9.97345933e-01 7.28085858e-02 0.00000000e+00 1.20262623e+02] [-7.28085858e-02 9.97345933e-01 0.00000000e+00 -1.09837508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22626345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:-1.10, Z:0.04 [[ 9.97079605e-01 7.63692404e-02 0.00000000e+00 1.20325201e+02] [-7.63692404e-02 9.97079605e-01 0.00000000e+00 -1.10377054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52720882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:-1.10, Z:0.03 [[ 9.97743508e-01 6.71408407e-02 0.00000000e+00 1.20387320e+02] [-6.71408407e-02 9.97743508e-01 0.00000000e+00 -1.09714312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14309898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:-1.10, Z:0.03 [[ 9.98284965e-01 5.85416856e-02 0.00000000e+00 1.20449468e+02] [-5.85416856e-02 9.98284965e-01 0.00000000e+00 -1.09554280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94481190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:-1.10, Z:0.03 [[ 9.98891088e-01 4.70807108e-02 0.00000000e+00 1.20511769e+02] [-4.70807108e-02 9.98891088e-01 0.00000000e+00 -1.10183038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29151350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.57, Y:-1.10, Z:0.03 [[ 9.99338045e-01 3.63795458e-02 0.00000000e+00 1.20573786e+02] [-3.63795458e-02 9.99338045e-01 0.00000000e+00 -1.09893318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05616246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.64, Y:-1.09, Z:0.02 [[ 9.99486507e-01 3.20425074e-02 0.00000000e+00 1.20636371e+02] [-3.20425074e-02 9.99486507e-01 0.00000000e+00 -1.09224963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42048250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:-1.10, Z:0.04 [[ 9.99494995e-01 3.17766464e-02 0.00000000e+00 1.20698539e+02] [-3.17766464e-02 9.99494995e-01 0.00000000e+00 -1.09602281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60397746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.76, Y:-1.09, Z:0.04 [[ 9.99424213e-01 3.39299741e-02 0.00000000e+00 1.20761190e+02] [-3.39299741e-02 9.99424213e-01 0.00000000e+00 -1.09082083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60560026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:-1.08, Z:0.03 [[ 9.99390354e-01 3.49130383e-02 0.00000000e+00 1.20824102e+02] [-3.49130383e-02 9.99390354e-01 0.00000000e+00 -1.08137773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26401125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.89, Y:-1.08, Z:0.03 [[ 9.99413596e-01 3.42412641e-02 0.00000000e+00 1.20886416e+02] [-3.42412641e-02 9.99413596e-01 0.00000000e+00 -1.08195568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09218621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.95, Y:-1.08, Z:0.04 [[ 9.99546114e-01 3.01258325e-02 0.00000000e+00 1.20948121e+02] [-3.01258325e-02 9.99546114e-01 0.00000000e+00 -1.08266157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62211023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.01, Y:-1.08, Z:0.04 [[ 9.99616820e-01 2.76805640e-02 0.00000000e+00 1.21009292e+02] [-2.76805640e-02 9.99616820e-01 0.00000000e+00 -1.07825318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61522293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:-1.08, Z:0.03 [[ 9.99659682e-01 2.60867760e-02 0.00000000e+00 1.21071081e+02] [-2.60867760e-02 9.99659682e-01 0.00000000e+00 -1.08162859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40720041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.13, Y:-1.08, Z:0.04 [[ 9.99588843e-01 2.86730684e-02 0.00000000e+00 1.21131980e+02] [-2.86730684e-02 9.99588843e-01 0.00000000e+00 -1.08187039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79639056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:-1.07, Z:0.04 [[ 9.99378021e-01 3.52643066e-02 0.00000000e+00 1.21193568e+02] [-3.52643066e-02 9.99378021e-01 0.00000000e+00 -1.07241728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99163378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.26, Y:-1.07, Z:0.04 [[ 9.98927085e-01 4.63106677e-02 0.00000000e+00 1.21255235e+02] [-4.63106677e-02 9.98927085e-01 0.00000000e+00 -1.07139781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08831776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.32, Y:-1.06, Z:0.03 [[ 9.98734730e-01 5.02885518e-02 0.00000000e+00 1.21317074e+02] [-5.02885518e-02 9.98734730e-01 0.00000000e+00 -1.06397180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27069000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.38, Y:-1.05, Z:0.04 [[ 9.98810560e-01 4.87592561e-02 0.00000000e+00 1.21377888e+02] [-4.87592561e-02 9.98810560e-01 0.00000000e+00 -1.05388057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57871914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.44, Y:-1.06, Z:0.04 [[ 9.99144520e-01 4.13549163e-02 0.00000000e+00 1.21440267e+02] [-4.13549163e-02 9.99144520e-01 0.00000000e+00 -1.05734651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24521996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.50, Y:-1.05, Z:0.04 [[ 9.99462845e-01 3.27722774e-02 0.00000000e+00 1.21502508e+02] [-3.27722774e-02 9.99462845e-01 0.00000000e+00 -1.04967461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22761073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.56, Y:-1.05, Z:0.04 [[ 9.99603584e-01 2.81544874e-02 0.00000000e+00 1.21564974e+02] [-2.81544874e-02 9.99603584e-01 0.00000000e+00 -1.05006227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05109732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.63, Y:-1.05, Z:0.04 [[ 9.99641123e-01 2.67885367e-02 0.00000000e+00 1.21626498e+02] [-2.67885367e-02 9.99641123e-01 0.00000000e+00 -1.05344071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61148458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:-1.05, Z:0.03 [[ 9.99603221e-01 2.81673744e-02 0.00000000e+00 1.21688248e+02] [-2.81673744e-02 9.99603221e-01 0.00000000e+00 -1.04739666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15730342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.75, Y:-1.06, Z:0.04 [[ 9.99586163e-01 2.87663358e-02 0.00000000e+00 1.21748980e+02] [-2.87663358e-02 9.99586163e-01 0.00000000e+00 -1.05640243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06950444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:-1.05, Z:0.04 [[ 9.99434808e-01 3.36164329e-02 0.00000000e+00 1.21810842e+02] [-3.36164329e-02 9.99434808e-01 0.00000000e+00 -1.04793427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92558434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-1.05, Z:0.03 [[ 9.99205873e-01 3.98449962e-02 0.00000000e+00 1.21871675e+02] [-3.98449962e-02 9.99205873e-01 0.00000000e+00 -1.04563657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78460656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.93, Y:-1.04, Z:0.03 [[ 9.98926136e-01 4.63311341e-02 0.00000000e+00 1.21934032e+02] [-4.63311341e-02 9.98926136e-01 0.00000000e+00 -1.04074502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26312328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.00, Y:-1.04, Z:0.04 [[ 9.98948466e-01 4.58471547e-02 0.00000000e+00 1.21996507e+02] [-4.58471547e-02 9.98948466e-01 0.00000000e+00 -1.03600173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96120198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.06, Y:-1.03, Z:0.04 [[ 9.99085862e-01 4.27485712e-02 0.00000000e+00 1.22058130e+02] [-4.27485712e-02 9.99085862e-01 0.00000000e+00 -1.03312724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21236853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:-1.03, Z:0.04 [[ 9.99328833e-01 3.66317221e-02 0.00000000e+00 1.22119757e+02] [-3.66317221e-02 9.99328833e-01 0.00000000e+00 -1.03411217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79295285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:-1.04, Z:0.03 [[ 9.99558859e-01 2.96999419e-02 0.00000000e+00 1.22181668e+02] [-2.96999419e-02 9.99558859e-01 0.00000000e+00 -1.03536043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34708087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.24, Y:-1.04, Z:0.03 [[ 9.99758009e-01 2.19982413e-02 0.00000000e+00 1.22244588e+02] [-2.19982413e-02 9.99758009e-01 0.00000000e+00 -1.03713277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17577866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.31, Y:-1.04, Z:0.04 [[ 9.99783083e-01 2.08275499e-02 0.00000000e+00 1.22306583e+02] [-2.08275499e-02 9.99783083e-01 0.00000000e+00 -1.04314479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59203239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.37, Y:-1.05, Z:0.03 [[ 9.99675593e-01 2.54697570e-02 0.00000000e+00 1.22367859e+02] [-2.54697570e-02 9.99675593e-01 0.00000000e+00 -1.04558567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13187402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.43, Y:-1.04, Z:0.03 [[ 9.99433734e-01 3.36483442e-02 0.00000000e+00 1.22429408e+02] [-3.36483442e-02 9.99433734e-01 0.00000000e+00 -1.04288809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11169106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.49, Y:-1.04, Z:0.03 [[ 9.99065583e-01 4.32199031e-02 0.00000000e+00 1.22491421e+02] [-4.32199031e-02 9.99065583e-01 0.00000000e+00 -1.04219540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24279657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.55, Y:-1.04, Z:0.03 [[ 9.98767290e-01 4.96376997e-02 0.00000000e+00 1.22553782e+02] [-4.96376997e-02 9.98767290e-01 0.00000000e+00 -1.03871068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06189351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.62, Y:-1.02, Z:0.04 [[ 9.98561988e-01 5.36092919e-02 0.00000000e+00 1.22615832e+02] [-5.36092919e-02 9.98561988e-01 0.00000000e+00 -1.02463876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73761686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.68, Y:-1.02, Z:0.03 [[ 9.98648514e-01 5.19725385e-02 0.00000000e+00 1.22677866e+02] [-5.19725385e-02 9.98648514e-01 0.00000000e+00 -1.01760574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46607644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.74, Y:-1.01, Z:0.03 [[ 9.99017073e-01 4.43270497e-02 0.00000000e+00 1.22738501e+02] [-4.43270497e-02 9.99017073e-01 0.00000000e+00 -1.00690028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38283542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:-1.00, Z:0.03 [[ 9.99477098e-01 3.23346643e-02 0.00000000e+00 1.22801123e+02] [-3.23346643e-02 9.99477098e-01 0.00000000e+00 -1.00335978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25052298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.86, Y:-1.00, Z:0.03 [[ 9.99621929e-01 2.74954520e-02 0.00000000e+00 1.22864300e+02] [-2.74954520e-02 9.99621929e-01 0.00000000e+00 -1.00476149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41868442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.93, Y:-1.01, Z:0.04 [[ 9.99940340e-01 1.09232111e-02 0.00000000e+00 1.22925323e+02] [-1.09232111e-02 9.99940340e-01 0.00000000e+00 -1.00508662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63702518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.99, Y:-1.01, Z:0.04 [[ 9.99981930e-01 6.01162515e-03 0.00000000e+00 1.22988753e+02] [-6.01162515e-03 9.99981930e-01 0.00000000e+00 -1.00751040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58645468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:-1.02, Z:0.03 [[ 9.99970000e-01 7.74595084e-03 0.00000000e+00 1.23049880e+02] [-7.74595084e-03 9.99970000e-01 0.00000000e+00 -1.01757957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13942525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.11, Y:-1.02, Z:0.03 [[ 9.99868854e-01 1.61948753e-02 0.00000000e+00 1.23110633e+02] [-1.61948753e-02 9.99868854e-01 0.00000000e+00 -1.01751188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84129519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.17, Y:-1.02, Z:0.03 [[ 9.99611911e-01 2.78572595e-02 0.00000000e+00 1.23172882e+02] [-2.78572595e-02 9.99611911e-01 0.00000000e+00 -1.01559230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29498399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.23, Y:-1.02, Z:0.03 [[ 9.99237927e-01 3.90328808e-02 0.00000000e+00 1.23233669e+02] [-3.90328808e-02 9.99237927e-01 0.00000000e+00 -1.01916552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36953420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:-1.01, Z:0.04 [[ 9.98823973e-01 4.84837118e-02 0.00000000e+00 1.23296224e+02] [-4.84837118e-02 9.98823973e-01 0.00000000e+00 -1.01333581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65094604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.36, Y:-1.01, Z:0.03 [[ 9.98598464e-01 5.29254858e-02 0.00000000e+00 1.23356919e+02] [-5.29254858e-02 9.98598464e-01 0.00000000e+00 -1.01219652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37082233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:-1.01, Z:0.03 [[ 9.98750645e-01 4.99714841e-02 0.00000000e+00 1.23419829e+02] [-4.99714841e-02 9.98750645e-01 0.00000000e+00 -1.01182633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49519072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:-1.01, Z:0.04 [[ 9.99057488e-01 4.34066336e-02 0.00000000e+00 1.23482369e+02] [-4.34066336e-02 9.99057488e-01 0.00000000e+00 -1.00552672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65975274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.54, Y:-1.01, Z:0.04 [[ 9.99346574e-01 3.61445100e-02 0.00000000e+00 1.23544499e+02] [-3.61445100e-02 9.99346574e-01 0.00000000e+00 -1.01264610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60637001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:-1.01, Z:0.03 [[ 9.99590790e-01 2.86051155e-02 0.00000000e+00 1.23606972e+02] [-2.86051155e-02 9.99590790e-01 0.00000000e+00 -1.01372604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05288081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:-1.02, Z:0.03 [[ 9.99688439e-01 2.49604538e-02 0.00000000e+00 1.23667717e+02] [-2.49604538e-02 9.99688439e-01 0.00000000e+00 -1.01530879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17207807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.73, Y:-1.02, Z:0.04 [[ 9.99678791e-01 2.53439217e-02 0.00000000e+00 1.23730878e+02] [-2.53439217e-02 9.99678791e-01 0.00000000e+00 -1.02066368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51121289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.79, Y:-1.02, Z:0.03 [[ 9.99574497e-01 2.91688996e-02 0.00000000e+00 1.23792265e+02] [-2.91688996e-02 9.99574497e-01 0.00000000e+00 -1.01687934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33361140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:-1.02, Z:0.04 [[ 9.99350031e-01 3.60487941e-02 0.00000000e+00 1.23854609e+02] [-3.60487941e-02 9.99350031e-01 0.00000000e+00 -1.01664996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56251986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:-1.02, Z:0.04 [[ 9.99227925e-01 3.92880921e-02 0.00000000e+00 1.23916184e+02] [-3.92880921e-02 9.99227925e-01 0.00000000e+00 -1.02071767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91347218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.98, Y:-1.01, Z:0.04 [[ 9.99268748e-01 3.82357028e-02 0.00000000e+00 1.23978318e+02] [-3.82357028e-02 9.99268748e-01 0.00000000e+00 -1.01003267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58939298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.04, Y:-1.02, Z:0.03 [[ 9.99434417e-01 3.36280569e-02 0.00000000e+00 1.24039778e+02] [-3.36280569e-02 9.99434417e-01 0.00000000e+00 -1.01628871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45721256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.10, Y:-1.02, Z:0.03 [[ 9.99592754e-01 2.85364160e-02 0.00000000e+00 1.24102271e+02] [-2.85364160e-02 9.99592754e-01 0.00000000e+00 -1.02414638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45354443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.16, Y:-1.02, Z:0.03 [[ 9.99616663e-01 2.76862325e-02 0.00000000e+00 1.24164894e+02] [-2.76862325e-02 9.99616663e-01 0.00000000e+00 -1.01924134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79419026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.23, Y:-1.02, Z:0.03 [[ 9.99390326e-01 3.49138495e-02 0.00000000e+00 1.24227182e+02] [-3.49138495e-02 9.99390326e-01 0.00000000e+00 -1.02290935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99329039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.29, Y:-1.02, Z:0.03 [[ 9.98857916e-01 4.77793164e-02 0.00000000e+00 1.24289110e+02] [-4.77793164e-02 9.98857916e-01 0.00000000e+00 -1.01547171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35617548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.35, Y:-1.01, Z:0.03 [[ 9.98619076e-01 5.25351505e-02 0.00000000e+00 1.24352541e+02] [-5.25351505e-02 9.98619076e-01 0.00000000e+00 -1.01210383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44976342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.41, Y:-1.01, Z:0.04 [[ 9.98755953e-01 4.98652824e-02 0.00000000e+00 1.24414168e+02] [-4.98652824e-02 9.98755953e-01 0.00000000e+00 -1.01198695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96954643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:-1.01, Z:0.03 [[ 9.99104186e-01 4.23181365e-02 0.00000000e+00 1.24476354e+02] [-4.23181365e-02 9.99104186e-01 0.00000000e+00 -1.00767131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38276400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:-1.02, Z:0.03 [[ 9.99369184e-01 3.55138474e-02 0.00000000e+00 1.24537844e+02] [-3.55138474e-02 9.99369184e-01 0.00000000e+00 -1.01770724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11489970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:-1.02, Z:0.03 [[ 9.99465546e-01 3.26897936e-02 0.00000000e+00 1.24599963e+02] [-3.26897936e-02 9.99465546e-01 0.00000000e+00 -1.01937253e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04596504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:-1.02, Z:0.03 [[ 9.99368151e-01 3.55429187e-02 0.00000000e+00 1.24663207e+02] [-3.55429187e-02 9.99368151e-01 0.00000000e+00 -1.02044508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87007332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.72, Y:-1.03, Z:0.03 [[ 9.99062407e-01 4.32932581e-02 0.00000000e+00 1.24724268e+02] [-4.32932581e-02 9.99062407e-01 0.00000000e+00 -1.03405915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43159652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:-1.04, Z:0.03 [[ 9.98966239e-01 4.54582671e-02 0.00000000e+00 1.24787619e+02] [-4.54582671e-02 9.98966239e-01 0.00000000e+00 -1.03508684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45333407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:-1.03, Z:0.03 [[ 9.98717551e-01 5.06285793e-02 0.00000000e+00 1.24849320e+02] [-5.06285793e-02 9.98717551e-01 0.00000000e+00 -1.03114285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62382867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:-1.04, Z:0.04 [[ 9.98470355e-01 5.52896855e-02 0.00000000e+00 1.24911819e+02] [-5.52896855e-02 9.98470355e-01 0.00000000e+00 -1.04212880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53437196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.98, Y:-1.05, Z:0.04 [[ 9.98379933e-01 5.68991093e-02 0.00000000e+00 1.24975053e+02] [-5.68991093e-02 9.98379933e-01 0.00000000e+00 -1.04625570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72861110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:-1.05, Z:0.03 [[ 9.98184366e-01 6.02326395e-02 0.00000000e+00 1.25037118e+02] [-6.02326395e-02 9.98184366e-01 0.00000000e+00 -1.04517713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32022666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.10, Y:-1.05, Z:0.04 [[ 9.97768370e-01 6.67703477e-02 0.00000000e+00 1.25100022e+02] [-6.67703477e-02 9.97768370e-01 0.00000000e+00 -1.04947853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71388467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.16, Y:-1.05, Z:0.03 [[ 9.97503849e-01 7.06121155e-02 0.00000000e+00 1.25162704e+02] [-7.06121155e-02 9.97503849e-01 0.00000000e+00 -1.04828633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28961514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:-1.04, Z:0.03 [[ 9.97547446e-01 6.99935235e-02 0.00000000e+00 1.25225213e+02] [-6.99935235e-02 9.97547446e-01 0.00000000e+00 -1.04114028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89304060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:-1.04, Z:0.03 [[ 9.97951890e-01 6.39689383e-02 0.00000000e+00 1.25287540e+02] [-6.39689383e-02 9.97951890e-01 0.00000000e+00 -1.04114351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28165571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.35, Y:-1.04, Z:0.04 [[ 9.98332235e-01 5.77299627e-02 0.00000000e+00 1.25348682e+02] [-5.77299627e-02 9.98332235e-01 0.00000000e+00 -1.03653502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56879509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.41, Y:-1.04, Z:0.04 [[ 9.98625434e-01 5.24141502e-02 0.00000000e+00 1.25411286e+02] [-5.24141502e-02 9.98625434e-01 0.00000000e+00 -1.03623108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77055459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.47, Y:-1.03, Z:0.04 [[ 9.98949698e-01 4.58203015e-02 0.00000000e+00 1.25473287e+02] [-4.58203015e-02 9.98949698e-01 0.00000000e+00 -1.03014303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63744215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.53, Y:-1.03, Z:0.03 [[ 9.99255602e-01 3.85777299e-02 0.00000000e+00 1.25534583e+02] [-3.85777299e-02 9.99255602e-01 0.00000000e+00 -1.02709522e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54388119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.60, Y:-1.03, Z:0.03 [[ 9.99395256e-01 3.47724267e-02 0.00000000e+00 1.25597729e+02] [-3.47724267e-02 9.99395256e-01 0.00000000e+00 -1.03466337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27574460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:-1.02, Z:0.03 [[ 9.99340851e-01 3.63023787e-02 0.00000000e+00 1.25660251e+02] [-3.63023787e-02 9.99340851e-01 0.00000000e+00 -1.02293114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07281535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:-1.02, Z:0.03 [[ 9.99230324e-01 3.92270332e-02 0.00000000e+00 1.25721928e+02] [-3.92270332e-02 9.99230324e-01 0.00000000e+00 -1.02023556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32473439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.78, Y:-1.02, Z:0.03 [[ 9.99186967e-01 4.03163128e-02 0.00000000e+00 1.25782842e+02] [-4.03163128e-02 9.99186967e-01 0.00000000e+00 -1.01926208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43860485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.84, Y:-1.00, Z:0.03 [[ 9.98997766e-01 4.47600551e-02 0.00000000e+00 1.25844889e+02] [-4.47600551e-02 9.98997766e-01 0.00000000e+00 -1.00463975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92791949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:-1.00, Z:0.03 [[ 9.99083410e-01 4.28058321e-02 0.00000000e+00 1.25907073e+02] [-4.28058321e-02 9.99083410e-01 0.00000000e+00 -1.00376012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88273602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.97, Y:-1.00, Z:0.03 [[ 9.99193511e-01 4.01537883e-02 0.00000000e+00 1.25967710e+02] [-4.01537883e-02 9.99193511e-01 0.00000000e+00 -1.00171710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21365270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.03, Y:-1.00, Z:0.03 [[ 9.99295562e-01 3.75283869e-02 0.00000000e+00 1.26029217e+02] [-3.75283869e-02 9.99295562e-01 0.00000000e+00 -9.98150159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28098444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.09, Y:-1.00, Z:0.03 [[ 9.99319485e-01 3.68858594e-02 0.00000000e+00 1.26091751e+02] [-3.68858594e-02 9.99319485e-01 0.00000000e+00 -9.96950520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06042172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.15, Y:-1.00, Z:0.03 [[ 9.99225416e-01 3.93518379e-02 0.00000000e+00 1.26153005e+02] [-3.93518379e-02 9.99225416e-01 0.00000000e+00 -9.99929936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69764570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.22, Y:-1.00, Z:0.03 [[ 9.98909146e-01 4.66960170e-02 0.00000000e+00 1.26215522e+02] [-4.66960170e-02 9.98909146e-01 0.00000000e+00 -9.97176823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78336328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.28, Y:-0.99, Z:0.03 [[ 9.98728311e-01 5.04158794e-02 0.00000000e+00 1.26276172e+02] [-5.04158794e-02 9.98728311e-01 0.00000000e+00 -9.90608159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91826115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.34, Y:-1.00, Z:0.03 [[ 9.98656134e-01 5.18259118e-02 0.00000000e+00 1.26338285e+02] [-5.18259118e-02 9.98656134e-01 0.00000000e+00 -9.95737024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03651354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.40, Y:-1.00, Z:0.03 [[ 9.98626156e-01 5.24003787e-02 0.00000000e+00 1.26400201e+02] [-5.24003787e-02 9.98626156e-01 0.00000000e+00 -9.98021238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09622476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:-0.98, Z:0.03 [[ 9.98519182e-01 5.44007627e-02 0.00000000e+00 1.26463403e+02] [-5.44007627e-02 9.98519182e-01 0.00000000e+00 -9.82907917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65659800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.52, Y:-0.99, Z:0.03 [[ 9.98489597e-01 5.49411035e-02 0.00000000e+00 1.26524860e+02] [-5.49411035e-02 9.98489597e-01 0.00000000e+00 -9.86460353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12073192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.59, Y:-0.98, Z:0.03 [[ 9.98557401e-01 5.36946646e-02 0.00000000e+00 1.26586410e+02] [-5.36946646e-02 9.98557401e-01 0.00000000e+00 -9.83464095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76503668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.65, Y:-0.98, Z:0.02 [[ 9.98697023e-01 5.10319175e-02 0.00000000e+00 1.26647519e+02] [-5.10319175e-02 9.98697023e-01 0.00000000e+00 -9.78814674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89927226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.71, Y:-0.98, Z:0.03 [[ 9.98746899e-01 5.00462864e-02 0.00000000e+00 1.26709932e+02] [-5.00462864e-02 9.98746899e-01 0.00000000e+00 -9.81052510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53981812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.77, Y:-0.98, Z:0.02 [[ 9.98751558e-01 4.99532263e-02 0.00000000e+00 1.26772118e+02] [-4.99532263e-02 9.98751558e-01 0.00000000e+00 -9.78011553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19092370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:-0.98, Z:0.03 [[ 9.98772529e-01 4.95321589e-02 0.00000000e+00 1.26834546e+02] [-4.95321589e-02 9.98772529e-01 0.00000000e+00 -9.75209133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70864571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.90, Y:-0.97, Z:0.02 [[ 9.98876514e-01 4.73889100e-02 0.00000000e+00 1.26896976e+02] [-4.73889100e-02 9.98876514e-01 0.00000000e+00 -9.71148222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36217430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.96, Y:-0.97, Z:0.03 [[ 9.98901216e-01 4.68653498e-02 0.00000000e+00 1.26958443e+02] [-4.68653498e-02 9.98901216e-01 0.00000000e+00 -9.69072170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59261929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.02, Y:-0.97, Z:0.03 [[ 9.99066762e-01 4.31926471e-02 0.00000000e+00 1.27020898e+02] [-4.31926471e-02 9.99066762e-01 0.00000000e+00 -9.71521527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02275010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.08, Y:-0.97, Z:0.04 [[ 9.99175603e-01 4.05969660e-02 0.00000000e+00 1.27081976e+02] [-4.05969660e-02 9.99175603e-01 0.00000000e+00 -9.67726367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52775456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.14, Y:-0.98, Z:0.03 [[ 9.99183486e-01 4.04024920e-02 0.00000000e+00 1.27144272e+02] [-4.04024920e-02 9.99183486e-01 0.00000000e+00 -9.75680550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29756692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.21, Y:-0.98, Z:0.03 [[ 9.99170290e-01 4.07275279e-02 0.00000000e+00 1.27205382e+02] [-4.07275279e-02 9.99170290e-01 0.00000000e+00 -9.75161292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98410161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.27, Y:-0.97, Z:0.03 [[ 9.99046886e-01 4.36499715e-02 0.00000000e+00 1.27268006e+02] [-4.36499715e-02 9.99046886e-01 0.00000000e+00 -9.74968041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66914681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.33, Y:-0.98, Z:0.03 [[ 9.98980596e-01 4.51416597e-02 0.00000000e+00 1.27328553e+02] [-4.51416597e-02 9.98980596e-01 0.00000000e+00 -9.81159219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29033721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.39, Y:-0.98, Z:0.03 [[ 9.98916744e-01 4.65331933e-02 0.00000000e+00 1.27390875e+02] [-4.65331933e-02 9.98916744e-01 0.00000000e+00 -9.78891150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12813670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.45, Y:-0.98, Z:0.03 [[ 9.98941812e-01 4.59919247e-02 0.00000000e+00 1.27452459e+02] [-4.59919247e-02 9.98941812e-01 0.00000000e+00 -9.84347771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04123448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:-0.99, Z:0.03 [[ 9.98870673e-01 4.75118823e-02 0.00000000e+00 1.27515595e+02] [-4.75118823e-02 9.98870673e-01 0.00000000e+00 -9.86223993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11181978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:-0.99, Z:0.03 [[ 9.98663419e-01 5.16853529e-02 0.00000000e+00 1.27577352e+02] [-5.16853529e-02 9.98663419e-01 0.00000000e+00 -9.87947560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93482766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.64, Y:-0.99, Z:0.03 [[ 9.98538585e-01 5.40434487e-02 0.00000000e+00 1.27638390e+02] [-5.40434487e-02 9.98538585e-01 0.00000000e+00 -9.90318914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40654569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:-1.00, Z:0.03 [[ 9.98611521e-01 5.26785514e-02 0.00000000e+00 1.27700692e+02] [-5.26785514e-02 9.98611521e-01 0.00000000e+00 -9.95613803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76008822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.76, Y:-1.00, Z:0.03 [[ 9.98792241e-01 4.91330804e-02 0.00000000e+00 1.27762081e+02] [-4.91330804e-02 9.98792241e-01 0.00000000e+00 -1.00262878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12413440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.82, Y:-1.00, Z:0.03 [[ 9.98860402e-01 4.77273303e-02 0.00000000e+00 1.27823006e+02] [-4.77273303e-02 9.98860402e-01 0.00000000e+00 -1.00279941e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61516669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.89, Y:-1.01, Z:0.03 [[ 9.98802173e-01 4.89307673e-02 0.00000000e+00 1.27885465e+02] [-4.89307673e-02 9.98802173e-01 0.00000000e+00 -1.00540357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83506044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.95, Y:-1.02, Z:0.03 [[ 9.98693766e-01 5.10956047e-02 0.00000000e+00 1.27946730e+02] [-5.10956047e-02 9.98693766e-01 0.00000000e+00 -1.01697087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95131534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:-1.02, Z:0.03 [[ 9.98734636e-01 5.02904152e-02 0.00000000e+00 1.28008955e+02] [-5.02904152e-02 9.98734636e-01 0.00000000e+00 -1.01627582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63780931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:-1.02, Z:0.03 [[ 9.98702736e-01 5.09199811e-02 0.00000000e+00 1.28071270e+02] [-5.09199811e-02 9.98702736e-01 0.00000000e+00 -1.01952280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85115374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:-1.03, Z:0.03 [[ 9.98617594e-01 5.25633103e-02 0.00000000e+00 1.28132263e+02] [-5.25633103e-02 9.98617594e-01 0.00000000e+00 -1.02626977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33164984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.19, Y:-1.03, Z:0.04 [[ 9.98531985e-01 5.41652637e-02 0.00000000e+00 1.28194941e+02] [-5.41652637e-02 9.98531985e-01 0.00000000e+00 -1.03015885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61400436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.26, Y:-1.03, Z:0.03 [[ 9.98314023e-01 5.80440393e-02 0.00000000e+00 1.28256227e+02] [-5.80440393e-02 9.98314023e-01 0.00000000e+00 -1.02882419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95906457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.32, Y:-1.04, Z:0.04 [[ 9.98107832e-01 6.14878555e-02 0.00000000e+00 1.28318618e+02] [-6.14878555e-02 9.98107832e-01 0.00000000e+00 -1.03547282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64796445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.38, Y:-1.03, Z:0.03 [[ 9.97971265e-01 6.36659529e-02 0.00000000e+00 1.28380223e+02] [-6.36659529e-02 9.97971265e-01 0.00000000e+00 -1.03426645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02442725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:-1.03, Z:0.03 [[ 9.97952641e-01 6.39572249e-02 0.00000000e+00 1.28441668e+02] [-6.39572249e-02 9.97952641e-01 0.00000000e+00 -1.03102444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16742280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.50, Y:-1.03, Z:0.03 [[ 9.98004248e-01 6.31468181e-02 0.00000000e+00 1.28503728e+02] [-6.31468181e-02 9.98004248e-01 0.00000000e+00 -1.03406735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94260573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.56, Y:-1.03, Z:0.03 [[ 9.98205543e-01 5.98806594e-02 0.00000000e+00 1.28564578e+02] [-5.98806594e-02 9.98205543e-01 0.00000000e+00 -1.03282391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25923885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.63, Y:-1.03, Z:0.03 [[ 9.98394821e-01 5.66372739e-02 0.00000000e+00 1.28627879e+02] [-5.66372739e-02 9.98394821e-01 0.00000000e+00 -1.03199526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15617726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.69, Y:-1.04, Z:0.04 [[ 9.98546275e-01 5.39011795e-02 0.00000000e+00 1.28689804e+02] [-5.39011795e-02 9.98546275e-01 0.00000000e+00 -1.03796872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55811090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.75, Y:-1.04, Z:0.03 [[ 9.98685315e-01 5.12605275e-02 0.00000000e+00 1.28751952e+02] [-5.12605275e-02 9.98685315e-01 0.00000000e+00 -1.03984723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37446921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.81, Y:-1.04, Z:0.03 [[ 9.98845482e-01 4.80385586e-02 0.00000000e+00 1.28814012e+02] [-4.80385586e-02 9.98845482e-01 0.00000000e+00 -1.04100982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17680315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.88, Y:-1.05, Z:0.03 [[ 9.98749004e-01 5.00042717e-02 0.00000000e+00 1.28877015e+02] [-5.00042717e-02 9.98749004e-01 0.00000000e+00 -1.04552220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47912815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.94, Y:-1.05, Z:0.03 [[ 9.98413076e-01 5.63145674e-02 0.00000000e+00 1.28939066e+02] [-5.63145674e-02 9.98413076e-01 0.00000000e+00 -1.04969201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40119902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.00, Y:-1.05, Z:0.03 [[ 9.97984763e-01 6.34540238e-02 0.00000000e+00 1.29000680e+02] [-6.34540238e-02 9.97984763e-01 0.00000000e+00 -1.04735443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35339658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.06, Y:-1.05, Z:0.03 [[ 9.97778233e-01 6.66227971e-02 0.00000000e+00 1.29062531e+02] [-6.66227971e-02 9.97778233e-01 0.00000000e+00 -1.05216598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10282243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.12, Y:-1.05, Z:0.03 [[ 9.97736085e-01 6.72510529e-02 0.00000000e+00 1.29124066e+02] [-6.72510529e-02 9.97736085e-01 0.00000000e+00 -1.04989507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11704028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:-1.05, Z:0.03 [[ 9.97642618e-01 6.86236557e-02 0.00000000e+00 1.29186778e+02] [-6.86236557e-02 9.97642618e-01 0.00000000e+00 -1.04653247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03624737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.25, Y:-1.04, Z:0.03 [[ 9.97405270e-01 7.19911580e-02 0.00000000e+00 1.29248825e+02] [-7.19911580e-02 9.97405270e-01 0.00000000e+00 -1.04324204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18211112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.31, Y:-1.03, Z:0.03 [[ 9.97599814e-01 6.92431245e-02 0.00000000e+00 1.29311479e+02] [-6.92431245e-02 9.97599814e-01 0.00000000e+00 -1.03370268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94969326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.37, Y:-1.03, Z:0.03 [[ 9.98073503e-01 6.20425820e-02 0.00000000e+00 1.29373793e+02] [-6.20425820e-02 9.98073503e-01 0.00000000e+00 -1.02575620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01750303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.44, Y:-1.02, Z:0.03 [[ 9.98738416e-01 5.02153008e-02 0.00000000e+00 1.29435222e+02] [-5.02153008e-02 9.98738416e-01 0.00000000e+00 -1.02408184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43483348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.50, Y:-1.02, Z:0.04 [[ 9.99221360e-01 3.94547117e-02 0.00000000e+00 1.29497165e+02] [-3.94547117e-02 9.99221360e-01 0.00000000e+00 -1.01698107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61363170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.56, Y:-1.02, Z:0.04 [[ 9.99579326e-01 2.90029634e-02 0.00000000e+00 1.29559808e+02] [-2.90029634e-02 9.99579326e-01 0.00000000e+00 -1.01763025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71630677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.62, Y:-1.02, Z:0.03 [[ 9.99742961e-01 2.26718285e-02 0.00000000e+00 1.29621175e+02] [-2.26718285e-02 9.99742961e-01 0.00000000e+00 -1.01668475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45664764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.68, Y:-1.01, Z:0.03 [[ 9.99678262e-01 2.53647915e-02 0.00000000e+00 1.29684163e+02] [-2.53647915e-02 9.99678262e-01 0.00000000e+00 -1.00772301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26395725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.75, Y:-1.01, Z:0.03 [[ 9.99586276e-01 2.87624072e-02 0.00000000e+00 1.29745720e+02] [-2.87624072e-02 9.99586276e-01 0.00000000e+00 -1.00966225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18273784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:-1.01, Z:0.03 [[ 9.99515350e-01 3.11298249e-02 0.00000000e+00 1.29807843e+02] [-3.11298249e-02 9.99515350e-01 0.00000000e+00 -1.00968425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06530478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:-1.01, Z:0.03 [[ 9.99580909e-01 2.89483278e-02 0.00000000e+00 1.29869415e+02] [-2.89483278e-02 9.99580909e-01 0.00000000e+00 -1.01365016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38920870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.93, Y:-1.02, Z:0.04 [[ 9.99618597e-01 2.76163268e-02 0.00000000e+00 1.29929943e+02] [-2.76163268e-02 9.99618597e-01 0.00000000e+00 -1.02008620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74861490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.99, Y:-1.03, Z:0.04 [[ 9.99571530e-01 2.92703935e-02 0.00000000e+00 1.29992595e+02] [-2.92703935e-02 9.99571530e-01 0.00000000e+00 -1.02554946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50543677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.05, Y:-1.04, Z:0.04 [[ 9.99336606e-01 3.64190734e-02 0.00000000e+00 1.30054044e+02] [-3.64190734e-02 9.99336606e-01 0.00000000e+00 -1.03995482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54900860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-1.04, Z:0.03 [[ 9.98909412e-01 4.66903315e-02 0.00000000e+00 1.30115846e+02] [-4.66903315e-02 9.98909412e-01 0.00000000e+00 -1.04225473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04243105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:-1.04, Z:0.02 [[ 9.98371666e-01 5.70439919e-02 0.00000000e+00 1.30177184e+02] [-5.70439919e-02 9.98371666e-01 0.00000000e+00 -1.04113808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18448967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:-1.05, Z:0.03 [[ 9.97881151e-01 6.50631060e-02 0.00000000e+00 1.30238758e+02] [-6.50631060e-02 9.97881151e-01 0.00000000e+00 -1.04616127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01528384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.30, Y:-1.04, Z:0.03 [[ 9.97462272e-01 7.11970202e-02 0.00000000e+00 1.30301411e+02] [-7.11970202e-02 9.97462272e-01 0.00000000e+00 -1.03710519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65328154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.36, Y:-1.03, Z:0.02 [[ 9.97331207e-01 7.30100286e-02 0.00000000e+00 1.30363909e+02] [-7.30100286e-02 9.97331207e-01 0.00000000e+00 -1.02849870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13163509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.43, Y:-1.02, Z:0.04 [[ 9.97957012e-01 6.38889794e-02 0.00000000e+00 1.30425384e+02] [-6.38889794e-02 9.97957012e-01 0.00000000e+00 -1.02033077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82942910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.49, Y:-1.02, Z:0.03 [[ 9.98623094e-01 5.24587141e-02 0.00000000e+00 1.30486650e+02] [-5.24587141e-02 9.98623094e-01 0.00000000e+00 -1.01544206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30867051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:-1.01, Z:0.03 [[ 9.99293633e-01 3.75797247e-02 0.00000000e+00 1.30548454e+02] [-3.75797247e-02 9.99293633e-01 0.00000000e+00 -1.01370475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64756257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:-1.01, Z:0.02 [[ 9.99699073e-01 2.45308521e-02 0.00000000e+00 1.30609239e+02] [-2.45308521e-02 9.99699073e-01 0.00000000e+00 -1.01287569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96776158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:-1.02, Z:0.03 [[ 9.99797835e-01 2.01069260e-02 0.00000000e+00 1.30671651e+02] [-2.01069260e-02 9.99797835e-01 0.00000000e+00 -1.01766977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66362100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:-1.02, Z:0.03 [[ 9.99736509e-01 2.29545796e-02 0.00000000e+00 1.30734592e+02] [-2.29545796e-02 9.99736509e-01 0.00000000e+00 -1.01687634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81385131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.80, Y:-1.02, Z:0.02 [[ 9.99529930e-01 3.06581077e-02 0.00000000e+00 1.30796680e+02] [-3.06581077e-02 9.99529930e-01 0.00000000e+00 -1.01586988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45601324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.86, Y:-1.02, Z:0.03 [[ 9.99270112e-01 3.82000316e-02 0.00000000e+00 1.30860027e+02] [-3.82000316e-02 9.99270112e-01 0.00000000e+00 -1.01625559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66794219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.92, Y:-1.01, Z:0.03 [[ 9.99059645e-01 4.33569648e-02 0.00000000e+00 1.30920831e+02] [-4.33569648e-02 9.99059645e-01 0.00000000e+00 -1.01350291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54341084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.98, Y:-1.02, Z:0.03 [[ 9.98922685e-01 4.64054986e-02 0.00000000e+00 1.30983349e+02] [-4.64054986e-02 9.98922685e-01 0.00000000e+00 -1.01874574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91016005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.05, Y:-1.01, Z:0.03 [[ 9.98851488e-01 4.79135067e-02 0.00000000e+00 1.31045636e+02] [-4.79135067e-02 9.98851488e-01 0.00000000e+00 -1.01386153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33342474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:-1.01, Z:0.03 [[ 9.98767122e-01 4.96410813e-02 0.00000000e+00 1.31107762e+02] [-4.96410813e-02 9.98767122e-01 0.00000000e+00 -1.01458869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70443538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.17, Y:-1.02, Z:0.03 [[ 9.98722236e-01 5.05360787e-02 0.00000000e+00 1.31169016e+02] [-5.05360787e-02 9.98722236e-01 0.00000000e+00 -1.01815406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30745665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.23, Y:-1.01, Z:0.03 [[ 9.98812997e-01 4.87093083e-02 0.00000000e+00 1.31231643e+02] [-4.87093083e-02 9.98812997e-01 0.00000000e+00 -1.01191339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87101680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.29, Y:-1.02, Z:0.03 [[ 9.99032998e-01 4.39666745e-02 0.00000000e+00 1.31292875e+02] [-4.39666745e-02 9.99032998e-01 0.00000000e+00 -1.02256897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38316914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.36, Y:-1.03, Z:0.03 [[ 9.99189065e-01 4.02642906e-02 0.00000000e+00 1.31355041e+02] [-4.02642906e-02 9.99189065e-01 0.00000000e+00 -1.02590806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10230023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.42, Y:-1.03, Z:0.03 [[ 9.99191761e-01 4.01973187e-02 0.00000000e+00 1.31417343e+02] [-4.01973187e-02 9.99191761e-01 0.00000000e+00 -1.02783662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68040770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.48, Y:-1.04, Z:0.03 [[ 9.99142585e-01 4.14016365e-02 0.00000000e+00 1.31480556e+02] [-4.14016365e-02 9.99142585e-01 0.00000000e+00 -1.03627673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14400354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.54, Y:-1.04, Z:0.03 [[ 9.98934951e-01 4.61406904e-02 0.00000000e+00 1.31542945e+02] [-4.61406904e-02 9.98934951e-01 0.00000000e+00 -1.03516334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81841207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.61, Y:-1.04, Z:0.03 [[ 9.98733833e-01 5.03063703e-02 0.00000000e+00 1.31605774e+02] [-5.03063703e-02 9.98733833e-01 0.00000000e+00 -1.04006141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21569751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:-1.04, Z:0.03 [[ 9.98721646e-01 5.05477411e-02 0.00000000e+00 1.31667189e+02] [-5.05477411e-02 9.98721646e-01 0.00000000e+00 -1.04293055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53580237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.73, Y:-1.04, Z:0.03 [[ 9.98823099e-01 4.85017158e-02 0.00000000e+00 1.31729803e+02] [-4.85017158e-02 9.98823099e-01 0.00000000e+00 -1.04351085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89502138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.79, Y:-1.04, Z:0.03 [[ 9.98848064e-01 4.79848403e-02 0.00000000e+00 1.31791667e+02] [-4.79848403e-02 9.98848064e-01 0.00000000e+00 -1.04487764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91320785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.85, Y:-1.05, Z:0.03 [[ 9.98901016e-01 4.68696121e-02 0.00000000e+00 1.31852385e+02] [-4.68696121e-02 9.98901016e-01 0.00000000e+00 -1.04994405e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17975008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:-1.06, Z:0.03 [[ 9.99185819e-01 4.03447623e-02 0.00000000e+00 1.31915339e+02] [-4.03447623e-02 9.99185819e-01 0.00000000e+00 -1.05603602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22386759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.98, Y:-1.06, Z:0.02 [[ 9.99476450e-01 3.23546859e-02 0.00000000e+00 1.31977528e+02] [-3.23546859e-02 9.99476450e-01 0.00000000e+00 -1.06134561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39766479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.04, Y:-1.08, Z:0.03 [[ 9.99505291e-01 3.14511318e-02 0.00000000e+00 1.32039734e+02] [-3.14511318e-02 9.99505291e-01 0.00000000e+00 -1.07684742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14704846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.10, Y:-1.08, Z:0.03 [[ 9.99262359e-01 3.84023090e-02 0.00000000e+00 1.32102839e+02] [-3.84023090e-02 9.99262359e-01 0.00000000e+00 -1.08250489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33177851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.16, Y:-1.09, Z:0.03 [[ 9.98749009e-01 5.00041619e-02 0.00000000e+00 1.32164880e+02] [-5.00041619e-02 9.98749009e-01 0.00000000e+00 -1.09026105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75442668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.23, Y:-1.09, Z:0.02 [[ 9.98261880e-01 5.89340228e-02 0.00000000e+00 1.32227093e+02] [-5.89340228e-02 9.98261880e-01 0.00000000e+00 -1.09389792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44003224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:-1.10, Z:0.02 [[ 9.98043949e-01 6.25162103e-02 0.00000000e+00 1.32288628e+02] [-6.25162103e-02 9.98043949e-01 0.00000000e+00 -1.09992154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34687858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.35, Y:-1.10, Z:0.02 [[ 9.97857209e-01 6.54292828e-02 0.00000000e+00 1.32350017e+02] [-6.54292828e-02 9.97857209e-01 0.00000000e+00 -1.10453094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35892988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.41, Y:-1.11, Z:0.02 [[ 9.97682026e-01 6.80483328e-02 0.00000000e+00 1.32411980e+02] [-6.80483328e-02 9.97682026e-01 0.00000000e+00 -1.10718662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87153081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.47, Y:-1.11, Z:0.02 [[ 9.97793206e-01 6.63981757e-02 0.00000000e+00 1.32473772e+02] [-6.63981757e-02 9.97793206e-01 0.00000000e+00 -1.11440324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29301010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:-1.11, Z:0.02 [[ 9.98177095e-01 6.03530242e-02 0.00000000e+00 1.32535504e+02] [-6.03530242e-02 9.98177095e-01 0.00000000e+00 -1.11268945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07302039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:-1.12, Z:0.02 [[ 9.98351850e-01 5.73897451e-02 0.00000000e+00 1.32596945e+02] [-5.73897451e-02 9.98351850e-01 0.00000000e+00 -1.12000189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31158343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:-1.13, Z:0.02 [[ 9.98391098e-01 5.67028711e-02 0.00000000e+00 1.32658919e+02] [-5.67028711e-02 9.98391098e-01 0.00000000e+00 -1.12566788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12655375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:-1.12, Z:0.02 [[ 9.98367741e-01 5.71126376e-02 0.00000000e+00 1.32720099e+02] [-5.71126376e-02 9.98367741e-01 0.00000000e+00 -1.12278831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72547373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-1.12, Z:0.01 [[ 9.98349915e-01 5.74234012e-02 0.00000000e+00 1.32781173e+02] [-5.74234012e-02 9.98349915e-01 0.00000000e+00 -1.12272206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05925158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:-1.13, Z:0.02 [[ 9.98193174e-01 6.00864979e-02 0.00000000e+00 1.32842966e+02] [-6.00864979e-02 9.98193174e-01 0.00000000e+00 -1.12503879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79905478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:-1.12, Z:0.02 [[ 9.98055727e-01 6.23278878e-02 0.00000000e+00 1.32904822e+02] [-6.23278878e-02 9.98055727e-01 0.00000000e+00 -1.11964245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30185895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.97, Y:-1.12, Z:0.02 [[ 9.98203657e-01 5.99121023e-02 0.00000000e+00 1.32966504e+02] [-5.99121023e-02 9.98203657e-01 0.00000000e+00 -1.11806003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20531115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.03, Y:-1.12, Z:0.02 [[ 9.98440645e-01 5.58236455e-02 0.00000000e+00 1.33028424e+02] [-5.58236455e-02 9.98440645e-01 0.00000000e+00 -1.11817547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65457484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.09, Y:-1.12, Z:0.01 [[ 9.98624468e-01 5.24325383e-02 0.00000000e+00 1.33089268e+02] [-5.24325383e-02 9.98624468e-01 0.00000000e+00 -1.11853187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27425105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.15, Y:-1.12, Z:0.01 [[ 9.98603596e-01 5.28285679e-02 0.00000000e+00 1.33151561e+02] [-5.28285679e-02 9.98603596e-01 0.00000000e+00 -1.11788465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39373673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.21, Y:-1.11, Z:0.02 [[ 9.98476942e-01 5.51706038e-02 0.00000000e+00 1.33212660e+02] [-5.51706038e-02 9.98476942e-01 0.00000000e+00 -1.11499166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69100123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.27, Y:-1.11, Z:0.02 [[ 9.98275711e-01 5.86992685e-02 0.00000000e+00 1.33274934e+02] [-5.86992685e-02 9.98275711e-01 0.00000000e+00 -1.11298226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03575752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.34, Y:-1.11, Z:0.02 [[ 9.98046052e-01 6.24826241e-02 0.00000000e+00 1.33337906e+02] [-6.24826241e-02 9.98046052e-01 0.00000000e+00 -1.11217107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13457296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:-1.11, Z:0.02 [[ 9.97976588e-01 6.35824668e-02 0.00000000e+00 1.33400710e+02] [-6.35824668e-02 9.97976588e-01 0.00000000e+00 -1.10618864e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79996478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.46, Y:-1.11, Z:0.02 [[ 9.98264988e-01 5.88813512e-02 0.00000000e+00 1.33462940e+02] [-5.88813512e-02 9.98264988e-01 0.00000000e+00 -1.11387496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03222111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.52, Y:-1.11, Z:0.02 [[ 9.98599867e-01 5.28990093e-02 0.00000000e+00 1.33523867e+02] [-5.28990093e-02 9.98599867e-01 0.00000000e+00 -1.11427446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86038922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.59, Y:-1.12, Z:0.02 [[ 9.98701947e-01 5.09354643e-02 0.00000000e+00 1.33586893e+02] [-5.09354643e-02 9.98701947e-01 0.00000000e+00 -1.12069735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99504487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.65, Y:-1.13, Z:0.02 [[ 9.98588643e-01 5.31104776e-02 0.00000000e+00 1.33648506e+02] [-5.31104776e-02 9.98588643e-01 0.00000000e+00 -1.12537605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04969526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.71, Y:-1.13, Z:0.02 [[ 9.98328323e-01 5.77975727e-02 0.00000000e+00 1.33710464e+02] [-5.77975727e-02 9.98328323e-01 0.00000000e+00 -1.12970372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87664339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:-1.13, Z:0.02 [[ 9.98214477e-01 5.97315562e-02 0.00000000e+00 1.33772744e+02] [-5.97315562e-02 9.98214477e-01 0.00000000e+00 -1.13282929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49025781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:-1.14, Z:0.02 [[ 9.98151411e-01 6.07763163e-02 0.00000000e+00 1.33834114e+02] [-6.07763163e-02 9.98151411e-01 0.00000000e+00 -1.13621473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82179871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:-1.15, Z:0.03 [[ 9.98111166e-01 6.14337033e-02 0.00000000e+00 1.33896309e+02] [-6.14337033e-02 9.98111166e-01 0.00000000e+00 -1.14601356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57616884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:-1.15, Z:0.02 [[ 9.98269931e-01 5.87974891e-02 0.00000000e+00 1.33957852e+02] [-5.87974891e-02 9.98269931e-01 0.00000000e+00 -1.14825144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26874579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:-1.16, Z:0.03 [[ 9.98451481e-01 5.56294854e-02 0.00000000e+00 1.34019533e+02] [-5.56294854e-02 9.98451481e-01 0.00000000e+00 -1.15900285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60158571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:-1.17, Z:0.03 [[ 9.98534615e-01 5.41167564e-02 0.00000000e+00 1.34082013e+02] [-5.41167564e-02 9.98534615e-01 0.00000000e+00 -1.16969626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91018056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.14, Y:-1.17, Z:0.03 [[ 9.98491767e-01 5.49016506e-02 0.00000000e+00 1.34144826e+02] [-5.49016506e-02 9.98491767e-01 0.00000000e+00 -1.17293182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63786802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.21, Y:-1.19, Z:0.03 [[ 9.98443902e-01 5.57653576e-02 0.00000000e+00 1.34206487e+02] [-5.57653576e-02 9.98443902e-01 0.00000000e+00 -1.18626588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88256822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.27, Y:-1.20, Z:0.03 [[ 9.98305676e-01 5.81874246e-02 0.00000000e+00 1.34268754e+02] [-5.81874246e-02 9.98305676e-01 0.00000000e+00 -1.19592017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85262948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:-1.20, Z:0.02 [[ 9.98014669e-01 6.29819018e-02 0.00000000e+00 1.34330822e+02] [-6.29819018e-02 9.98014669e-01 0.00000000e+00 -1.19998261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48689052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:-1.21, Z:0.02 [[ 9.97771921e-01 6.67172645e-02 0.00000000e+00 1.34393272e+02] [-6.67172645e-02 9.97771921e-01 0.00000000e+00 -1.20715272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38909850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.45, Y:-1.21, Z:0.03 [[ 9.97629401e-01 6.88155330e-02 0.00000000e+00 1.34454816e+02] [-6.88155330e-02 9.97629401e-01 0.00000000e+00 -1.20871040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91820278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:-1.22, Z:0.04 [[ 9.97996336e-01 6.32717497e-02 0.00000000e+00 1.34515942e+02] [-6.32717497e-02 9.97996336e-01 0.00000000e+00 -1.21592673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64334284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.58, Y:-1.22, Z:0.04 [[ 9.98531190e-01 5.41799182e-02 0.00000000e+00 1.34578352e+02] [-5.41799182e-02 9.98531190e-01 0.00000000e+00 -1.21876280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52270180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.64, Y:-1.23, Z:0.03 [[ 9.98892638e-01 4.70478210e-02 0.00000000e+00 1.34638806e+02] [-4.70478210e-02 9.98892638e-01 0.00000000e+00 -1.23193950e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29245582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.70, Y:-1.24, Z:0.03 [[ 9.98994890e-01 4.48242071e-02 0.00000000e+00 1.34700269e+02] [-4.48242071e-02 9.98994890e-01 0.00000000e+00 -1.23526459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02238406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.76, Y:-1.24, Z:0.02 [[ 9.98982621e-01 4.50968091e-02 0.00000000e+00 1.34762436e+02] [-4.50968091e-02 9.98982621e-01 0.00000000e+00 -1.23541270e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43891127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.82, Y:-1.25, Z:0.03 [[ 9.98808298e-01 4.88055705e-02 0.00000000e+00 1.34824487e+02] [-4.88055705e-02 9.98808298e-01 0.00000000e+00 -1.24809346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81876778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.89, Y:-1.25, Z:0.03 [[ 9.98476144e-01 5.51850489e-02 0.00000000e+00 1.34886608e+02] [-5.51850489e-02 9.98476144e-01 0.00000000e+00 -1.24697610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34484112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.95, Y:-1.26, Z:0.03 [[ 9.98263968e-01 5.88986453e-02 0.00000000e+00 1.34948344e+02] [-5.88986453e-02 9.98263968e-01 0.00000000e+00 -1.25550275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74655788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.01, Y:-1.26, Z:0.03 [[ 9.98044295e-01 6.25106729e-02 0.00000000e+00 1.35009059e+02] [-6.25106729e-02 9.98044295e-01 0.00000000e+00 -1.25886965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41304048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.07, Y:-1.27, Z:0.03 [[ 9.97704826e-01 6.77132167e-02 0.00000000e+00 1.35070254e+02] [-6.77132167e-02 9.97704826e-01 0.00000000e+00 -1.26587040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64954899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.13, Y:-1.27, Z:0.03 [[ 9.97411615e-01 7.19032050e-02 0.00000000e+00 1.35131783e+02] [-7.19032050e-02 9.97411615e-01 0.00000000e+00 -1.26790410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67566879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:-1.27, Z:0.03 [[ 9.97069718e-01 7.64982192e-02 0.00000000e+00 1.35194099e+02] [-7.64982192e-02 9.97069718e-01 0.00000000e+00 -1.26646189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62491955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:-1.27, Z:0.03 [[ 9.96927264e-01 7.83328229e-02 0.00000000e+00 1.35255265e+02] [-7.83328229e-02 9.96927264e-01 0.00000000e+00 -1.27019991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48042403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:-1.26, Z:0.03 [[ 9.97507638e-01 7.05585734e-02 0.00000000e+00 1.35316183e+02] [-7.05585734e-02 9.97507638e-01 0.00000000e+00 -1.26386189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87137401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:-1.27, Z:0.03 [[ 9.98261270e-01 5.89443555e-02 0.00000000e+00 1.35378413e+02] [-5.89443555e-02 9.98261270e-01 0.00000000e+00 -1.26906992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42157611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:-1.27, Z:0.03 [[ 9.98743497e-01 5.01141371e-02 0.00000000e+00 1.35440263e+02] [-5.01141371e-02 9.98743497e-01 0.00000000e+00 -1.26769021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36584711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:-1.27, Z:0.03 [[ 9.98838739e-01 4.81785615e-02 0.00000000e+00 1.35503251e+02] [-4.81785615e-02 9.98838739e-01 0.00000000e+00 -1.26820677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48604122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:-1.27, Z:0.03 [[ 9.98823346e-01 4.84966290e-02 0.00000000e+00 1.35563973e+02] [-4.84966290e-02 9.98823346e-01 0.00000000e+00 -1.27309203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11433703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:-1.27, Z:0.03 [[ 9.98709393e-01 5.07892474e-02 0.00000000e+00 1.35626574e+02] [-5.07892474e-02 9.98709393e-01 0.00000000e+00 -1.27095707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68542544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.69, Y:-1.28, Z:0.04 [[ 9.98490352e-01 5.49273816e-02 0.00000000e+00 1.35688450e+02] [-5.49273816e-02 9.98490352e-01 0.00000000e+00 -1.27926142e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55433618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:-1.28, Z:0.03 [[ 9.98338933e-01 5.76140137e-02 0.00000000e+00 1.35750264e+02] [-5.76140137e-02 9.98338933e-01 0.00000000e+00 -1.27568081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93136652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.81, Y:-1.28, Z:0.03 [[ 9.98240405e-01 5.92966653e-02 0.00000000e+00 1.35813264e+02] [-5.92966653e-02 9.98240405e-01 0.00000000e+00 -1.28269921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14353386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.87, Y:-1.29, Z:0.03 [[ 9.98120201e-01 6.12867319e-02 0.00000000e+00 1.35874186e+02] [-6.12867319e-02 9.98120201e-01 0.00000000e+00 -1.28656355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68393296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.94, Y:-1.28, Z:0.02 [[ 9.98055449e-01 6.23323460e-02 0.00000000e+00 1.35936920e+02] [-6.23323460e-02 9.98055449e-01 0.00000000e+00 -1.28341800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29504057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.00, Y:-1.29, Z:0.03 [[ 9.97999210e-01 6.32263969e-02 0.00000000e+00 1.35999304e+02] [-6.32263969e-02 9.97999210e-01 0.00000000e+00 -1.28764817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09908569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.06, Y:-1.29, Z:0.04 [[ 9.98036863e-01 6.26292290e-02 0.00000000e+00 1.36060939e+02] [-6.26292290e-02 9.98036863e-01 0.00000000e+00 -1.28845193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50683433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:-1.29, Z:0.03 [[ 9.98068376e-01 6.21250115e-02 0.00000000e+00 1.36123741e+02] [-6.21250115e-02 9.98068376e-01 0.00000000e+00 -1.29103973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43650575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:-1.29, Z:0.03 [[ 9.98080237e-01 6.19341697e-02 0.00000000e+00 1.36186103e+02] [-6.19341697e-02 9.98080237e-01 0.00000000e+00 -1.29331316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47442879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:-1.29, Z:0.03 [[ 9.97999496e-01 6.32218795e-02 0.00000000e+00 1.36247910e+02] [-6.32218795e-02 9.97999496e-01 0.00000000e+00 -1.29169022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35939160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.31, Y:-1.30, Z:0.04 [[ 9.97864917e-01 6.53116137e-02 0.00000000e+00 1.36309302e+02] [-6.53116137e-02 9.97864917e-01 0.00000000e+00 -1.29595002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78440400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.37, Y:-1.29, Z:0.04 [[ 9.97801554e-01 6.62726085e-02 0.00000000e+00 1.36371225e+02] [-6.62726085e-02 9.97801554e-01 0.00000000e+00 -1.29277561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69699565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.43, Y:-1.29, Z:0.03 [[ 9.97857227e-01 6.54289966e-02 0.00000000e+00 1.36433271e+02] [-6.54289966e-02 9.97857227e-01 0.00000000e+00 -1.29216882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22975287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.50, Y:-1.29, Z:0.04 [[ 9.98018971e-01 6.29137069e-02 0.00000000e+00 1.36495562e+02] [-6.29137069e-02 9.98018971e-01 0.00000000e+00 -1.29346978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81800879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.56, Y:-1.29, Z:0.04 [[ 9.98156841e-01 6.06870778e-02 0.00000000e+00 1.36559009e+02] [-6.06870778e-02 9.98156841e-01 0.00000000e+00 -1.29095325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76896810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.62, Y:-1.30, Z:0.04 [[ 9.98308301e-01 5.81423718e-02 0.00000000e+00 1.36620375e+02] [-5.81423718e-02 9.98308301e-01 0.00000000e+00 -1.29589849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77184330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.68, Y:-1.30, Z:0.04 [[ 9.98439191e-01 5.58496284e-02 0.00000000e+00 1.36683775e+02] [-5.58496284e-02 9.98439191e-01 0.00000000e+00 -1.29576136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73283365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.75, Y:-1.29, Z:0.04 [[ 9.98348870e-01 5.74415662e-02 0.00000000e+00 1.36746270e+02] [-5.74415662e-02 9.98348870e-01 0.00000000e+00 -1.29191829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58961847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.81, Y:-1.29, Z:0.04 [[ 9.97908467e-01 6.46427970e-02 0.00000000e+00 1.36808597e+02] [-6.46427970e-02 9.97908467e-01 0.00000000e+00 -1.29308635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53120158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.87, Y:-1.29, Z:0.04 [[ 9.97786851e-01 6.64936136e-02 0.00000000e+00 1.36871459e+02] [-6.64936136e-02 9.97786851e-01 0.00000000e+00 -1.28891430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57530724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.93, Y:-1.29, Z:0.03 [[ 9.97920067e-01 6.44634819e-02 0.00000000e+00 1.36933765e+02] [-6.44634819e-02 9.97920067e-01 0.00000000e+00 -1.28807520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30383746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.00, Y:-1.29, Z:0.03 [[ 9.98171270e-01 6.04492885e-02 0.00000000e+00 1.36997045e+02] [-6.04492885e-02 9.98171270e-01 0.00000000e+00 -1.28928776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33303625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.06, Y:-1.28, Z:0.03 [[ 9.98228286e-01 5.95003347e-02 0.00000000e+00 1.37059470e+02] [-5.95003347e-02 9.98228286e-01 0.00000000e+00 -1.28306716e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04534150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.12, Y:-1.28, Z:0.03 [[ 9.98224644e-01 5.95613957e-02 0.00000000e+00 1.37121967e+02] [-5.95613957e-02 9.98224644e-01 0.00000000e+00 -1.28223468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72737431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:-1.28, Z:0.04 [[ 9.98281365e-01 5.86030323e-02 0.00000000e+00 1.37182855e+02] [-5.86030323e-02 9.98281365e-01 0.00000000e+00 -1.28160194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52987561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.25, Y:-1.27, Z:0.03 [[ 9.98234995e-01 5.93876573e-02 0.00000000e+00 1.37245594e+02] [-5.93876573e-02 9.98234995e-01 0.00000000e+00 -1.27212445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43650883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.31, Y:-1.27, Z:0.03 [[ 9.98209976e-01 5.98067133e-02 0.00000000e+00 1.37308138e+02] [-5.98067133e-02 9.98209976e-01 0.00000000e+00 -1.27441017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26103830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.37, Y:-1.27, Z:0.03 [[ 9.98124566e-01 6.12156019e-02 0.00000000e+00 1.37370540e+02] [-6.12156019e-02 9.98124566e-01 0.00000000e+00 -1.26731292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95451249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.43, Y:-1.26, Z:0.03 [[ 9.98120456e-01 6.12825921e-02 0.00000000e+00 1.37432783e+02] [-6.12825921e-02 9.98120456e-01 0.00000000e+00 -1.26426665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90357558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.49, Y:-1.26, Z:0.03 [[ 9.98247856e-01 5.91710914e-02 0.00000000e+00 1.37494667e+02] [-5.91710914e-02 9.98247856e-01 0.00000000e+00 -1.26226344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10924336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:-1.25, Z:0.03 [[ 9.98251731e-01 5.91056829e-02 0.00000000e+00 1.37556954e+02] [-5.91056829e-02 9.98251731e-01 0.00000000e+00 -1.25489135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86612559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.62, Y:-1.26, Z:0.03 [[ 9.98351732e-01 5.73918123e-02 0.00000000e+00 1.37620181e+02] [-5.73918123e-02 9.98351732e-01 0.00000000e+00 -1.25817705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10699520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:-1.25, Z:0.03 [[ 9.98693705e-01 5.10968056e-02 0.00000000e+00 1.37683118e+02] [-5.10968056e-02 9.98693705e-01 0.00000000e+00 -1.25111945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57050307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.75, Y:-1.25, Z:0.03 [[ 9.98759609e-01 4.97920068e-02 0.00000000e+00 1.37745437e+02] [-4.97920068e-02 9.98759609e-01 0.00000000e+00 -1.24553152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16410778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-1.25, Z:0.04 [[ 9.98562847e-01 5.35932796e-02 0.00000000e+00 1.37807036e+02] [-5.35932796e-02 9.98562847e-01 0.00000000e+00 -1.25402980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01494471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:-1.24, Z:0.03 [[ 9.98484550e-01 5.50327486e-02 0.00000000e+00 1.37869977e+02] [-5.50327486e-02 9.98484550e-01 0.00000000e+00 -1.24371515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16786888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:-1.25, Z:0.03 [[ 9.98560989e-01 5.36279054e-02 0.00000000e+00 1.37932973e+02] [-5.36279054e-02 9.98560989e-01 0.00000000e+00 -1.24915203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10348664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:-1.26, Z:0.03 [[ 9.98606861e-01 5.27668157e-02 0.00000000e+00 1.37994041e+02] [-5.27668157e-02 9.98606861e-01 0.00000000e+00 -1.25995479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30908909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.06, Y:-1.26, Z:0.03 [[ 9.98223264e-01 5.95845218e-02 0.00000000e+00 1.38056638e+02] [-5.95845218e-02 9.98223264e-01 0.00000000e+00 -1.25999883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28961110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.12, Y:-1.27, Z:0.03 [[ 9.97906533e-01 6.46726519e-02 0.00000000e+00 1.38119002e+02] [-6.46726519e-02 9.97906533e-01 0.00000000e+00 -1.26580383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30601790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.18, Y:-1.28, Z:0.04 [[ 9.97638107e-01 6.86892071e-02 0.00000000e+00 1.38180998e+02] [-6.86892071e-02 9.97638107e-01 0.00000000e+00 -1.27763477e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59906739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:-1.28, Z:0.03 [[ 9.97592279e-01 6.93516040e-02 0.00000000e+00 1.38243555e+02] [-6.93516040e-02 9.97592279e-01 0.00000000e+00 -1.28136583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10868518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:-1.29, Z:0.04 [[ 9.97344523e-01 7.28278998e-02 0.00000000e+00 1.38304965e+02] [-7.28278998e-02 9.97344523e-01 0.00000000e+00 -1.29223672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68721162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.37, Y:-1.30, Z:0.04 [[ 9.97209149e-01 7.46586504e-02 0.00000000e+00 1.38367522e+02] [-7.46586504e-02 9.97209149e-01 0.00000000e+00 -1.29973878e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83650306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.43, Y:-1.30, Z:0.04 [[ 9.97406136e-01 7.19791690e-02 0.00000000e+00 1.38429975e+02] [-7.19791690e-02 9.97406136e-01 0.00000000e+00 -1.30299152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68359094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.49, Y:-1.32, Z:0.03 [[ 9.97844026e-01 6.56300175e-02 0.00000000e+00 1.38490317e+02] [-6.56300175e-02 9.97844026e-01 0.00000000e+00 -1.31647029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34966714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.55, Y:-1.32, Z:0.03 [[ 9.98054997e-01 6.23395725e-02 0.00000000e+00 1.38552110e+02] [-6.23395725e-02 9.98054997e-01 0.00000000e+00 -1.32031600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94828144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.61, Y:-1.32, Z:0.03 [[ 9.98031137e-01 6.27204141e-02 0.00000000e+00 1.38614754e+02] [-6.27204141e-02 9.98031137e-01 0.00000000e+00 -1.32486289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06686922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.68, Y:-1.34, Z:0.03 [[ 9.97929195e-01 6.43220100e-02 0.00000000e+00 1.38677277e+02] [-6.43220100e-02 9.97929195e-01 0.00000000e+00 -1.33804524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28245276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.74, Y:-1.34, Z:0.03 [[ 9.97842043e-01 6.56601654e-02 0.00000000e+00 1.38739777e+02] [-6.56601654e-02 9.97842043e-01 0.00000000e+00 -1.34170371e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01406926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:-1.35, Z:0.03 [[ 9.97705621e-01 6.77015020e-02 0.00000000e+00 1.38800850e+02] [-6.77015020e-02 9.97705621e-01 0.00000000e+00 -1.35450581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01124782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:-1.36, Z:0.03 [[ 9.97853502e-01 6.54857835e-02 0.00000000e+00 1.38862797e+02] [-6.54857835e-02 9.97853502e-01 0.00000000e+00 -1.36426714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01036459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.93, Y:-1.37, Z:0.03 [[ 9.97989241e-01 6.33835479e-02 0.00000000e+00 1.38925732e+02] [-6.33835479e-02 9.97989241e-01 0.00000000e+00 -1.37465939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19669995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.99, Y:-1.39, Z:0.03 [[ 9.98060174e-01 6.22566418e-02 0.00000000e+00 1.38988390e+02] [-6.22566418e-02 9.98060174e-01 0.00000000e+00 -1.38576694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47013864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.05, Y:-1.39, Z:0.03 [[ 9.97855952e-01 6.54484461e-02 0.00000000e+00 1.39051254e+02] [-6.54484461e-02 9.97855952e-01 0.00000000e+00 -1.39000787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05944759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:-1.40, Z:0.03 [[ 9.97851616e-01 6.55145264e-02 0.00000000e+00 1.39114112e+02] [-6.55145264e-02 9.97851616e-01 0.00000000e+00 -1.39724682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24837280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.18, Y:-1.40, Z:0.03 [[ 9.97832340e-01 6.58074493e-02 0.00000000e+00 1.39176315e+02] [-6.58074493e-02 9.97832340e-01 0.00000000e+00 -1.39530401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13726537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:-1.40, Z:0.04 [[ 9.97675745e-01 6.81403549e-02 0.00000000e+00 1.39239462e+02] [-6.81403549e-02 9.97675745e-01 0.00000000e+00 -1.40325533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78335021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:-1.40, Z:0.03 [[ 9.97829559e-01 6.58496050e-02 0.00000000e+00 1.39302783e+02] [-6.58496050e-02 9.97829559e-01 0.00000000e+00 -1.40263675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32225289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.37, Y:-1.41, Z:0.03 [[ 9.98156379e-01 6.06946664e-02 0.00000000e+00 1.39365267e+02] [-6.06946664e-02 9.98156379e-01 0.00000000e+00 -1.41016957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01621383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.43, Y:-1.42, Z:0.02 [[ 9.98397669e-01 5.65870447e-02 0.00000000e+00 1.39425788e+02] [-5.65870447e-02 9.98397669e-01 0.00000000e+00 -1.42072068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17903315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.49, Y:-1.43, Z:0.02 [[ 9.98338326e-01 5.76245366e-02 0.00000000e+00 1.39488171e+02] [-5.76245366e-02 9.98338326e-01 0.00000000e+00 -1.42690685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37784075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.55, Y:-1.43, Z:0.03 [[ 9.97753706e-01 6.69891150e-02 0.00000000e+00 1.39550143e+02] [-6.69891150e-02 9.97753706e-01 0.00000000e+00 -1.43370788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51082801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.61, Y:-1.43, Z:0.02 [[ 9.97190758e-01 7.49038814e-02 0.00000000e+00 1.39611799e+02] [-7.49038814e-02 9.97190758e-01 0.00000000e+00 -1.43297326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83406478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:-1.43, Z:0.02 [[ 9.96923853e-01 7.83762132e-02 0.00000000e+00 1.39675118e+02] [-7.83762132e-02 9.96923853e-01 0.00000000e+00 -1.43164428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15635423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:-1.43, Z:0.02 [[ 9.96911696e-01 7.85306970e-02 0.00000000e+00 1.39737936e+02] [-7.85306970e-02 9.96911696e-01 0.00000000e+00 -1.43123964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30265028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:-1.42, Z:0.02 [[ 9.97281316e-01 7.36883709e-02 0.00000000e+00 1.39800897e+02] [-7.36883709e-02 9.97281316e-01 0.00000000e+00 -1.42202699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23365127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.86, Y:-1.42, Z:0.02 [[ 9.97522061e-01 7.03543768e-02 0.00000000e+00 1.39862200e+02] [-7.03543768e-02 9.97522061e-01 0.00000000e+00 -1.41812219e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75060210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.92, Y:-1.42, Z:0.03 [[ 9.97920120e-01 6.44626598e-02 0.00000000e+00 1.39923987e+02] [-6.44626598e-02 9.97920120e-01 0.00000000e+00 -1.41623396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61554480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.99, Y:-1.41, Z:0.02 [[ 9.98416465e-01 5.62544388e-02 0.00000000e+00 1.39985261e+02] [-5.62544388e-02 9.98416465e-01 0.00000000e+00 -1.40620118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82446398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:-1.41, Z:0.02 [[ 9.98673339e-01 5.14933224e-02 0.00000000e+00 1.40047725e+02] [-5.14933224e-02 9.98673339e-01 0.00000000e+00 -1.40560421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07687736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.11, Y:-1.40, Z:0.01 [[ 9.98794043e-01 4.90964367e-02 0.00000000e+00 1.40108888e+02] [-4.90964367e-02 9.98794043e-01 0.00000000e+00 -1.40136053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47737954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.17, Y:-1.40, Z:0.02 [[ 9.98805131e-01 4.88703352e-02 0.00000000e+00 1.40170184e+02] [-4.88703352e-02 9.98805131e-01 0.00000000e+00 -1.39861691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19319323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:-1.40, Z:0.02 [[ 9.98723671e-01 5.05077027e-02 0.00000000e+00 1.40233305e+02] [-5.05077027e-02 9.98723671e-01 0.00000000e+00 -1.39535595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26371327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.30, Y:-1.39, Z:0.02 [[ 9.98667377e-01 5.16088141e-02 0.00000000e+00 1.40296006e+02] [-5.16088141e-02 9.98667377e-01 0.00000000e+00 -1.39044008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85099774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.36, Y:-1.39, Z:0.01 [[ 9.98480504e-01 5.51061138e-02 0.00000000e+00 1.40357817e+02] [-5.51061138e-02 9.98480504e-01 0.00000000e+00 -1.38720688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21533920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.42, Y:-1.38, Z:0.02 [[ 9.98364110e-01 5.71760801e-02 0.00000000e+00 1.40420824e+02] [-5.71760801e-02 9.98364110e-01 0.00000000e+00 -1.38353767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59016755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.48, Y:-1.38, Z:0.02 [[ 9.98315880e-01 5.80121071e-02 0.00000000e+00 1.40483494e+02] [-5.80121071e-02 9.98315880e-01 0.00000000e+00 -1.38227693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87745945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.55, Y:-1.38, Z:0.02 [[ 9.98299539e-01 5.82926203e-02 0.00000000e+00 1.40546426e+02] [-5.82926203e-02 9.98299539e-01 0.00000000e+00 -1.38232269e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92303675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.61, Y:-1.38, Z:0.02 [[ 9.98307920e-01 5.81489213e-02 0.00000000e+00 1.40609099e+02] [-5.81489213e-02 9.98307920e-01 0.00000000e+00 -1.37549560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65270765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:-1.37, Z:0.01 [[ 9.98339803e-01 5.75989313e-02 0.00000000e+00 1.40671784e+02] [-5.75989313e-02 9.98339803e-01 0.00000000e+00 -1.37188589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05447879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.73, Y:-1.37, Z:0.01 [[ 9.98306675e-01 5.81702899e-02 0.00000000e+00 1.40734634e+02] [-5.81702899e-02 9.98306675e-01 0.00000000e+00 -1.36842724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32183706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:-1.36, Z:0.01 [[ 9.98203913e-01 5.99078241e-02 0.00000000e+00 1.40797629e+02] [-5.99078241e-02 9.98203913e-01 0.00000000e+00 -1.35906123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14811824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.86, Y:-1.35, Z:0.01 [[ 9.98326925e-01 5.78217096e-02 0.00000000e+00 1.40859367e+02] [-5.78217096e-02 9.98326925e-01 0.00000000e+00 -1.35489558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10443919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.92, Y:-1.35, Z:0.01 [[ 9.98370098e-01 5.70714271e-02 0.00000000e+00 1.40922048e+02] [-5.70714271e-02 9.98370098e-01 0.00000000e+00 -1.35003422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24589263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.98, Y:-1.34, Z:0.01 [[ 9.98416218e-01 5.62588248e-02 0.00000000e+00 1.40983902e+02] [-5.62588248e-02 9.98416218e-01 0.00000000e+00 -1.34248452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44808450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:-1.33, Z:0.01 [[ 9.98448445e-01 5.56839451e-02 0.00000000e+00 1.41046960e+02] [-5.56839451e-02 9.98448445e-01 0.00000000e+00 -1.33356338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39407590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.11, Y:-1.33, Z:0.01 [[ 9.98623122e-01 5.24581811e-02 0.00000000e+00 1.41109700e+02] [-5.24581811e-02 9.98623122e-01 0.00000000e+00 -1.32762228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05753068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.17, Y:-1.32, Z:0.01 [[ 9.98799812e-01 4.89789197e-02 0.00000000e+00 1.41171373e+02] [-4.89789197e-02 9.98799812e-01 0.00000000e+00 -1.32298538e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59258926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.23, Y:-1.32, Z:0.01 [[ 9.98851597e-01 4.79112399e-02 0.00000000e+00 1.41234121e+02] [-4.79112399e-02 9.98851597e-01 0.00000000e+00 -1.31727943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65732341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.30, Y:-1.31, Z:0.00 [[ 9.98813906e-01 4.86906686e-02 0.00000000e+00 1.41297252e+02] [-4.86906686e-02 9.98813906e-01 0.00000000e+00 -1.30576917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26834883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:-1.30, Z:0.00 [[ 9.98710737e-01 5.07628262e-02 0.00000000e+00 1.41360427e+02] [-5.07628262e-02 9.98710737e-01 0.00000000e+00 -1.30462661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88699414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.42, Y:-1.29, Z:0.00 [[ 9.98670807e-01 5.15424069e-02 0.00000000e+00 1.41422596e+02] [-5.15424069e-02 9.98670807e-01 0.00000000e+00 -1.29485572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75916517e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.49, Y:-1.29, Z:0.00 [[ 9.98482812e-01 5.50642724e-02 0.00000000e+00 1.41485840e+02] [-5.50642724e-02 9.98482812e-01 0.00000000e+00 -1.28559953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46988520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.55, Y:-1.28, Z:-0.00 [[ 9.98519514e-01 5.43946754e-02 0.00000000e+00 1.41548740e+02] [-5.43946754e-02 9.98519514e-01 0.00000000e+00 -1.27591382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31643482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:-1.26, Z:0.00 [[ 9.98570877e-01 5.34434695e-02 0.00000000e+00 1.41611582e+02] [-5.34434695e-02 9.98570877e-01 0.00000000e+00 -1.26285784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40333596e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.67, Y:-1.25, Z:-0.01 [[ 9.98593569e-01 5.30177620e-02 0.00000000e+00 1.41674124e+02] [-5.30177620e-02 9.98593569e-01 0.00000000e+00 -1.25488237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30876627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.74, Y:-1.24, Z:-0.01 [[ 9.98574562e-01 5.33745633e-02 0.00000000e+00 1.41736315e+02] [-5.33745633e-02 9.98574562e-01 0.00000000e+00 -1.23909749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13442519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.80, Y:-1.23, Z:-0.01 [[ 9.98601553e-01 5.28671763e-02 0.00000000e+00 1.41799161e+02] [-5.28671763e-02 9.98601553e-01 0.00000000e+00 -1.22506901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04694834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.86, Y:-1.22, Z:-0.01 [[ 9.98829114e-01 4.83776967e-02 0.00000000e+00 1.41861649e+02] [-4.83776967e-02 9.98829114e-01 0.00000000e+00 -1.21552965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91716988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.92, Y:-1.20, Z:-0.01 [[ 9.99015264e-01 4.43678157e-02 0.00000000e+00 1.41924410e+02] [-4.43678157e-02 9.99015264e-01 0.00000000e+00 -1.20227574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25821157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-1.19, Z:-0.01 [[ 9.98963963e-01 4.55082442e-02 0.00000000e+00 1.41986555e+02] [-4.55082442e-02 9.98963963e-01 0.00000000e+00 -1.19403429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36654783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:-1.19, Z:-0.02 [[ 9.98854147e-01 4.78580576e-02 0.00000000e+00 1.42048190e+02] [-4.78580576e-02 9.98854147e-01 0.00000000e+00 -1.19012268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55812779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.11, Y:-1.17, Z:-0.01 [[ 9.98704927e-01 5.08770001e-02 0.00000000e+00 1.42111478e+02] [-5.08770001e-02 9.98704927e-01 0.00000000e+00 -1.16935787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42044297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.17, Y:-1.16, Z:-0.01 [[ 9.98545733e-01 5.39112187e-02 0.00000000e+00 1.42173819e+02] [-5.39112187e-02 9.98545733e-01 0.00000000e+00 -1.16148675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49659695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.23, Y:-1.15, Z:-0.02 [[ 9.98327849e-01 5.78057653e-02 0.00000000e+00 1.42234885e+02] [-5.78057653e-02 9.98327849e-01 0.00000000e+00 -1.14928913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71587912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.30, Y:-1.13, Z:-0.01 [[ 9.98296519e-01 5.83443221e-02 0.00000000e+00 1.42297479e+02] [-5.83443221e-02 9.98296519e-01 0.00000000e+00 -1.13302268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49680451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.36, Y:-1.13, Z:-0.02 [[ 9.98480095e-01 5.51135154e-02 0.00000000e+00 1.42360233e+02] [-5.51135154e-02 9.98480095e-01 0.00000000e+00 -1.12614092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79784448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:-1.12, Z:-0.02 [[ 9.98558266e-01 5.36785702e-02 0.00000000e+00 1.42422081e+02] [-5.36785702e-02 9.98558266e-01 0.00000000e+00 -1.12096209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75639638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:-1.11, Z:-0.02 [[ 9.98460862e-01 5.54608665e-02 0.00000000e+00 1.42482374e+02] [-5.54608665e-02 9.98460862e-01 0.00000000e+00 -1.10905567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56671416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.54, Y:-1.10, Z:-0.02 [[ 9.98326880e-01 5.78224885e-02 0.00000000e+00 1.42543562e+02] [-5.78224885e-02 9.98326880e-01 0.00000000e+00 -1.09958723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54002188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.60, Y:-1.09, Z:-0.02 [[ 9.98251898e-01 5.91028674e-02 0.00000000e+00 1.42603289e+02] [-5.91028674e-02 9.98251898e-01 0.00000000e+00 -1.09327301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70871757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.66, Y:-1.08, Z:-0.01 [[ 9.98305289e-01 5.81940787e-02 0.00000000e+00 1.42663833e+02] [-5.81940787e-02 9.98305289e-01 0.00000000e+00 -1.08490543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28155980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:-1.08, Z:-0.02 [[ 9.98324287e-01 5.78672473e-02 0.00000000e+00 1.42722898e+02] [-5.78672473e-02 9.98324287e-01 0.00000000e+00 -1.07506058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65190506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.78, Y:-1.06, Z:-0.01 [[ 9.98341656e-01 5.75668044e-02 0.00000000e+00 1.42783171e+02] [-5.75668044e-02 9.98341656e-01 0.00000000e+00 -1.06394465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22212775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:-1.05, Z:-0.02 [[ 9.98356940e-01 5.73011317e-02 0.00000000e+00 1.42843680e+02] [-5.73011317e-02 9.98356940e-01 0.00000000e+00 -1.05080839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53116306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.90, Y:-1.04, Z:-0.02 [[ 9.98417022e-01 5.62445616e-02 0.00000000e+00 1.42903094e+02] [-5.62445616e-02 9.98417022e-01 0.00000000e+00 -1.04043671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85768727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.96, Y:-1.03, Z:-0.02 [[ 9.98535349e-01 5.41031989e-02 0.00000000e+00 1.42962344e+02] [-5.41031989e-02 9.98535349e-01 0.00000000e+00 -1.02893390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59469206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.02, Y:-1.02, Z:-0.02 [[ 9.98452482e-01 5.56115200e-02 0.00000000e+00 1.43021003e+02] [-5.56115200e-02 9.98452482e-01 0.00000000e+00 -1.01768442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71234103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.08, Y:-1.01, Z:-0.02 [[ 9.98388474e-01 5.67490609e-02 0.00000000e+00 1.43080284e+02] [-5.67490609e-02 9.98388474e-01 0.00000000e+00 -1.01052792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57117871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.14, Y:-1.00, Z:-0.02 [[ 9.98408667e-01 5.63926666e-02 0.00000000e+00 1.43139135e+02] [-5.63926666e-02 9.98408667e-01 0.00000000e+00 -9.97388326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55109871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:-0.99, Z:-0.02 [[ 9.98498220e-01 5.47841685e-02 0.00000000e+00 1.43198010e+02] [-5.47841685e-02 9.98498220e-01 0.00000000e+00 -9.94909430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75381437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.26, Y:-0.99, Z:-0.02 [[ 9.98483148e-01 5.50581750e-02 0.00000000e+00 1.43256907e+02] [-5.50581750e-02 9.98483148e-01 0.00000000e+00 -9.89754084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45341462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.32, Y:-0.98, Z:-0.03 [[ 9.98255071e-01 5.90492499e-02 0.00000000e+00 1.43316393e+02] [-5.90492499e-02 9.98255071e-01 0.00000000e+00 -9.77433173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74999847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:-0.98, Z:-0.03 [[ 9.98097689e-01 6.16522824e-02 0.00000000e+00 1.43375679e+02] [-6.16522824e-02 9.98097689e-01 0.00000000e+00 -9.77865585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61332706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.43, Y:-0.97, Z:-0.02 [[ 9.97839774e-01 6.56946330e-02 0.00000000e+00 1.43434876e+02] [-6.56946330e-02 9.97839774e-01 0.00000000e+00 -9.67143844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33200232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.49, Y:-0.96, Z:-0.02 [[ 9.97445320e-01 7.14341243e-02 0.00000000e+00 1.43493447e+02] [-7.14341243e-02 9.97445320e-01 0.00000000e+00 -9.64797080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44275617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.55, Y:-0.96, Z:-0.02 [[ 9.97256447e-01 7.40241759e-02 0.00000000e+00 1.43552067e+02] [-7.40241759e-02 9.97256447e-01 0.00000000e+00 -9.61906036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21582914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.61, Y:-0.96, Z:-0.02 [[ 9.97277281e-01 7.37429677e-02 0.00000000e+00 1.43609837e+02] [-7.37429677e-02 9.97277281e-01 0.00000000e+00 -9.55537984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39231718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:143.67, Y:-0.95, Z:-0.02 [[ 9.97381542e-01 7.23191465e-02 0.00000000e+00 1.43668539e+02] [-7.23191465e-02 9.97381542e-01 0.00000000e+00 -9.53414720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10889711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:-0.95, Z:-0.03 [[ 9.97457366e-01 7.12657275e-02 0.00000000e+00 1.43726462e+02] [-7.12657275e-02 9.97457366e-01 0.00000000e+00 -9.53992064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15914997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.79, Y:-0.95, Z:-0.03 [[ 9.97519036e-01 7.03972510e-02 0.00000000e+00 1.43785279e+02] [-7.03972510e-02 9.97519036e-01 0.00000000e+00 -9.53619575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53386769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:-0.95, Z:-0.02 [[ 9.97642722e-01 6.86221412e-02 0.00000000e+00 1.43843819e+02] [-6.86221412e-02 9.97642722e-01 0.00000000e+00 -9.51049191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85522252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.90, Y:-0.95, Z:-0.02 [[ 9.97703091e-01 6.77387720e-02 0.00000000e+00 1.43901254e+02] [-6.77387720e-02 9.97703091e-01 0.00000000e+00 -9.53048748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41845755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-0.95, Z:-0.03 [[ 9.97625691e-01 6.88692995e-02 0.00000000e+00 1.43959282e+02] [-6.88692995e-02 9.97625691e-01 0.00000000e+00 -9.51888179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36579687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.02, Y:-0.95, Z:-0.02 [[ 9.97339535e-01 7.28961655e-02 0.00000000e+00 1.44017789e+02] [-7.28961655e-02 9.97339535e-01 0.00000000e+00 -9.52268441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39951449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.08, Y:-0.95, Z:-0.03 [[ 9.97064192e-01 7.65702034e-02 0.00000000e+00 1.44075402e+02] [-7.65702034e-02 9.97064192e-01 0.00000000e+00 -9.53375942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85419354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.13, Y:-0.95, Z:-0.02 [[ 9.97124078e-01 7.57863678e-02 0.00000000e+00 1.44134623e+02] [-7.57863678e-02 9.97124078e-01 0.00000000e+00 -9.45246750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12370772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.19, Y:-0.95, Z:-0.02 [[ 9.97278678e-01 7.37240656e-02 0.00000000e+00 1.44192466e+02] [-7.37240656e-02 9.97278678e-01 0.00000000e+00 -9.51852228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43547757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:-0.95, Z:-0.02 [[ 9.97230495e-01 7.43729771e-02 0.00000000e+00 1.44251246e+02] [-7.43729771e-02 9.97230495e-01 0.00000000e+00 -9.51443142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41749960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:-0.95, Z:-0.03 [[ 9.97257897e-01 7.40046344e-02 0.00000000e+00 1.44309912e+02] [-7.40046344e-02 9.97257897e-01 0.00000000e+00 -9.50434213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74781304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:-0.96, Z:-0.03 [[ 9.97279394e-01 7.37143803e-02 0.00000000e+00 1.44366934e+02] [-7.37143803e-02 9.97279394e-01 0.00000000e+00 -9.56165209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84874718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.43, Y:-0.96, Z:-0.03 [[ 9.97387121e-01 7.22421708e-02 0.00000000e+00 1.44425226e+02] [-7.22421708e-02 9.97387121e-01 0.00000000e+00 -9.59774636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63372789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.48, Y:-0.96, Z:-0.02 [[ 9.97322174e-01 7.31333149e-02 0.00000000e+00 1.44482871e+02] [-7.31333149e-02 9.97322174e-01 0.00000000e+00 -9.57193586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25741395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.54, Y:-0.97, Z:-0.03 [[ 9.97222604e-01 7.44787131e-02 0.00000000e+00 1.44540874e+02] [-7.44787131e-02 9.97222604e-01 0.00000000e+00 -9.65352542e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82473660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.60, Y:-0.96, Z:-0.03 [[ 9.97103491e-01 7.60567413e-02 0.00000000e+00 1.44600398e+02] [-7.60567413e-02 9.97103491e-01 0.00000000e+00 -9.61997819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74150579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:-0.96, Z:-0.03 [[ 9.97073424e-01 7.64499012e-02 0.00000000e+00 1.44659625e+02] [-7.64499012e-02 9.97073424e-01 0.00000000e+00 -9.64082440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83877034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.72, Y:-0.97, Z:-0.03 [[ 9.97131307e-01 7.56911897e-02 0.00000000e+00 1.44717620e+02] [-7.56911897e-02 9.97131307e-01 0.00000000e+00 -9.67671259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03006791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:-0.97, Z:-0.03 [[ 9.97216176e-01 7.45647262e-02 0.00000000e+00 1.44775453e+02] [-7.45647262e-02 9.97216176e-01 0.00000000e+00 -9.70225502e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05066150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:-0.97, Z:-0.03 [[ 9.97411285e-01 7.19077714e-02 0.00000000e+00 1.44834136e+02] [-7.19077714e-02 9.97411285e-01 0.00000000e+00 -9.73193403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59732492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.89, Y:-0.98, Z:-0.03 [[ 9.97405576e-01 7.19869272e-02 0.00000000e+00 1.44891015e+02] [-7.19869272e-02 9.97405576e-01 0.00000000e+00 -9.78112196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70369940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.95, Y:-0.98, Z:-0.03 [[ 9.97336053e-01 7.29437956e-02 0.00000000e+00 1.44948747e+02] [-7.29437956e-02 9.97336053e-01 0.00000000e+00 -9.80001249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38456718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:-0.98, Z:-0.03 [[ 9.97225666e-01 7.44376986e-02 0.00000000e+00 1.45007981e+02] [-7.44376986e-02 9.97225666e-01 0.00000000e+00 -9.77651857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18981885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.07, Y:-0.98, Z:-0.03 [[ 9.96968754e-01 7.78029780e-02 0.00000000e+00 1.45066625e+02] [-7.78029780e-02 9.96968754e-01 0.00000000e+00 -9.83363007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10636295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.12, Y:-0.98, Z:-0.03 [[ 9.96504667e-01 8.35371130e-02 0.00000000e+00 1.45124930e+02] [-8.35371130e-02 9.96504667e-01 0.00000000e+00 -9.79558458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85288311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:-0.98, Z:-0.03 [[ 9.96529365e-01 8.32419669e-02 0.00000000e+00 1.45184302e+02] [-8.32419669e-02 9.96529365e-01 0.00000000e+00 -9.77739906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11633890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.24, Y:-0.98, Z:-0.03 [[ 9.96830367e-01 7.95563890e-02 0.00000000e+00 1.45242631e+02] [-7.95563890e-02 9.96830367e-01 0.00000000e+00 -9.81414956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96204033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.30, Y:-0.98, Z:-0.03 [[ 9.97129582e-01 7.57139128e-02 0.00000000e+00 1.45300992e+02] [-7.57139128e-02 9.97129582e-01 0.00000000e+00 -9.77070094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46030094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:-0.98, Z:-0.03 [[ 9.97396188e-01 7.21168838e-02 0.00000000e+00 1.45359928e+02] [-7.21168838e-02 9.97396188e-01 0.00000000e+00 -9.81598636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23634390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:-0.98, Z:-0.03 [[ 9.97662568e-01 6.83330174e-02 0.00000000e+00 1.45419006e+02] [-6.83330174e-02 9.97662568e-01 0.00000000e+00 -9.82887244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75673694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:-0.99, Z:-0.03 [[ 9.97587128e-01 6.94256527e-02 0.00000000e+00 1.45476513e+02] [-6.94256527e-02 9.97587128e-01 0.00000000e+00 -9.86458459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20624677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.54, Y:-0.99, Z:-0.03 [[ 9.97383225e-01 7.22959405e-02 0.00000000e+00 1.45535281e+02] [-7.22959405e-02 9.97383225e-01 0.00000000e+00 -9.85259897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98414306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.59, Y:-0.99, Z:-0.03 [[ 9.97382997e-01 7.22990863e-02 0.00000000e+00 1.45593325e+02] [-7.22990863e-02 9.97382997e-01 0.00000000e+00 -9.87113036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44526899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.65, Y:-0.99, Z:-0.04 [[ 9.97418311e-01 7.18102608e-02 0.00000000e+00 1.45652043e+02] [-7.18102608e-02 9.97418311e-01 0.00000000e+00 -9.94017977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63783589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.71, Y:-1.00, Z:-0.03 [[ 9.97375157e-01 7.24071529e-02 0.00000000e+00 1.45710288e+02] [-7.24071529e-02 9.97375157e-01 0.00000000e+00 -9.96972068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36773999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.77, Y:-1.00, Z:-0.03 [[ 9.97376131e-01 7.23937363e-02 0.00000000e+00 1.45768893e+02] [-7.23937363e-02 9.97376131e-01 0.00000000e+00 -1.00221144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99477676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.83, Y:-1.01, Z:-0.03 [[ 9.97383506e-01 7.22920605e-02 0.00000000e+00 1.45827912e+02] [-7.22920605e-02 9.97383506e-01 0.00000000e+00 -1.00610008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28410496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.89, Y:-1.01, Z:-0.04 [[ 9.97495320e-01 7.07325036e-02 0.00000000e+00 1.45885771e+02] [-7.07325036e-02 9.97495320e-01 0.00000000e+00 -1.01470692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77965679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.94, Y:-1.03, Z:-0.03 [[ 9.97409838e-01 7.19278434e-02 0.00000000e+00 1.45943674e+02] [-7.19278434e-02 9.97409838e-01 0.00000000e+00 -1.02765201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38449503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.00, Y:-1.03, Z:-0.03 [[ 9.97104664e-01 7.60413583e-02 0.00000000e+00 1.46002355e+02] [-7.60413583e-02 9.97104664e-01 0.00000000e+00 -1.03155653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01548932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.06, Y:-1.03, Z:-0.03 [[ 9.96919714e-01 7.84288401e-02 0.00000000e+00 1.46061308e+02] [-7.84288401e-02 9.96919714e-01 0.00000000e+00 -1.03416683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22712394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.12, Y:-1.05, Z:-0.04 [[ 9.96895988e-01 7.87298528e-02 0.00000000e+00 1.46121064e+02] [-7.87298528e-02 9.96895988e-01 0.00000000e+00 -1.04814828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87158578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.18, Y:-1.05, Z:-0.04 [[ 9.96888440e-01 7.88253681e-02 0.00000000e+00 1.46178475e+02] [-7.88253681e-02 9.96888440e-01 0.00000000e+00 -1.05018672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60408450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:146.24, Y:-1.06, Z:-0.03 [[ 9.96772824e-01 8.02741351e-02 0.00000000e+00 1.46237371e+02] [-8.02741351e-02 9.96772824e-01 0.00000000e+00 -1.05753203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23981786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.30, Y:-1.06, Z:-0.03 [[ 9.96671084e-01 8.15276005e-02 0.00000000e+00 1.46296187e+02] [-8.15276005e-02 9.96671084e-01 0.00000000e+00 -1.06061753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31141836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.35, Y:-1.06, Z:-0.03 [[ 9.96590651e-01 8.25049942e-02 0.00000000e+00 1.46354483e+02] [-8.25049942e-02 9.96590651e-01 0.00000000e+00 -1.06447674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87041485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.41, Y:-1.07, Z:-0.02 [[ 9.96778379e-01 8.02051286e-02 0.00000000e+00 1.46412885e+02] [-8.02051286e-02 9.96778379e-01 0.00000000e+00 -1.06790771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39725770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.47, Y:-1.08, Z:-0.02 [[ 9.96979736e-01 7.76621267e-02 0.00000000e+00 1.46472047e+02] [-7.76621267e-02 9.96979736e-01 0.00000000e+00 -1.07925884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15883410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.53, Y:-1.09, Z:-0.03 [[ 9.97112651e-01 7.59365612e-02 0.00000000e+00 1.46530027e+02] [-7.59365612e-02 9.97112651e-01 0.00000000e+00 -1.08838932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53457456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.59, Y:-1.10, Z:-0.03 [[ 9.97200709e-01 7.47712959e-02 0.00000000e+00 1.46589125e+02] [-7.47712959e-02 9.97200709e-01 0.00000000e+00 -1.09652578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54572219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:-1.10, Z:-0.03 [[ 9.97020410e-01 7.71381982e-02 0.00000000e+00 1.46646978e+02] [-7.71381982e-02 9.97020410e-01 0.00000000e+00 -1.10055126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71105558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:-1.11, Z:-0.03 [[ 9.96603057e-01 8.23550088e-02 0.00000000e+00 1.46705202e+02] [-8.23550088e-02 9.96603057e-01 0.00000000e+00 -1.10891623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69975111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:-1.11, Z:-0.03 [[ 9.96357677e-01 8.52723896e-02 0.00000000e+00 1.46762638e+02] [-8.52723896e-02 9.96357677e-01 0.00000000e+00 -1.11068120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05357668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:-1.12, Z:-0.02 [[ 9.96534113e-01 8.31851095e-02 0.00000000e+00 1.46821495e+02] [-8.31851095e-02 9.96534113e-01 0.00000000e+00 -1.11844246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23656290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:-1.13, Z:-0.02 [[ 9.96821347e-01 7.96693316e-02 0.00000000e+00 1.46879873e+02] [-7.96693316e-02 9.96821347e-01 0.00000000e+00 -1.12538081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12199085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.94, Y:-1.13, Z:-0.02 [[ 9.97120428e-01 7.58343669e-02 0.00000000e+00 1.46937841e+02] [-7.58343669e-02 9.97120428e-01 0.00000000e+00 -1.12897150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28264183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:147.00, Y:-1.14, Z:-0.02 [[ 9.97504950e-01 7.05965582e-02 0.00000000e+00 1.46996262e+02] [-7.05965582e-02 9.97504950e-01 0.00000000e+00 -1.14425861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11963331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.06, Y:-1.15, Z:-0.03 [[ 9.97625610e-01 6.88704697e-02 0.00000000e+00 1.47056386e+02] [-6.88704697e-02 9.97625610e-01 0.00000000e+00 -1.14923669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74211225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:-1.16, Z:-0.02 [[ 9.97471664e-01 7.10653195e-02 0.00000000e+00 1.47115490e+02] [-7.10653195e-02 9.97471664e-01 0.00000000e+00 -1.15511256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32866271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.17, Y:-1.16, Z:-0.03 [[ 9.97253948e-01 7.40578419e-02 0.00000000e+00 1.47172717e+02] [-7.40578419e-02 9.97253948e-01 0.00000000e+00 -1.16367109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69588902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.23, Y:-1.17, Z:-0.02 [[ 9.97142942e-01 7.55377606e-02 0.00000000e+00 1.47231125e+02] [-7.55377606e-02 9.97142942e-01 0.00000000e+00 -1.16767740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14740423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:-1.17, Z:-0.03 [[ 9.97002265e-01 7.73723638e-02 0.00000000e+00 1.47289251e+02] [-7.73723638e-02 9.97002265e-01 0.00000000e+00 -1.17357083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27213627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.35, Y:-1.18, Z:-0.03 [[ 9.96715020e-01 8.09887002e-02 0.00000000e+00 1.47347471e+02] [-8.09887002e-02 9.96715020e-01 0.00000000e+00 -1.18481324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66650583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:-1.19, Z:-0.03 [[ 9.96545673e-01 8.30465056e-02 0.00000000e+00 1.47405182e+02] [-8.30465056e-02 9.96545673e-01 0.00000000e+00 -1.18890309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58979213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:-1.20, Z:-0.02 [[ 9.96585182e-01 8.25710328e-02 0.00000000e+00 1.47465411e+02] [-8.25710328e-02 9.96585182e-01 0.00000000e+00 -1.19607346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60111326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.52, Y:-1.21, Z:-0.02 [[ 9.96774803e-01 8.02495554e-02 0.00000000e+00 1.47524032e+02] [-8.02495554e-02 9.96774803e-01 0.00000000e+00 -1.20763840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59337714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.58, Y:-1.21, Z:-0.02 [[ 9.96994130e-01 7.74771236e-02 0.00000000e+00 1.47583283e+02] [-7.74771236e-02 9.96994130e-01 0.00000000e+00 -1.21263607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97980593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:147.64, Y:-1.22, Z:-0.02 [[ 9.97286692e-01 7.36155798e-02 0.00000000e+00 1.47641561e+02] [-7.36155798e-02 9.97286692e-01 0.00000000e+00 -1.21999180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68263821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.70, Y:-1.23, Z:-0.02 [[ 9.97489999e-01 7.08074929e-02 0.00000000e+00 1.47700063e+02] [-7.08074929e-02 9.97489999e-01 0.00000000e+00 -1.23088306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51784231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.76, Y:-1.23, Z:-0.01 [[ 9.97215030e-01 7.45800455e-02 0.00000000e+00 1.47759031e+02] [-7.45800455e-02 9.97215030e-01 0.00000000e+00 -1.23483328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94974245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.82, Y:-1.24, Z:-0.02 [[ 9.96827489e-01 7.95924386e-02 0.00000000e+00 1.47817449e+02] [-7.95924386e-02 9.96827489e-01 0.00000000e+00 -1.24459034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80672227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.88, Y:-1.25, Z:-0.02 [[ 9.96724138e-01 8.08764077e-02 0.00000000e+00 1.47876010e+02] [-8.08764077e-02 9.96724138e-01 0.00000000e+00 -1.24679509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80614802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.94, Y:-1.25, Z:-0.01 [[ 9.96838741e-01 7.94514021e-02 0.00000000e+00 1.47935036e+02] [-7.94514021e-02 9.96838741e-01 0.00000000e+00 -1.25499114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14008005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:-1.26, Z:-0.01 [[ 9.96908102e-01 7.85763033e-02 0.00000000e+00 1.47992239e+02] [-7.85763033e-02 9.96908102e-01 0.00000000e+00 -1.25996411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46734857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.05, Y:-1.27, Z:-0.02 [[ 9.96901142e-01 7.86645625e-02 0.00000000e+00 1.48051010e+02] [-7.86645625e-02 9.96901142e-01 0.00000000e+00 -1.26502489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54418254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.11, Y:-1.27, Z:-0.02 [[ 9.97097870e-01 7.61304016e-02 0.00000000e+00 1.48109356e+02] [-7.61304016e-02 9.97097870e-01 0.00000000e+00 -1.27383880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27548175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.17, Y:-1.27, Z:-0.02 [[ 9.97267147e-01 7.38798869e-02 0.00000000e+00 1.48169028e+02] [-7.38798869e-02 9.97267147e-01 0.00000000e+00 -1.27368799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56813665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.23, Y:-1.28, Z:-0.02 [[ 9.97454133e-01 7.13109610e-02 0.00000000e+00 1.48226955e+02] [-7.13109610e-02 9.97454133e-01 0.00000000e+00 -1.28049175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74423325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.29, Y:-1.30, Z:-0.01 [[ 9.97636638e-01 6.87105417e-02 0.00000000e+00 1.48285691e+02] [-6.87105417e-02 9.97636638e-01 0.00000000e+00 -1.29501658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10033793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:-1.30, Z:-0.01 [[ 9.97790867e-01 6.64333192e-02 0.00000000e+00 1.48344728e+02] [-6.64333192e-02 9.97790867e-01 0.00000000e+00 -1.29689043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99440192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.40, Y:-1.30, Z:-0.02 [[ 9.97770757e-01 6.67346731e-02 0.00000000e+00 1.48403383e+02] [-6.67346731e-02 9.97770757e-01 0.00000000e+00 -1.30138991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60050914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:-1.32, Z:-0.02 [[ 9.97646285e-01 6.85703266e-02 0.00000000e+00 1.48462351e+02] [-6.85703266e-02 9.97646285e-01 0.00000000e+00 -1.31798735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56261713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:-1.31, Z:-0.01 [[ 9.97358886e-01 7.26309388e-02 0.00000000e+00 1.48521551e+02] [-7.26309388e-02 9.97358886e-01 0.00000000e+00 -1.31359356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08402327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:-1.32, Z:-0.01 [[ 9.97048335e-01 7.67764100e-02 0.00000000e+00 1.48579979e+02] [-7.67764100e-02 9.97048335e-01 0.00000000e+00 -1.31842220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47939688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:-1.32, Z:-0.01 [[ 9.96958630e-01 7.79326046e-02 0.00000000e+00 1.48638634e+02] [-7.79326046e-02 9.96958630e-01 0.00000000e+00 -1.32444046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15541390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:-1.32, Z:-0.00 [[ 9.96781091e-01 8.01714160e-02 0.00000000e+00 1.48696443e+02] [-8.01714160e-02 9.96781091e-01 0.00000000e+00 -1.32350670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38931758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.76, Y:-1.32, Z:-0.00 [[ 9.96700469e-01 8.11675711e-02 0.00000000e+00 1.48755644e+02] [-8.11675711e-02 9.96700469e-01 0.00000000e+00 -1.32454378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98772075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-1.32, Z:-0.00 [[ 9.97010878e-01 7.72613094e-02 0.00000000e+00 1.48814394e+02] [-7.72613094e-02 9.97010878e-01 0.00000000e+00 -1.32241623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48466397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:148.87, Y:-1.33, Z:0.00 [[ 9.97516351e-01 7.04352836e-02 0.00000000e+00 1.48873620e+02] [-7.04352836e-02 9.97516351e-01 0.00000000e+00 -1.32637966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01106717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.93, Y:-1.33, Z:0.00 [[ 9.97886058e-01 6.49878048e-02 0.00000000e+00 1.48932517e+02] [-6.49878048e-02 9.97886058e-01 0.00000000e+00 -1.32953158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54544755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:-1.34, Z:0.00 [[ 9.97961691e-01 6.38158473e-02 0.00000000e+00 1.48991743e+02] [-6.38158473e-02 9.97961691e-01 0.00000000e+00 -1.33628908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92457182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:-1.34, Z:0.00 [[ 9.97758403e-01 6.69191212e-02 0.00000000e+00 1.49050221e+02] [-6.69191212e-02 9.97758403e-01 0.00000000e+00 -1.34208780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43872210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:-1.35, Z:0.00 [[ 9.97258339e-01 7.39986809e-02 0.00000000e+00 1.49109161e+02] [-7.39986809e-02 9.97258339e-01 0.00000000e+00 -1.34571417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96247929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:-1.36, Z:0.00 [[ 9.96812251e-01 7.97830630e-02 0.00000000e+00 1.49168218e+02] [-7.97830630e-02 9.96812251e-01 0.00000000e+00 -1.35562851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38582838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:-1.35, Z:0.00 [[ 9.96471327e-01 8.39338688e-02 0.00000000e+00 1.49227602e+02] [-8.39338688e-02 9.96471327e-01 0.00000000e+00 -1.35389475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67587229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:-1.36, Z:0.00 [[ 9.96362968e-01 8.52105411e-02 0.00000000e+00 1.49286225e+02] [-8.52105411e-02 9.96362968e-01 0.00000000e+00 -1.36048258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07140813e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:-1.37, Z:-0.00 [[ 9.96644161e-01 8.18560754e-02 0.00000000e+00 1.49345190e+02] [-8.18560754e-02 9.96644161e-01 0.00000000e+00 -1.37105653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25512797e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.40, Y:-1.37, Z:0.01 [[ 9.96698898e-01 8.11868570e-02 0.00000000e+00 1.49404494e+02] [-8.11868570e-02 9.96698898e-01 0.00000000e+00 -1.37360121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82035392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:-1.38, Z:0.00 [[ 9.96546114e-01 8.30412090e-02 0.00000000e+00 1.49463301e+02] [-8.30412090e-02 9.96546114e-01 0.00000000e+00 -1.38308772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02040252e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:-1.39, Z:0.01 [[ 9.96388171e-01 8.49153278e-02 0.00000000e+00 1.49523067e+02] [-8.49153278e-02 9.96388171e-01 0.00000000e+00 -1.38625176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50354503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.58, Y:-1.39, Z:0.01 [[ 9.96379844e-01 8.50129762e-02 0.00000000e+00 1.49582630e+02] [-8.50129762e-02 9.96379844e-01 0.00000000e+00 -1.38819306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27484568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:-1.39, Z:0.00 [[ 9.96549443e-01 8.30012530e-02 0.00000000e+00 1.49641645e+02] [-8.30012530e-02 9.96549443e-01 0.00000000e+00 -1.38890544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98925747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.70, Y:-1.39, Z:0.00 [[ 9.96576698e-01 8.26733586e-02 0.00000000e+00 1.49701442e+02] [-8.26733586e-02 9.96576698e-01 0.00000000e+00 -1.39383466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96456460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:-1.39, Z:-0.00 [[ 9.96529279e-01 8.32429983e-02 0.00000000e+00 1.49760647e+02] [-8.32429983e-02 9.96529279e-01 0.00000000e+00 -1.39069722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17313954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:-1.39, Z:-0.00 [[ 9.96672250e-01 8.15133482e-02 0.00000000e+00 1.49820884e+02] [-8.15133482e-02 9.96672250e-01 0.00000000e+00 -1.38710332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40361965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.88, Y:-1.39, Z:0.00 [[ 9.96916344e-01 7.84716719e-02 0.00000000e+00 1.49880270e+02] [-7.84716719e-02 9.96916344e-01 0.00000000e+00 -1.38881495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40086027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.94, Y:-1.38, Z:0.00 [[ 9.97195774e-01 7.48370737e-02 0.00000000e+00 1.49940425e+02] [-7.48370737e-02 9.97195774e-01 0.00000000e+00 -1.38368758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62599838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:-1.39, Z:0.00 [[ 9.97253369e-01 7.40656351e-02 0.00000000e+00 1.49999849e+02] [-7.40656351e-02 9.97253369e-01 0.00000000e+00 -1.38582102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86790362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:-1.39, Z:0.00 [[ 9.97373838e-01 7.24253185e-02 0.00000000e+00 1.50058783e+02] [-7.24253185e-02 9.97373838e-01 0.00000000e+00 -1.38813165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32820146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.12, Y:-1.39, Z:0.01 [[ 9.97400591e-01 7.20559550e-02 0.00000000e+00 1.50118287e+02] [-7.20559550e-02 9.97400591e-01 0.00000000e+00 -1.38897004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97913462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.18, Y:-1.39, Z:0.01 [[ 9.97193918e-01 7.48618010e-02 0.00000000e+00 1.50177124e+02] [-7.48618010e-02 9.97193918e-01 0.00000000e+00 -1.39095220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23856266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.24, Y:-1.39, Z:0.01 [[ 9.96876598e-01 7.89749819e-02 0.00000000e+00 1.50235460e+02] [-7.89749819e-02 9.96876598e-01 0.00000000e+00 -1.39007703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31610579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:-1.39, Z:0.00 [[ 9.96559628e-01 8.28788719e-02 0.00000000e+00 1.50293817e+02] [-8.28788719e-02 9.96559628e-01 0.00000000e+00 -1.38847466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63687556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.35, Y:-1.39, Z:0.00 [[ 9.96451713e-01 8.41664070e-02 0.00000000e+00 1.50352373e+02] [-8.41664070e-02 9.96451713e-01 0.00000000e+00 -1.39014102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53055984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.41, Y:-1.40, Z:0.00 [[ 9.96642344e-01 8.18781885e-02 0.00000000e+00 1.50410817e+02] [-8.18781885e-02 9.96642344e-01 0.00000000e+00 -1.39751811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02599623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:-1.40, Z:0.00 [[ 9.97008953e-01 7.72861378e-02 0.00000000e+00 1.50469674e+02] [-7.72861378e-02 9.97008953e-01 0.00000000e+00 -1.39878293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59248577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.53, Y:-1.40, Z:0.01 [[ 9.97183728e-01 7.49974157e-02 0.00000000e+00 1.50528339e+02] [-7.49974157e-02 9.97183728e-01 0.00000000e+00 -1.40045611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96927936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.59, Y:-1.41, Z:0.01 [[ 9.97306024e-01 7.33532162e-02 0.00000000e+00 1.50587751e+02] [-7.33532162e-02 9.97306024e-01 0.00000000e+00 -1.41170177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17384628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.65, Y:-1.41, Z:0.00 [[ 9.97281068e-01 7.36917382e-02 0.00000000e+00 1.50647114e+02] [-7.36917382e-02 9.97281068e-01 0.00000000e+00 -1.40677959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15101531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.71, Y:-1.42, Z:0.01 [[ 9.97199541e-01 7.47868626e-02 0.00000000e+00 1.50706231e+02] [-7.47868626e-02 9.97199541e-01 0.00000000e+00 -1.41713459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73058125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.77, Y:-1.42, Z:0.01 [[ 9.97215723e-01 7.45707827e-02 0.00000000e+00 1.50765958e+02] [-7.45707827e-02 9.97215723e-01 0.00000000e+00 -1.41600429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24432424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.83, Y:-1.42, Z:0.01 [[ 9.97201449e-01 7.47614168e-02 0.00000000e+00 1.50825835e+02] [-7.47614168e-02 9.97201449e-01 0.00000000e+00 -1.42111010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49412547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:-1.43, Z:0.01 [[ 9.97328517e-01 7.30467573e-02 0.00000000e+00 1.50884254e+02] [-7.30467573e-02 9.97328517e-01 0.00000000e+00 -1.43194346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42805824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:-1.43, Z:0.01 [[ 9.97201752e-01 7.47573786e-02 0.00000000e+00 1.50943557e+02] [-7.47573786e-02 9.97201752e-01 0.00000000e+00 -1.42951991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10264397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:-1.44, Z:0.01 [[ 9.96784598e-01 8.01278079e-02 0.00000000e+00 1.51002624e+02] [-8.01278079e-02 9.96784598e-01 0.00000000e+00 -1.43895727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21667424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.06, Y:-1.44, Z:0.02 [[ 9.96033942e-01 8.89740812e-02 0.00000000e+00 1.51062009e+02] [-8.89740812e-02 9.96033942e-01 0.00000000e+00 -1.44093063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71794824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.12, Y:-1.44, Z:0.02 [[ 9.95480685e-01 9.49642303e-02 0.00000000e+00 1.51120145e+02] [-9.49642303e-02 9.95480685e-01 0.00000000e+00 -1.44316630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71895032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.18, Y:-1.45, Z:0.02 [[ 9.95459683e-01 9.51841349e-02 0.00000000e+00 1.51179326e+02] [-9.51841349e-02 9.95459683e-01 0.00000000e+00 -1.44760609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70138508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.24, Y:-1.44, Z:0.02 [[ 9.95726791e-01 9.23480215e-02 0.00000000e+00 1.51237916e+02] [-9.23480215e-02 9.95726791e-01 0.00000000e+00 -1.44428999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66185970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:-1.45, Z:0.02 [[ 9.96165414e-01 8.74898150e-02 0.00000000e+00 1.51296556e+02] [-8.74898150e-02 9.96165414e-01 0.00000000e+00 -1.44527657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55282811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.36, Y:-1.45, Z:0.02 [[ 9.96586568e-01 8.25543050e-02 0.00000000e+00 1.51355983e+02] [-8.25543050e-02 9.96586568e-01 0.00000000e+00 -1.45099245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75640453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:-1.45, Z:0.02 [[ 9.96931089e-01 7.82841208e-02 0.00000000e+00 1.51415156e+02] [-7.82841208e-02 9.96931089e-01 0.00000000e+00 -1.44859261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57792804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:-1.45, Z:0.02 [[ 9.97305636e-01 7.33584939e-02 0.00000000e+00 1.51474443e+02] [-7.33584939e-02 9.97305636e-01 0.00000000e+00 -1.45096013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59765951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:-1.45, Z:0.02 [[ 9.97454303e-01 7.13085774e-02 0.00000000e+00 1.51533809e+02] [-7.13085774e-02 9.97454303e-01 0.00000000e+00 -1.45400064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58791443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:-1.46, Z:0.02 [[ 9.97659187e-01 6.83823614e-02 0.00000000e+00 1.51592768e+02] [-6.83823614e-02 9.97659187e-01 0.00000000e+00 -1.45770558e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76384382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:-1.46, Z:0.02 [[ 9.97810779e-01 6.61335646e-02 0.00000000e+00 1.51651268e+02] [-6.61335646e-02 9.97810779e-01 0.00000000e+00 -1.46434759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66993761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:-1.47, Z:0.01 [[ 9.97687948e-01 6.79614484e-02 0.00000000e+00 1.51711011e+02] [-6.79614484e-02 9.97687948e-01 0.00000000e+00 -1.47176670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41005703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:-1.48, Z:0.01 [[ 9.97340739e-01 7.28796932e-02 0.00000000e+00 1.51769930e+02] [-7.28796932e-02 9.97340739e-01 0.00000000e+00 -1.47835032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47261772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:-1.48, Z:0.01 [[ 9.96853793e-01 7.92623146e-02 0.00000000e+00 1.51829135e+02] [-7.92623146e-02 9.96853793e-01 0.00000000e+00 -1.47790175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49599981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:-1.48, Z:0.02 [[ 9.96553672e-01 8.29504612e-02 0.00000000e+00 1.51887953e+02] [-8.29504612e-02 9.96553672e-01 0.00000000e+00 -1.48293640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50204990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.95, Y:-1.49, Z:0.02 [[ 9.96103768e-01 8.81889048e-02 0.00000000e+00 1.51947415e+02] [-8.81889048e-02 9.96103768e-01 0.00000000e+00 -1.48978620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77965845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:-1.49, Z:0.01 [[ 9.95929310e-01 9.01377301e-02 0.00000000e+00 1.52006667e+02] [-9.01377301e-02 9.95929310e-01 0.00000000e+00 -1.48625585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49872818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.07, Y:-1.49, Z:0.01 [[ 9.95824685e-01 9.12863407e-02 0.00000000e+00 1.52065769e+02] [-9.12863407e-02 9.95824685e-01 0.00000000e+00 -1.48773097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20780042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.13, Y:-1.49, Z:0.01 [[ 9.95776637e-01 9.18089820e-02 0.00000000e+00 1.52125180e+02] [-9.18089820e-02 9.95776637e-01 0.00000000e+00 -1.49330840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32213968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.19, Y:-1.48, Z:0.02 [[ 9.95983968e-01 8.95317573e-02 0.00000000e+00 1.52185311e+02] [-8.95317573e-02 9.95983968e-01 0.00000000e+00 -1.48180498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93734492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:-1.49, Z:0.01 [[ 9.96522134e-01 8.33284878e-02 0.00000000e+00 1.52244297e+02] [-8.33284878e-02 9.96522134e-01 0.00000000e+00 -1.48524359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26471247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:-1.49, Z:0.02 [[ 9.96832900e-01 7.95246488e-02 0.00000000e+00 1.52304018e+02] [-7.95246488e-02 9.96832900e-01 0.00000000e+00 -1.48643749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88652561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.36, Y:-1.47, Z:0.01 [[ 9.97312283e-01 7.32680772e-02 0.00000000e+00 1.52363434e+02] [-7.32680772e-02 9.97312283e-01 0.00000000e+00 -1.47132050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20570993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:-1.48, Z:0.01 [[ 9.97807036e-01 6.61900261e-02 0.00000000e+00 1.52423111e+02] [-6.61900261e-02 9.97807036e-01 0.00000000e+00 -1.47967003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30360490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:-1.47, Z:0.02 [[ 9.98124691e-01 6.12135639e-02 0.00000000e+00 1.52482770e+02] [-6.12135639e-02 9.98124691e-01 0.00000000e+00 -1.47459133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76894189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:-1.48, Z:0.01 [[ 9.98065825e-01 6.21659722e-02 0.00000000e+00 1.52541823e+02] [-6.21659722e-02 9.98065825e-01 0.00000000e+00 -1.47772098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05585419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:-1.48, Z:0.01 [[ 9.97895240e-01 6.48466683e-02 0.00000000e+00 1.52601314e+02] [-6.48466683e-02 9.97895240e-01 0.00000000e+00 -1.48175075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13175274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:-1.48, Z:0.01 [[ 9.97685567e-01 6.79963954e-02 0.00000000e+00 1.52660949e+02] [-6.79963954e-02 9.97685567e-01 0.00000000e+00 -1.47773265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01229895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:-1.49, Z:0.02 [[ 9.97447790e-01 7.13996300e-02 0.00000000e+00 1.52720589e+02] [-7.13996300e-02 9.97447790e-01 0.00000000e+00 -1.49038673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60461616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.78, Y:-1.49, Z:0.02 [[ 9.97291130e-01 7.35554376e-02 0.00000000e+00 1.52780779e+02] [-7.35554376e-02 9.97291130e-01 0.00000000e+00 -1.48745638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81220774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.84, Y:-1.48, Z:0.01 [[ 9.96642999e-01 8.18702155e-02 0.00000000e+00 1.52840290e+02] [-8.18702155e-02 9.96642999e-01 0.00000000e+00 -1.48412872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27509274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:-1.49, Z:0.01 [[ 9.96290914e-01 8.60489052e-02 0.00000000e+00 1.52898091e+02] [-8.60489052e-02 9.96290914e-01 0.00000000e+00 -1.48546543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04919033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.96, Y:-1.48, Z:0.02 [[ 9.96353690e-01 8.53189534e-02 0.00000000e+00 1.52958097e+02] [-8.53189534e-02 9.96353690e-01 0.00000000e+00 -1.47992923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52342058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.02, Y:-1.48, Z:0.02 [[ 9.96757603e-01 8.04629112e-02 0.00000000e+00 1.53016525e+02] [-8.04629112e-02 9.96757603e-01 0.00000000e+00 -1.47686637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69434895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:-1.48, Z:0.02 [[ 9.97172188e-01 7.51507018e-02 0.00000000e+00 1.53075390e+02] [-7.51507018e-02 9.97172188e-01 0.00000000e+00 -1.47535366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71665431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:-1.48, Z:0.01 [[ 9.97544581e-01 7.00343467e-02 0.00000000e+00 1.53133904e+02] [-7.00343467e-02 9.97544581e-01 0.00000000e+00 -1.47738801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71775801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:-1.47, Z:0.02 [[ 9.97821384e-01 6.59733734e-02 0.00000000e+00 1.53192688e+02] [-6.59733734e-02 9.97821384e-01 0.00000000e+00 -1.47327664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50235247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.25, Y:-1.48, Z:0.02 [[ 9.97891923e-01 6.48976880e-02 0.00000000e+00 1.53250168e+02] [-6.48976880e-02 9.97891923e-01 0.00000000e+00 -1.47514713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52794045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.31, Y:-1.48, Z:0.02 [[ 9.97711686e-01 6.76120607e-02 0.00000000e+00 1.53309095e+02] [-6.76120607e-02 9.97711686e-01 0.00000000e+00 -1.47594361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65559452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.37, Y:-1.47, Z:0.01 [[ 9.97473011e-01 7.10464148e-02 0.00000000e+00 1.53368605e+02] [-7.10464148e-02 9.97473011e-01 0.00000000e+00 -1.47212584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31553021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.43, Y:-1.47, Z:0.01 [[ 9.97523329e-01 7.03363864e-02 0.00000000e+00 1.53427450e+02] [-7.03363864e-02 9.97523329e-01 0.00000000e+00 -1.47191874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49007282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:-1.48, Z:0.02 [[ 9.97816160e-01 6.60523339e-02 0.00000000e+00 1.53486503e+02] [-6.60523339e-02 9.97816160e-01 0.00000000e+00 -1.47649384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95368976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:-1.49, Z:0.02 [[ 9.98130840e-01 6.11132257e-02 0.00000000e+00 1.53545090e+02] [-6.11132257e-02 9.98130840e-01 0.00000000e+00 -1.48632761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72798025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:-1.49, Z:0.01 [[ 9.98199524e-01 5.99809171e-02 0.00000000e+00 1.53604188e+02] [-5.99809171e-02 9.98199524e-01 0.00000000e+00 -1.48932956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18521819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:-1.49, Z:0.01 [[ 9.98114170e-01 6.13848772e-02 0.00000000e+00 1.53662565e+02] [-6.13848772e-02 9.98114170e-01 0.00000000e+00 -1.49435526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27348394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:-1.50, Z:0.01 [[ 9.97672625e-01 6.81860212e-02 0.00000000e+00 1.53721402e+02] [-6.81860212e-02 9.97672625e-01 0.00000000e+00 -1.50185612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39217591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.78, Y:-1.50, Z:0.02 [[ 9.97348647e-01 7.27713997e-02 0.00000000e+00 1.53780496e+02] [-7.27713997e-02 9.97348647e-01 0.00000000e+00 -1.50396008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80292969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.84, Y:-1.51, Z:0.02 [[ 9.96951260e-01 7.80268292e-02 0.00000000e+00 1.53838085e+02] [-7.80268292e-02 9.96951260e-01 0.00000000e+00 -1.51259570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62345922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.90, Y:-1.51, Z:0.01 [[ 9.96885645e-01 7.88607031e-02 0.00000000e+00 1.53897382e+02] [-7.88607031e-02 9.96885645e-01 0.00000000e+00 -1.51325287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13107544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.96, Y:-1.52, Z:0.01 [[ 9.96977105e-01 7.76959013e-02 0.00000000e+00 1.53956049e+02] [-7.76959013e-02 9.96977105e-01 0.00000000e+00 -1.51605383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23228860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.01, Y:-1.52, Z:0.01 [[ 9.97196038e-01 7.48335606e-02 0.00000000e+00 1.54014596e+02] [-7.48335606e-02 9.97196038e-01 0.00000000e+00 -1.52376315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23068782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:-1.52, Z:0.01 [[ 9.97398956e-01 7.20785803e-02 0.00000000e+00 1.54073065e+02] [-7.20785803e-02 9.97398956e-01 0.00000000e+00 -1.52204977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38315466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.13, Y:-1.53, Z:0.02 [[ 9.97736662e-01 6.72424928e-02 0.00000000e+00 1.54132028e+02] [-6.72424928e-02 9.97736662e-01 0.00000000e+00 -1.53176492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63625387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:-1.53, Z:0.02 [[ 9.97953788e-01 6.39393188e-02 0.00000000e+00 1.54191804e+02] [-6.39393188e-02 9.97953788e-01 0.00000000e+00 -1.53397549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68365459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:-1.54, Z:0.01 [[ 9.98000866e-01 6.32002547e-02 0.00000000e+00 1.54251688e+02] [-6.32002547e-02 9.98000866e-01 0.00000000e+00 -1.54227625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34465603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:-1.55, Z:0.02 [[ 9.97961865e-01 6.38131377e-02 0.00000000e+00 1.54311016e+02] [-6.38131377e-02 9.97961865e-01 0.00000000e+00 -1.54751619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59073343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:-1.56, Z:0.01 [[ 9.97997214e-01 6.32578885e-02 0.00000000e+00 1.54369089e+02] [-6.32578885e-02 9.97997214e-01 0.00000000e+00 -1.55556042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44943183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.43, Y:-1.56, Z:0.01 [[ 9.97862590e-01 6.53471565e-02 0.00000000e+00 1.54428670e+02] [-6.53471565e-02 9.97862590e-01 0.00000000e+00 -1.55959010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42316565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.49, Y:-1.57, Z:0.01 [[ 9.97644874e-01 6.85908538e-02 0.00000000e+00 1.54488250e+02] [-6.85908538e-02 9.97644874e-01 0.00000000e+00 -1.56940242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49360150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.55, Y:-1.57, Z:0.01 [[ 9.97363217e-01 7.25714431e-02 0.00000000e+00 1.54547385e+02] [-7.25714431e-02 9.97363217e-01 0.00000000e+00 -1.56684385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36057773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.61, Y:-1.57, Z:0.02 [[ 9.97429989e-01 7.16478715e-02 0.00000000e+00 1.54606734e+02] [-7.16478715e-02 9.97429989e-01 0.00000000e+00 -1.57122159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10694376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:-1.58, Z:0.02 [[ 9.97734314e-01 6.72773331e-02 0.00000000e+00 1.54665630e+02] [-6.72773331e-02 9.97734314e-01 0.00000000e+00 -1.57699442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00672369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:-1.58, Z:0.02 [[ 9.98080429e-01 6.19310700e-02 0.00000000e+00 1.54725393e+02] [-6.19310700e-02 9.98080429e-01 0.00000000e+00 -1.58141410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99976802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.79, Y:-1.59, Z:0.02 [[ 9.98322445e-01 5.78990181e-02 0.00000000e+00 1.54786158e+02] [-5.78990181e-02 9.98322445e-01 0.00000000e+00 -1.58596386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76629073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.85, Y:-1.59, Z:0.01 [[ 9.98245495e-01 5.92109041e-02 0.00000000e+00 1.54846510e+02] [-5.92109041e-02 9.98245495e-01 0.00000000e+00 -1.59188145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41693377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.91, Y:-1.60, Z:0.02 [[ 9.98017207e-01 6.29416777e-02 0.00000000e+00 1.54907212e+02] [-6.29416777e-02 9.98017207e-01 0.00000000e+00 -1.59615682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01646049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.97, Y:-1.60, Z:0.02 [[ 9.97715382e-01 6.75575037e-02 0.00000000e+00 1.54966285e+02] [-6.75575037e-02 9.97715382e-01 0.00000000e+00 -1.59505707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31183122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.03, Y:-1.60, Z:0.02 [[ 9.97730240e-01 6.73377101e-02 0.00000000e+00 1.55026295e+02] [-6.73377101e-02 9.97730240e-01 0.00000000e+00 -1.59992520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34321675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.09, Y:-1.60, Z:0.02 [[ 9.97992252e-01 6.33361262e-02 0.00000000e+00 1.55086855e+02] [-6.33361262e-02 9.97992252e-01 0.00000000e+00 -1.60274780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25493603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.15, Y:-1.61, Z:0.02 [[ 9.98220487e-01 5.96310333e-02 0.00000000e+00 1.55146553e+02] [-5.96310333e-02 9.98220487e-01 0.00000000e+00 -1.60543530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98130702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.21, Y:-1.62, Z:0.02 [[ 9.98228189e-01 5.95019539e-02 0.00000000e+00 1.55207069e+02] [-5.95019539e-02 9.98228189e-01 0.00000000e+00 -1.61598911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96483857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.27, Y:-1.61, Z:0.02 [[ 9.98026443e-01 6.27950589e-02 0.00000000e+00 1.55266721e+02] [-6.27950589e-02 9.98026443e-01 0.00000000e+00 -1.61389981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95594377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:-1.62, Z:0.02 [[ 9.97939122e-01 6.41678100e-02 0.00000000e+00 1.55327348e+02] [-6.41678100e-02 9.97939122e-01 0.00000000e+00 -1.61977844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39432038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:-1.63, Z:0.02 [[ 9.98009463e-01 6.30643445e-02 0.00000000e+00 1.55387741e+02] [-6.30643445e-02 9.98009463e-01 0.00000000e+00 -1.62570886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43917225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:-1.63, Z:0.03 [[ 9.98097195e-01 6.16602733e-02 0.00000000e+00 1.55447476e+02] [-6.16602733e-02 9.98097195e-01 0.00000000e+00 -1.62811432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73752498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:-1.63, Z:0.02 [[ 9.98115790e-01 6.13585408e-02 0.00000000e+00 1.55507471e+02] [-6.13585408e-02 9.98115790e-01 0.00000000e+00 -1.63358915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25859878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.57, Y:-1.64, Z:0.02 [[ 9.97959088e-01 6.38565428e-02 0.00000000e+00 1.55566927e+02] [-6.38565428e-02 9.97959088e-01 0.00000000e+00 -1.63527676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16930578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:-1.64, Z:0.02 [[ 9.97877587e-01 6.51177530e-02 0.00000000e+00 1.55627778e+02] [-6.51177530e-02 9.97877587e-01 0.00000000e+00 -1.63562188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94338481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:-1.64, Z:0.02 [[ 9.97891598e-01 6.49026808e-02 0.00000000e+00 1.55688595e+02] [-6.49026808e-02 9.97891598e-01 0.00000000e+00 -1.63692469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08767935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:-1.65, Z:0.02 [[ 9.98115902e-01 6.13567194e-02 0.00000000e+00 1.55748394e+02] [-6.13567194e-02 9.98115902e-01 0.00000000e+00 -1.64671114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94007278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.81, Y:-1.65, Z:0.02 [[ 9.98286635e-01 5.85131915e-02 0.00000000e+00 1.55809849e+02] [-5.85131915e-02 9.98286635e-01 0.00000000e+00 -1.65099255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91395005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.87, Y:-1.65, Z:0.02 [[ 9.98333533e-01 5.77075067e-02 0.00000000e+00 1.55870047e+02] [-5.77075067e-02 9.98333533e-01 0.00000000e+00 -1.65280078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01725890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:-1.67, Z:0.02 [[ 9.98244361e-01 5.92300261e-02 0.00000000e+00 1.55931251e+02] [-5.92300261e-02 9.98244361e-01 0.00000000e+00 -1.66562363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86919471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.99, Y:-1.67, Z:0.02 [[ 9.98060070e-01 6.22583092e-02 0.00000000e+00 1.55992184e+02] [-6.22583092e-02 9.98060070e-01 0.00000000e+00 -1.66820174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17778059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.05, Y:-1.67, Z:0.02 [[ 9.97960560e-01 6.38335347e-02 0.00000000e+00 1.56052064e+02] [-6.38335347e-02 9.97960560e-01 0.00000000e+00 -1.67194285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28477077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.11, Y:-1.68, Z:0.02 [[ 9.98005427e-01 6.31281902e-02 0.00000000e+00 1.56113049e+02] [-6.31281902e-02 9.98005427e-01 0.00000000e+00 -1.68023827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21476087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.18, Y:-1.69, Z:0.02 [[ 9.97990704e-01 6.33605075e-02 0.00000000e+00 1.56175111e+02] [-6.33605075e-02 9.97990704e-01 0.00000000e+00 -1.68914546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30531041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.24, Y:-1.69, Z:0.02 [[ 9.97926664e-01 6.43612764e-02 0.00000000e+00 1.56237455e+02] [-6.43612764e-02 9.97926664e-01 0.00000000e+00 -1.69129595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09486732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.30, Y:-1.70, Z:0.02 [[ 9.97842126e-01 6.56589106e-02 0.00000000e+00 1.56298772e+02] [-6.56589106e-02 9.97842126e-01 0.00000000e+00 -1.69637600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03746081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:-1.71, Z:0.02 [[ 9.97785576e-01 6.65127442e-02 0.00000000e+00 1.56360808e+02] [-6.65127442e-02 9.97785576e-01 0.00000000e+00 -1.71017081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55236979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.42, Y:-1.72, Z:0.01 [[ 9.97607897e-01 6.91265720e-02 0.00000000e+00 1.56422071e+02] [-6.91265720e-02 9.97607897e-01 0.00000000e+00 -1.71750054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46394088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.48, Y:-1.72, Z:0.02 [[ 9.97421519e-01 7.17656852e-02 0.00000000e+00 1.56484655e+02] [-7.17656852e-02 9.97421519e-01 0.00000000e+00 -1.71811563e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61080375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:-1.73, Z:0.02 [[ 9.97134470e-01 7.56495171e-02 0.00000000e+00 1.56545246e+02] [-7.56495171e-02 9.97134470e-01 0.00000000e+00 -1.72696833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16377128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-1.73, Z:0.02 [[ 9.97198554e-01 7.48000268e-02 0.00000000e+00 1.56607329e+02] [-7.48000268e-02 9.97198554e-01 0.00000000e+00 -1.73210556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74151158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:-1.74, Z:0.02 [[ 9.97366397e-01 7.25277214e-02 0.00000000e+00 1.56669135e+02] [-7.25277214e-02 9.97366397e-01 0.00000000e+00 -1.73851184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94964238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:-1.75, Z:0.02 [[ 9.97526263e-01 7.02947736e-02 0.00000000e+00 1.56729573e+02] [-7.02947736e-02 9.97526263e-01 0.00000000e+00 -1.74706942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77568439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:-1.75, Z:0.02 [[ 9.97612884e-01 6.90545772e-02 0.00000000e+00 1.56792053e+02] [-6.90545772e-02 9.97612884e-01 0.00000000e+00 -1.75104004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89774392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.85, Y:-1.76, Z:0.02 [[ 9.97560991e-01 6.98002053e-02 0.00000000e+00 1.56853571e+02] [-6.98002053e-02 9.97560991e-01 0.00000000e+00 -1.75980353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51318204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:-1.77, Z:0.02 [[ 9.97326794e-01 7.30702856e-02 0.00000000e+00 1.56915327e+02] [-7.30702856e-02 9.97326794e-01 0.00000000e+00 -1.76539112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98753307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.98, Y:-1.77, Z:0.02 [[ 9.97059548e-01 7.66306544e-02 0.00000000e+00 1.56978231e+02] [-7.66306544e-02 9.97059548e-01 0.00000000e+00 -1.76771704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98809528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:-1.77, Z:0.02 [[ 9.96823709e-01 7.96397757e-02 0.00000000e+00 1.57039933e+02] [-7.96397757e-02 9.96823709e-01 0.00000000e+00 -1.76906136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55834671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.10, Y:-1.78, Z:0.02 [[ 9.96872162e-01 7.90309583e-02 0.00000000e+00 1.57101711e+02] [-7.90309583e-02 9.96872162e-01 0.00000000e+00 -1.77602465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58980482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:-1.77, Z:0.01 [[ 9.97177399e-01 7.50815153e-02 0.00000000e+00 1.57163361e+02] [-7.50815153e-02 9.97177399e-01 0.00000000e+00 -1.77240833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20525952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.23, Y:-1.78, Z:0.01 [[ 9.97403104e-01 7.20211677e-02 0.00000000e+00 1.57225443e+02] [-7.20211677e-02 9.97403104e-01 0.00000000e+00 -1.78112886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90110775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:-1.79, Z:0.01 [[ 9.97680003e-01 6.80779839e-02 0.00000000e+00 1.57286975e+02] [-6.80779839e-02 9.97680003e-01 0.00000000e+00 -1.78771227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34963452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.35, Y:-1.79, Z:0.02 [[ 9.97800392e-01 6.62901059e-02 0.00000000e+00 1.57349028e+02] [-6.62901059e-02 9.97800392e-01 0.00000000e+00 -1.78708429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53726125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.41, Y:-1.80, Z:0.02 [[ 9.97669738e-01 6.82282469e-02 0.00000000e+00 1.57409302e+02] [-6.82282469e-02 9.97669738e-01 0.00000000e+00 -1.79663682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96880412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.47, Y:-1.80, Z:0.02 [[ 9.97491980e-01 7.07795833e-02 0.00000000e+00 1.57471282e+02] [-7.07795833e-02 9.97491980e-01 0.00000000e+00 -1.79944879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75964001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.53, Y:-1.80, Z:0.02 [[ 9.97505005e-01 7.05957844e-02 0.00000000e+00 1.57533027e+02] [-7.05957844e-02 9.97505005e-01 0.00000000e+00 -1.80235497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89159351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:-1.80, Z:0.02 [[ 9.97570671e-01 6.96617227e-02 0.00000000e+00 1.57595030e+02] [-6.96617227e-02 9.97570671e-01 0.00000000e+00 -1.80401722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80307961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:-1.81, Z:0.02 [[ 9.97710684e-01 6.76268449e-02 0.00000000e+00 1.57657273e+02] [-6.76268449e-02 9.97710684e-01 0.00000000e+00 -1.81106214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95700929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:-1.81, Z:0.02 [[ 9.97762314e-01 6.68607893e-02 0.00000000e+00 1.57718737e+02] [-6.68607893e-02 9.97762314e-01 0.00000000e+00 -1.81295330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92161272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:-1.82, Z:0.02 [[ 9.97707016e-01 6.76809374e-02 0.00000000e+00 1.57780413e+02] [-6.76809374e-02 9.97707016e-01 0.00000000e+00 -1.81638828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76410438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.84, Y:-1.82, Z:0.02 [[ 9.97637033e-01 6.87048030e-02 0.00000000e+00 1.57842192e+02] [-6.87048030e-02 9.97637033e-01 0.00000000e+00 -1.82226282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60230329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:-1.82, Z:0.02 [[ 9.97393057e-01 7.21601624e-02 0.00000000e+00 1.57904707e+02] [-7.21601624e-02 9.97393057e-01 0.00000000e+00 -1.82398378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95056685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:-1.83, Z:0.02 [[ 9.97051832e-01 7.67309849e-02 0.00000000e+00 1.57966257e+02] [-7.67309849e-02 9.97051832e-01 0.00000000e+00 -1.82775829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60788801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:-1.82, Z:0.02 [[ 9.96715388e-01 8.09841679e-02 0.00000000e+00 1.58028645e+02] [-8.09841679e-02 9.96715388e-01 0.00000000e+00 -1.82407712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58510272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.09, Y:-1.83, Z:0.02 [[ 9.96562553e-01 8.28436905e-02 0.00000000e+00 1.58090471e+02] [-8.28436905e-02 9.96562553e-01 0.00000000e+00 -1.82733436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62317717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:-1.83, Z:0.01 [[ 9.96743951e-01 8.06318577e-02 0.00000000e+00 1.58152040e+02] [-8.06318577e-02 9.96743951e-01 0.00000000e+00 -1.82509734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12643601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:-1.82, Z:0.02 [[ 9.96884632e-01 7.88735079e-02 0.00000000e+00 1.58214417e+02] [-7.88735079e-02 9.96884632e-01 0.00000000e+00 -1.82282274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94422752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:-1.82, Z:0.02 [[ 9.97106274e-01 7.60202543e-02 0.00000000e+00 1.58276410e+02] [-7.60202543e-02 9.97106274e-01 0.00000000e+00 -1.82442358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80583201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.34, Y:-1.82, Z:0.02 [[ 9.97239346e-01 7.42542025e-02 0.00000000e+00 1.58338757e+02] [-7.42542025e-02 9.97239346e-01 0.00000000e+00 -1.82197123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04424893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:-1.82, Z:0.02 [[ 9.97454091e-01 7.13115412e-02 0.00000000e+00 1.58401665e+02] [-7.13115412e-02 9.97454091e-01 0.00000000e+00 -1.81524881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76883544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.46, Y:-1.82, Z:0.02 [[ 9.97597994e-01 6.92693463e-02 0.00000000e+00 1.58464025e+02] [-6.92693463e-02 9.97597994e-01 0.00000000e+00 -1.81579076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06384084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.53, Y:-1.81, Z:0.02 [[ 9.97744789e-01 6.71217983e-02 0.00000000e+00 1.58525878e+02] [-6.71217983e-02 9.97744789e-01 0.00000000e+00 -1.81373324e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65073115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:-1.82, Z:0.02 [[ 9.97920834e-01 6.44515985e-02 0.00000000e+00 1.58587652e+02] [-6.44515985e-02 9.97920834e-01 0.00000000e+00 -1.81548764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05394669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.65, Y:-1.82, Z:0.02 [[ 9.98092445e-01 6.17371089e-02 0.00000000e+00 1.58649262e+02] [-6.17371089e-02 9.98092445e-01 0.00000000e+00 -1.82220456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79291586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.71, Y:-1.83, Z:0.02 [[ 9.98237312e-01 5.93487073e-02 0.00000000e+00 1.58711642e+02] [-5.93487073e-02 9.98237312e-01 0.00000000e+00 -1.82934555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87932420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.77, Y:-1.84, Z:0.02 [[ 9.98137557e-01 6.10034215e-02 0.00000000e+00 1.58772595e+02] [-6.10034215e-02 9.98137557e-01 0.00000000e+00 -1.83854850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97132919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.83, Y:-1.85, Z:0.02 [[ 9.97848891e-01 6.55560137e-02 0.00000000e+00 1.58834184e+02] [-6.55560137e-02 9.97848891e-01 0.00000000e+00 -1.84606430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79979924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:-1.85, Z:0.02 [[ 9.97545892e-01 7.00156710e-02 0.00000000e+00 1.58896450e+02] [-7.00156710e-02 9.97545892e-01 0.00000000e+00 -1.85493803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13104374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.96, Y:-1.86, Z:0.02 [[ 9.97310016e-01 7.32989261e-02 0.00000000e+00 1.58958338e+02] [-7.32989261e-02 9.97310016e-01 0.00000000e+00 -1.86335294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42279926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.02, Y:-1.87, Z:0.02 [[ 9.96964040e-01 7.78633590e-02 0.00000000e+00 1.59019556e+02] [-7.78633590e-02 9.96964040e-01 0.00000000e+00 -1.87352004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13664844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:-1.88, Z:0.02 [[ 9.96417365e-01 8.45720630e-02 0.00000000e+00 1.59082589e+02] [-8.45720630e-02 9.96417365e-01 0.00000000e+00 -1.87818360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29793079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:-1.88, Z:0.02 [[ 9.96066794e-01 8.86055363e-02 0.00000000e+00 1.59144182e+02] [-8.86055363e-02 9.96066794e-01 0.00000000e+00 -1.88313402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06475705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:-1.89, Z:0.02 [[ 9.96226186e-01 8.67950827e-02 0.00000000e+00 1.59205089e+02] [-8.67950827e-02 9.96226186e-01 0.00000000e+00 -1.88981810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09418563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.27, Y:-1.89, Z:0.02 [[ 9.96672159e-01 8.15144586e-02 0.00000000e+00 1.59267432e+02] [-8.15144586e-02 9.96672159e-01 0.00000000e+00 -1.89488448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00195802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:-1.90, Z:0.02 [[ 9.97003974e-01 7.73503471e-02 0.00000000e+00 1.59329286e+02] [-7.73503471e-02 9.97003974e-01 0.00000000e+00 -1.90450817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00660129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:-1.91, Z:0.03 [[ 9.97211421e-01 7.46282960e-02 0.00000000e+00 1.59391436e+02] [-7.46282960e-02 9.97211421e-01 0.00000000e+00 -1.91116680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55427736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:-1.92, Z:0.03 [[ 9.97391962e-01 7.21753081e-02 0.00000000e+00 1.59453046e+02] [-7.21753081e-02 9.97391962e-01 0.00000000e+00 -1.92151540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72480474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.51, Y:-1.93, Z:0.02 [[ 9.97291652e-01 7.35483565e-02 0.00000000e+00 1.59513810e+02] [-7.35483565e-02 9.97291652e-01 0.00000000e+00 -1.93084180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21026790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.58, Y:-1.94, Z:0.02 [[ 9.97157789e-01 7.53415202e-02 0.00000000e+00 1.59575765e+02] [-7.53415202e-02 9.97157789e-01 0.00000000e+00 -1.93912731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88038917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.64, Y:-1.94, Z:0.02 [[ 9.96982241e-01 7.76299623e-02 0.00000000e+00 1.59638264e+02] [-7.76299623e-02 9.96982241e-01 0.00000000e+00 -1.94195951e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22089200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.70, Y:-1.95, Z:0.02 [[ 9.96920168e-01 7.84230772e-02 0.00000000e+00 1.59699641e+02] [-7.84230772e-02 9.96920168e-01 0.00000000e+00 -1.94694243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22086032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.76, Y:-1.95, Z:0.02 [[ 9.96939847e-01 7.81725065e-02 0.00000000e+00 1.59761814e+02] [-7.81725065e-02 9.96939847e-01 0.00000000e+00 -1.95288530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14330403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.82, Y:-1.96, Z:0.02 [[ 9.96675022e-01 8.14794461e-02 0.00000000e+00 1.59824540e+02] [-8.14794461e-02 9.96675022e-01 0.00000000e+00 -1.95610218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13037189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:-1.96, Z:0.02 [[ 9.96535097e-01 8.31733211e-02 0.00000000e+00 1.59885269e+02] [-8.31733211e-02 9.96535097e-01 0.00000000e+00 -1.96039872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15011687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:-1.96, Z:0.02 [[ 9.96444654e-01 8.42499300e-02 0.00000000e+00 1.59947968e+02] [-8.42499300e-02 9.96444654e-01 0.00000000e+00 -1.96064045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82948586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.01, Y:-1.96, Z:0.02 [[ 9.96413418e-01 8.46185534e-02 0.00000000e+00 1.60010427e+02] [-8.46185534e-02 9.96413418e-01 0.00000000e+00 -1.96412971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99710050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:-1.96, Z:0.02 [[ 9.96648439e-01 8.18039690e-02 0.00000000e+00 1.60071539e+02] [-8.18039690e-02 9.96648439e-01 0.00000000e+00 -1.96350808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90242280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.13, Y:-1.97, Z:0.02 [[ 9.96904198e-01 7.86258245e-02 0.00000000e+00 1.60133409e+02] [-7.86258245e-02 9.96904198e-01 0.00000000e+00 -1.96707214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59398030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.20, Y:-1.97, Z:0.01 [[ 9.96843351e-01 7.93935379e-02 0.00000000e+00 1.60195514e+02] [-7.93935379e-02 9.96843351e-01 0.00000000e+00 -1.97068684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49388689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:-1.97, Z:0.01 [[ 9.96676577e-01 8.14604264e-02 0.00000000e+00 1.60256376e+02] [-8.14604264e-02 9.96676577e-01 0.00000000e+00 -1.96955937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08379701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:-1.97, Z:0.02 [[ 9.96480672e-01 8.38228525e-02 0.00000000e+00 1.60318032e+02] [-8.38228525e-02 9.96480672e-01 0.00000000e+00 -1.97033768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58109474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:-1.97, Z:0.02 [[ 9.96320773e-01 8.57024985e-02 0.00000000e+00 1.60380513e+02] [-8.57024985e-02 9.96320773e-01 0.00000000e+00 -1.97416789e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90908146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:-1.97, Z:0.02 [[ 9.96162714e-01 8.75205559e-02 0.00000000e+00 1.60442542e+02] [-8.75205559e-02 9.96162714e-01 0.00000000e+00 -1.96805805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60045464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:-1.97, Z:0.02 [[ 9.96274393e-01 8.62399773e-02 0.00000000e+00 1.60505233e+02] [-8.62399773e-02 9.96274393e-01 0.00000000e+00 -1.96888942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59141030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-1.97, Z:0.02 [[ 9.96353425e-01 8.53220514e-02 0.00000000e+00 1.60566255e+02] [-8.53220514e-02 9.96353425e-01 0.00000000e+00 -1.96952980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80557163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:-1.97, Z:0.02 [[ 9.96419154e-01 8.45509853e-02 0.00000000e+00 1.60628099e+02] [-8.45509853e-02 9.96419154e-01 0.00000000e+00 -1.96942876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61696435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.69, Y:-1.97, Z:0.02 [[ 9.96476601e-01 8.38712285e-02 0.00000000e+00 1.60690784e+02] [-8.38712285e-02 9.96476601e-01 0.00000000e+00 -1.97104166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63116608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.75, Y:-1.98, Z:0.02 [[ 9.96491822e-01 8.36901912e-02 0.00000000e+00 1.60752652e+02] [-8.36901912e-02 9.96491822e-01 0.00000000e+00 -1.97651970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84292429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.82, Y:-1.97, Z:0.02 [[ 9.96336170e-01 8.55233059e-02 0.00000000e+00 1.60815958e+02] [-8.55233059e-02 9.96336170e-01 0.00000000e+00 -1.97433436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15815133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:-1.98, Z:0.02 [[ 9.96219664e-01 8.68699127e-02 0.00000000e+00 1.60877702e+02] [-8.68699127e-02 9.96219664e-01 0.00000000e+00 -1.97771248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13407833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:-1.98, Z:0.02 [[ 9.96122455e-01 8.79775751e-02 0.00000000e+00 1.60938737e+02] [-8.79775751e-02 9.96122455e-01 0.00000000e+00 -1.97955508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79677415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:-1.98, Z:0.02 [[ 9.96026699e-01 8.90551193e-02 0.00000000e+00 1.61001158e+02] [-8.90551193e-02 9.96026699e-01 0.00000000e+00 -1.97821009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69894837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:-1.98, Z:0.02 [[ 9.96047942e-01 8.88172129e-02 0.00000000e+00 1.61062683e+02] [-8.88172129e-02 9.96047942e-01 0.00000000e+00 -1.97940041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89275524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.13, Y:-1.98, Z:0.02 [[ 9.96341061e-01 8.54663125e-02 0.00000000e+00 1.61125299e+02] [-8.54663125e-02 9.96341061e-01 0.00000000e+00 -1.97782329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04440465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.19, Y:-1.98, Z:0.02 [[ 9.96633719e-01 8.19831124e-02 0.00000000e+00 1.61187673e+02] [-8.19831124e-02 9.96633719e-01 0.00000000e+00 -1.97867091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03070362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.25, Y:-1.98, Z:0.03 [[ 9.96823734e-01 7.96394632e-02 0.00000000e+00 1.61249590e+02] [-7.96394632e-02 9.96823734e-01 0.00000000e+00 -1.97963551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54544825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:-1.98, Z:0.02 [[ 9.96766623e-01 8.03511021e-02 0.00000000e+00 1.61310411e+02] [-8.03511021e-02 9.96766623e-01 0.00000000e+00 -1.97998712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74731126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.37, Y:-1.99, Z:0.01 [[ 9.96638433e-01 8.19257784e-02 0.00000000e+00 1.61371818e+02] [-8.19257784e-02 9.96638433e-01 0.00000000e+00 -1.98606469e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21318585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.43, Y:-1.99, Z:0.02 [[ 9.96331684e-01 8.55755585e-02 0.00000000e+00 1.61433881e+02] [-8.55755585e-02 9.96331684e-01 0.00000000e+00 -1.98574018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17117017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-1.99, Z:0.03 [[ 9.96091390e-01 8.83286031e-02 0.00000000e+00 1.61494497e+02] [-8.83286031e-02 9.96091390e-01 0.00000000e+00 -1.98985953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57440929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:-1.99, Z:0.02 [[ 9.95930247e-01 9.01273661e-02 0.00000000e+00 1.61556032e+02] [-9.01273661e-02 9.95930247e-01 0.00000000e+00 -1.99243731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02364705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.62, Y:-1.99, Z:0.02 [[ 9.95683059e-01 9.28183492e-02 0.00000000e+00 1.61617641e+02] [-9.28183492e-02 9.95683059e-01 0.00000000e+00 -1.99309839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72323927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.68, Y:-2.00, Z:0.01 [[ 9.95598345e-01 9.37226506e-02 0.00000000e+00 1.61679325e+02] [-9.37226506e-02 9.95598345e-01 0.00000000e+00 -1.99825436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30402734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.74, Y:-2.00, Z:0.02 [[ 9.95766861e-01 9.19149502e-02 0.00000000e+00 1.61741114e+02] [-9.19149502e-02 9.95766861e-01 0.00000000e+00 -1.99977368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55978128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.80, Y:-2.00, Z:0.01 [[ 9.96064543e-01 8.86308428e-02 0.00000000e+00 1.61801764e+02] [-8.86308428e-02 9.96064543e-01 0.00000000e+00 -2.00300320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34161744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:-2.01, Z:0.02 [[ 9.96467266e-01 8.39820640e-02 0.00000000e+00 1.61863661e+02] [-8.39820640e-02 9.96467266e-01 0.00000000e+00 -2.01230050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33633653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:-2.02, Z:0.02 [[ 9.96562811e-01 8.28405974e-02 0.00000000e+00 1.61925107e+02] [-8.28405974e-02 9.96562811e-01 0.00000000e+00 -2.01537328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08789043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.99, Y:-2.02, Z:0.02 [[ 9.96399140e-01 8.47865202e-02 0.00000000e+00 1.61987395e+02] [-8.47865202e-02 9.96399140e-01 0.00000000e+00 -2.02095218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89156270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.05, Y:-2.03, Z:0.02 [[ 9.96133835e-01 8.78486343e-02 0.00000000e+00 1.62049461e+02] [-8.78486343e-02 9.96133835e-01 0.00000000e+00 -2.02588414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87358035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.11, Y:-2.03, Z:0.02 [[ 9.95875812e-01 9.07268766e-02 0.00000000e+00 1.62112062e+02] [-9.07268766e-02 9.95875812e-01 0.00000000e+00 -2.02608053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10711397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:-2.03, Z:0.02 [[ 9.95900287e-01 9.04578215e-02 0.00000000e+00 1.62175201e+02] [-9.04578215e-02 9.95900287e-01 0.00000000e+00 -2.03240300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34265769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:-2.04, Z:0.03 [[ 9.96056635e-01 8.87196723e-02 0.00000000e+00 1.62236895e+02] [-8.87196723e-02 9.96056635e-01 0.00000000e+00 -2.03543412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52370237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.30, Y:-2.04, Z:0.02 [[ 9.95922515e-01 9.02127665e-02 0.00000000e+00 1.62297692e+02] [-9.02127665e-02 9.95922515e-01 0.00000000e+00 -2.03777794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25078745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.36, Y:-2.04, Z:0.02 [[ 9.95690041e-01 9.27434201e-02 0.00000000e+00 1.62360507e+02] [-9.27434201e-02 9.95690041e-01 0.00000000e+00 -2.03679291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11297819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:-2.04, Z:0.02 [[ 9.95505866e-01 9.46999006e-02 0.00000000e+00 1.62421744e+02] [-9.46999006e-02 9.95505866e-01 0.00000000e+00 -2.03508644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02775643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:-2.04, Z:0.02 [[ 9.95576139e-01 9.39582385e-02 0.00000000e+00 1.62483696e+02] [-9.39582385e-02 9.95576139e-01 0.00000000e+00 -2.03523056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36274668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:-2.03, Z:0.02 [[ 9.95759691e-01 9.19925937e-02 0.00000000e+00 1.62545700e+02] [-9.19925937e-02 9.95759691e-01 0.00000000e+00 -2.03176540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28482357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:-2.03, Z:0.02 [[ 9.95986448e-01 8.95041642e-02 0.00000000e+00 1.62608753e+02] [-8.95041642e-02 9.95986448e-01 0.00000000e+00 -2.02656510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15849473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:-2.03, Z:0.02 [[ 9.96298271e-01 8.59636860e-02 0.00000000e+00 1.62671428e+02] [-8.59636860e-02 9.96298271e-01 0.00000000e+00 -2.02617547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47758546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:-2.02, Z:0.02 [[ 9.96678214e-01 8.14403940e-02 0.00000000e+00 1.62733211e+02] [-8.14403940e-02 9.96678214e-01 0.00000000e+00 -2.02110611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28462731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.80, Y:-2.02, Z:0.03 [[ 9.96912785e-01 7.85168669e-02 0.00000000e+00 1.62795690e+02] [-7.85168669e-02 9.96912785e-01 0.00000000e+00 -2.02125905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68962827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.86, Y:-2.02, Z:0.02 [[ 9.96940394e-01 7.81655299e-02 0.00000000e+00 1.62857883e+02] [-7.81655299e-02 9.96940394e-01 0.00000000e+00 -2.02320214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27935313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:-2.02, Z:0.02 [[ 9.96838596e-01 7.94532141e-02 0.00000000e+00 1.62919730e+02] [-7.94532141e-02 9.96838596e-01 0.00000000e+00 -2.01852290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11924495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.98, Y:-2.02, Z:0.02 [[ 9.96678038e-01 8.14425460e-02 0.00000000e+00 1.62981325e+02] [-8.14425460e-02 9.96678038e-01 0.00000000e+00 -2.02139291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31657916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.04, Y:-2.02, Z:0.02 [[ 9.96727932e-01 8.08296347e-02 0.00000000e+00 1.63042078e+02] [-8.08296347e-02 9.96727932e-01 0.00000000e+00 -2.01981430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42986332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.10, Y:-2.02, Z:0.02 [[ 9.96770665e-01 8.03009473e-02 0.00000000e+00 1.63102330e+02] [-8.03009473e-02 9.96770665e-01 0.00000000e+00 -2.02201524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04852685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.16, Y:-2.03, Z:0.02 [[ 9.96646646e-01 8.18258056e-02 0.00000000e+00 1.63163272e+02] [-8.18258056e-02 9.96646646e-01 0.00000000e+00 -2.02730876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43902490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.22, Y:-2.02, Z:0.02 [[ 9.96154860e-01 8.76099033e-02 0.00000000e+00 1.63222728e+02] [-8.76099033e-02 9.96154860e-01 0.00000000e+00 -2.02452320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99777123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.28, Y:-2.03, Z:0.02 [[ 9.95699572e-01 9.26410390e-02 0.00000000e+00 1.63283207e+02] [-9.26410390e-02 9.95699572e-01 0.00000000e+00 -2.03000467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01557576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.34, Y:-2.03, Z:0.02 [[ 9.95338995e-01 9.64379863e-02 0.00000000e+00 1.63343870e+02] [-9.64379863e-02 9.95338995e-01 0.00000000e+00 -2.02814631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22877360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.40, Y:-2.03, Z:0.02 [[ 9.94924849e-01 1.00620796e-01 0.00000000e+00 1.63404794e+02] [-1.00620796e-01 9.94924849e-01 0.00000000e+00 -2.02525734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31403702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:-2.03, Z:0.03 [[ 9.95100297e-01 9.88706176e-02 0.00000000e+00 1.63465127e+02] [-9.88706176e-02 9.95100297e-01 0.00000000e+00 -2.02901628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51796910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.52, Y:-2.03, Z:0.02 [[ 9.95206816e-01 9.77926063e-02 0.00000000e+00 1.63524422e+02] [-9.77926063e-02 9.95206816e-01 0.00000000e+00 -2.02801402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26067183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.58, Y:-2.02, Z:0.02 [[ 9.95226408e-01 9.75930143e-02 0.00000000e+00 1.63584042e+02] [-9.75930143e-02 9.95226408e-01 0.00000000e+00 -2.02217449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14486454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.64, Y:-2.02, Z:0.02 [[ 9.95441169e-01 9.53775571e-02 0.00000000e+00 1.63643555e+02] [-9.53775571e-02 9.95441169e-01 0.00000000e+00 -2.02237987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24065153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:-2.02, Z:0.02 [[ 9.95735268e-01 9.22565789e-02 0.00000000e+00 1.63703887e+02] [-9.22565789e-02 9.95735268e-01 0.00000000e+00 -2.01884885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06197968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:-2.02, Z:0.02 [[ 9.96170915e-01 8.74271605e-02 0.00000000e+00 1.63762924e+02] [-8.74271605e-02 9.96170915e-01 0.00000000e+00 -2.01503633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95773679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:-2.02, Z:0.02 [[ 9.96948303e-01 7.80645930e-02 0.00000000e+00 1.63822805e+02] [-7.80645930e-02 9.96948303e-01 0.00000000e+00 -2.01906808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11272007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:-2.02, Z:0.02 [[ 9.97355331e-01 7.26797304e-02 0.00000000e+00 1.63882646e+02] [-7.26797304e-02 9.97355331e-01 0.00000000e+00 -2.02071172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96516357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.94, Y:-2.03, Z:0.02 [[ 9.97553447e-01 6.99079365e-02 0.00000000e+00 1.63941436e+02] [-6.99079365e-02 9.97553447e-01 0.00000000e+00 -2.03079414e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36382504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.00, Y:-2.04, Z:0.02 [[ 9.97262323e-01 7.39449734e-02 0.00000000e+00 1.64000780e+02] [-7.39449734e-02 9.97262323e-01 0.00000000e+00 -2.03637906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49137141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:-2.04, Z:0.02 [[ 9.96276105e-01 8.62201989e-02 0.00000000e+00 1.64060065e+02] [-8.62201989e-02 9.96276105e-01 0.00000000e+00 -2.04139136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45849243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:-2.04, Z:0.02 [[ 9.95251135e-01 9.73405258e-02 0.00000000e+00 1.64118417e+02] [-9.73405258e-02 9.95251135e-01 0.00000000e+00 -2.04305044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80160910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:-2.04, Z:0.02 [[ 9.94412906e-01 1.05560274e-01 0.00000000e+00 1.64177674e+02] [-1.05560274e-01 9.94412906e-01 0.00000000e+00 -2.04428932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14172087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:-2.04, Z:0.03 [[ 9.93868823e-01 1.10565651e-01 0.00000000e+00 1.64236591e+02] [-1.10565651e-01 9.93868823e-01 0.00000000e+00 -2.03723528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68488077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-2.04, Z:0.02 [[ 9.94328700e-01 1.06350531e-01 0.00000000e+00 1.64295735e+02] [-1.06350531e-01 9.94328700e-01 0.00000000e+00 -2.03619426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47817508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.35, Y:-2.04, Z:0.02 [[ 9.95315548e-01 9.66796772e-02 0.00000000e+00 1.64354894e+02] [-9.66796772e-02 9.95315548e-01 0.00000000e+00 -2.03542004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32440977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.41, Y:-2.04, Z:0.03 [[ 9.96201532e-01 8.70775998e-02 0.00000000e+00 1.64414730e+02] [-8.70775998e-02 9.96201532e-01 0.00000000e+00 -2.03703610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51576758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.47, Y:-2.04, Z:0.02 [[ 9.97037561e-01 7.69162017e-02 0.00000000e+00 1.64473933e+02] [-7.69162017e-02 9.97037561e-01 0.00000000e+00 -2.04076687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45958682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:-2.04, Z:0.03 [[ 9.97386244e-01 7.22542784e-02 0.00000000e+00 1.64533307e+02] [-7.22542784e-02 9.97386244e-01 0.00000000e+00 -2.04334403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77089293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.59, Y:-2.05, Z:0.03 [[ 9.97497602e-01 7.07003176e-02 0.00000000e+00 1.64591623e+02] [-7.07003176e-02 9.97497602e-01 0.00000000e+00 -2.04797231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62797377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-2.05, Z:0.03 [[ 9.97066477e-01 7.65404494e-02 0.00000000e+00 1.64650775e+02] [-7.65404494e-02 9.97066477e-01 0.00000000e+00 -2.05469273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63956529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:-2.05, Z:0.03 [[ 9.96370418e-01 8.51233834e-02 0.00000000e+00 1.64710254e+02] [-8.51233834e-02 9.96370418e-01 0.00000000e+00 -2.05297216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66413530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:-2.06, Z:0.03 [[ 9.95654799e-01 9.31210036e-02 0.00000000e+00 1.64768395e+02] [-9.31210036e-02 9.95654799e-01 0.00000000e+00 -2.05654290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77703039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.83, Y:-2.05, Z:0.03 [[ 9.95323316e-01 9.65996696e-02 0.00000000e+00 1.64826859e+02] [-9.65996696e-02 9.95323316e-01 0.00000000e+00 -2.05362070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84591049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.88, Y:-2.06, Z:0.02 [[ 9.95448865e-01 9.52972077e-02 0.00000000e+00 1.64884840e+02] [-9.52972077e-02 9.95448865e-01 0.00000000e+00 -2.05701946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47780535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.94, Y:-2.06, Z:0.03 [[ 9.95645897e-01 9.32161365e-02 0.00000000e+00 1.64943377e+02] [-9.32161365e-02 9.95645897e-01 0.00000000e+00 -2.06137093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69112341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:-2.06, Z:0.02 [[ 9.95851050e-01 9.09982758e-02 0.00000000e+00 1.65000907e+02] [-9.09982758e-02 9.95851050e-01 0.00000000e+00 -2.06227466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48405799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:-2.07, Z:0.02 [[ 9.96074798e-01 8.85155192e-02 0.00000000e+00 1.65059976e+02] [-8.85155192e-02 9.96074798e-01 0.00000000e+00 -2.06820221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25815135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.12, Y:-2.07, Z:0.03 [[ 9.96396622e-01 8.48161104e-02 0.00000000e+00 1.65119890e+02] [-8.48161104e-02 9.96396622e-01 0.00000000e+00 -2.06959955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60606222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:-2.08, Z:0.02 [[ 9.96496125e-01 8.36389442e-02 0.00000000e+00 1.65179045e+02] [-8.36389442e-02 9.96496125e-01 0.00000000e+00 -2.07719775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44941577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.24, Y:-2.08, Z:0.02 [[ 9.96411148e-01 8.46452825e-02 0.00000000e+00 1.65238970e+02] [-8.46452825e-02 9.96411148e-01 0.00000000e+00 -2.08249123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38910928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:-2.08, Z:0.02 [[ 9.96400297e-01 8.47729183e-02 0.00000000e+00 1.65297312e+02] [-8.47729183e-02 9.96400297e-01 0.00000000e+00 -2.08358798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17216155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.36, Y:-2.09, Z:0.02 [[ 9.96323065e-01 8.56758393e-02 0.00000000e+00 1.65356532e+02] [-8.56758393e-02 9.96323065e-01 0.00000000e+00 -2.08982248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47274785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.42, Y:-2.09, Z:0.03 [[ 9.96206644e-01 8.70190895e-02 0.00000000e+00 1.65416371e+02] [-8.70190895e-02 9.96206644e-01 0.00000000e+00 -2.09409238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94375542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:-2.09, Z:0.03 [[ 9.96143283e-01 8.77414342e-02 0.00000000e+00 1.65475937e+02] [-8.77414342e-02 9.96143283e-01 0.00000000e+00 -2.09316689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06337596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.53, Y:-2.10, Z:0.02 [[ 9.96111391e-01 8.81027652e-02 0.00000000e+00 1.65534916e+02] [-8.81027652e-02 9.96111391e-01 0.00000000e+00 -2.09787344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36091589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:-2.10, Z:0.03 [[ 9.96328617e-01 8.56112518e-02 0.00000000e+00 1.65594817e+02] [-8.56112518e-02 9.96328617e-01 0.00000000e+00 -2.10123364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80313351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.65, Y:-2.11, Z:0.03 [[ 9.96523442e-01 8.33128389e-02 0.00000000e+00 1.65653354e+02] [-8.33128389e-02 9.96523442e-01 0.00000000e+00 -2.10618208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05924755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:-2.11, Z:0.03 [[ 9.96627068e-01 8.20639207e-02 0.00000000e+00 1.65711494e+02] [-8.20639207e-02 9.96627068e-01 0.00000000e+00 -2.10946668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40421237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.77, Y:-2.12, Z:0.03 [[ 9.96399471e-01 8.47826289e-02 0.00000000e+00 1.65771435e+02] [-8.47826289e-02 9.96399471e-01 0.00000000e+00 -2.11617656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19256362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:-2.12, Z:0.02 [[ 9.96219099e-01 8.68763925e-02 0.00000000e+00 1.65830363e+02] [-8.68763925e-02 9.96219099e-01 0.00000000e+00 -2.12009684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42614743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.89, Y:-2.12, Z:0.03 [[ 9.95983581e-01 8.95360656e-02 0.00000000e+00 1.65890543e+02] [-8.95360656e-02 9.95983581e-01 0.00000000e+00 -2.11950908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00185529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.95, Y:-2.12, Z:0.03 [[ 9.95941268e-01 9.00055017e-02 0.00000000e+00 1.65949367e+02] [-9.00055017e-02 9.95941268e-01 0.00000000e+00 -2.12413498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74721420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.01, Y:-2.13, Z:0.03 [[ 9.96117339e-01 8.80354859e-02 0.00000000e+00 1.66009086e+02] [-8.80354859e-02 9.96117339e-01 0.00000000e+00 -2.12688742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56912149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:-2.13, Z:0.02 [[ 9.96389811e-01 8.48960846e-02 0.00000000e+00 1.66067490e+02] [-8.48960846e-02 9.96389811e-01 0.00000000e+00 -2.12860093e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27556807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:-2.13, Z:0.03 [[ 9.96617113e-01 8.21847286e-02 0.00000000e+00 1.66125617e+02] [-8.21847286e-02 9.96617113e-01 0.00000000e+00 -2.13206488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69334534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.19, Y:-2.13, Z:0.03 [[ 9.96704435e-01 8.11188581e-02 0.00000000e+00 1.66185103e+02] [-8.11188581e-02 9.96704435e-01 0.00000000e+00 -2.13440718e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90585408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.24, Y:-2.14, Z:0.03 [[ 9.96762009e-01 8.04083163e-02 0.00000000e+00 1.66244350e+02] [-8.04083163e-02 9.96762009e-01 0.00000000e+00 -2.14028939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75156654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.30, Y:-2.15, Z:0.03 [[ 9.96758900e-01 8.04468499e-02 0.00000000e+00 1.66303462e+02] [-8.04468499e-02 9.96758900e-01 0.00000000e+00 -2.14626938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91579795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.36, Y:-2.15, Z:0.03 [[ 9.96511982e-01 8.34498061e-02 0.00000000e+00 1.66363406e+02] [-8.34498061e-02 9.96511982e-01 0.00000000e+00 -2.14891956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68853440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:-2.15, Z:0.02 [[ 9.96218764e-01 8.68802349e-02 0.00000000e+00 1.66422207e+02] [-8.68802349e-02 9.96218764e-01 0.00000000e+00 -2.15390209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42628558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:-2.16, Z:0.02 [[ 9.95971072e-01 8.96751045e-02 0.00000000e+00 1.66481948e+02] [-8.96751045e-02 9.95971072e-01 0.00000000e+00 -2.15503028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08417894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:-2.16, Z:0.02 [[ 9.95984104e-01 8.95302406e-02 0.00000000e+00 1.66541057e+02] [-8.95302406e-02 9.95984104e-01 0.00000000e+00 -2.15998979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48593498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:-2.16, Z:0.02 [[ 9.96024455e-01 8.90802129e-02 0.00000000e+00 1.66599465e+02] [-8.90802129e-02 9.96024455e-01 0.00000000e+00 -2.16269946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17315343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:-2.17, Z:0.03 [[ 9.96255989e-01 8.64523228e-02 0.00000000e+00 1.66658575e+02] [-8.64523228e-02 9.96255989e-01 0.00000000e+00 -2.16955354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58734310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:-2.17, Z:0.02 [[ 9.96436296e-01 8.43487311e-02 0.00000000e+00 1.66717883e+02] [-8.43487311e-02 9.96436296e-01 0.00000000e+00 -2.17153912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42244561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:-2.17, Z:0.03 [[ 9.96400129e-01 8.47749013e-02 0.00000000e+00 1.66777221e+02] [-8.47749013e-02 9.96400129e-01 0.00000000e+00 -2.17393415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52395439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-2.18, Z:0.02 [[ 9.96190868e-01 8.71995108e-02 0.00000000e+00 1.66835714e+02] [-8.71995108e-02 9.96190868e-01 0.00000000e+00 -2.18000129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91319424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.89, Y:-2.18, Z:0.02 [[ 9.96035147e-01 8.89605912e-02 0.00000000e+00 1.66894368e+02] [-8.89605912e-02 9.96035147e-01 0.00000000e+00 -2.17992104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31688849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.95, Y:-2.19, Z:0.03 [[ 9.96142162e-01 8.77541619e-02 0.00000000e+00 1.66954181e+02] [-8.77541619e-02 9.96142162e-01 0.00000000e+00 -2.18551038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68534922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.01, Y:-2.20, Z:0.03 [[ 9.96274552e-01 8.62381436e-02 0.00000000e+00 1.67013912e+02] [-8.62381436e-02 9.96274552e-01 0.00000000e+00 -2.19548095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54517037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.07, Y:-2.20, Z:0.03 [[ 9.96141063e-01 8.77666367e-02 0.00000000e+00 1.67073317e+02] [-8.77666367e-02 9.96141063e-01 0.00000000e+00 -2.20047866e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59998321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:-2.21, Z:0.03 [[ 9.95810561e-01 9.14402936e-02 0.00000000e+00 1.67133001e+02] [-9.14402936e-02 9.95810561e-01 0.00000000e+00 -2.20623499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62599812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:-2.21, Z:0.03 [[ 9.95252286e-01 9.73287575e-02 0.00000000e+00 1.67192127e+02] [-9.73287575e-02 9.95252286e-01 0.00000000e+00 -2.21378519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75639594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:-2.22, Z:0.03 [[ 9.95142076e-01 9.84492133e-02 0.00000000e+00 1.67251481e+02] [-9.84492133e-02 9.95142076e-01 0.00000000e+00 -2.21596841e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56870615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.31, Y:-2.22, Z:0.03 [[ 9.94721184e-01 1.02614645e-01 0.00000000e+00 1.67311582e+02] [-1.02614645e-01 9.94721184e-01 0.00000000e+00 -2.21828798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71347287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:-2.22, Z:0.02 [[ 9.94645554e-01 1.03345162e-01 0.00000000e+00 1.67371738e+02] [-1.03345162e-01 9.94645554e-01 0.00000000e+00 -2.22197085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95850476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:-2.22, Z:0.02 [[ 9.94723171e-01 1.02595382e-01 0.00000000e+00 1.67430449e+02] [-1.02595382e-01 9.94723171e-01 0.00000000e+00 -2.21847143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33845770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-2.22, Z:0.02 [[ 9.95291775e-01 9.69241061e-02 0.00000000e+00 1.67490887e+02] [-9.69241061e-02 9.95291775e-01 0.00000000e+00 -2.22345061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96665781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:-2.22, Z:0.02 [[ 9.95981803e-01 8.95558384e-02 0.00000000e+00 1.67550502e+02] [-8.95558384e-02 9.95981803e-01 0.00000000e+00 -2.22228398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94031181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.61, Y:-2.23, Z:0.02 [[ 9.96491311e-01 8.36962804e-02 0.00000000e+00 1.67610730e+02] [-8.36962804e-02 9.96491311e-01 0.00000000e+00 -2.22676755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32807959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.67, Y:-2.23, Z:0.03 [[ 9.96871766e-01 7.90359562e-02 0.00000000e+00 1.67671518e+02] [-7.90359562e-02 9.96871766e-01 0.00000000e+00 -2.23030097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67447126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.73, Y:-2.24, Z:0.02 [[ 9.96837118e-01 7.94717578e-02 0.00000000e+00 1.67730405e+02] [-7.94717578e-02 9.96837118e-01 0.00000000e+00 -2.23515847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38343579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:-2.24, Z:0.02 [[ 9.96663623e-01 8.16187589e-02 0.00000000e+00 1.67789506e+02] [-8.16187589e-02 9.96663623e-01 0.00000000e+00 -2.24282182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01193315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.85, Y:-2.25, Z:0.02 [[ 9.96413323e-01 8.46196730e-02 0.00000000e+00 1.67848790e+02] [-8.46196730e-02 9.96413323e-01 0.00000000e+00 -2.24506101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13454696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:-2.25, Z:0.02 [[ 9.96112943e-01 8.80852077e-02 0.00000000e+00 1.67908191e+02] [-8.80852077e-02 9.96112943e-01 0.00000000e+00 -2.25048525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41572485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.97, Y:-2.25, Z:0.02 [[ 9.95724207e-01 9.23758825e-02 0.00000000e+00 1.67967906e+02] [-9.23758825e-02 9.95724207e-01 0.00000000e+00 -2.25347816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49885507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.03, Y:-2.26, Z:0.02 [[ 9.95451787e-01 9.52666759e-02 0.00000000e+00 1.68027140e+02] [-9.52666759e-02 9.95451787e-01 0.00000000e+00 -2.25769148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13363240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:-2.26, Z:0.02 [[ 9.95223896e-01 9.76186317e-02 0.00000000e+00 1.68086328e+02] [-9.76186317e-02 9.95223896e-01 0.00000000e+00 -2.26339595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74971775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:-2.26, Z:0.02 [[ 9.95220688e-01 9.76513301e-02 0.00000000e+00 1.68146002e+02] [-9.76513301e-02 9.95220688e-01 0.00000000e+00 -2.26338863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12752939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.21, Y:-2.27, Z:0.02 [[ 9.95443579e-01 9.53524024e-02 0.00000000e+00 1.68205940e+02] [-9.53524024e-02 9.95443579e-01 0.00000000e+00 -2.26665358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01427529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:-2.27, Z:0.02 [[ 9.95737090e-01 9.22369088e-02 0.00000000e+00 1.68265479e+02] [-9.22369088e-02 9.95737090e-01 0.00000000e+00 -2.26816449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17989128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.33, Y:-2.27, Z:0.02 [[ 9.96018308e-01 8.91489225e-02 0.00000000e+00 1.68325607e+02] [-8.91489225e-02 9.96018308e-01 0.00000000e+00 -2.26987526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42997645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.39, Y:-2.27, Z:0.03 [[ 9.96360072e-01 8.52443992e-02 0.00000000e+00 1.68386245e+02] [-8.52443992e-02 9.96360072e-01 0.00000000e+00 -2.27263496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58762779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.45, Y:-2.28, Z:0.02 [[ 9.96425705e-01 8.44737473e-02 0.00000000e+00 1.68447112e+02] [-8.44737473e-02 9.96425705e-01 0.00000000e+00 -2.27546934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37435186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.51, Y:-2.28, Z:0.03 [[ 9.96282937e-01 8.61412238e-02 0.00000000e+00 1.68505879e+02] [-8.61412238e-02 9.96282937e-01 0.00000000e+00 -2.28151679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53030154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:-2.29, Z:0.03 [[ 9.96189745e-01 8.72123357e-02 0.00000000e+00 1.68565438e+02] [-8.72123357e-02 9.96189745e-01 0.00000000e+00 -2.28701446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74135253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:-2.29, Z:0.02 [[ 9.96023863e-01 8.90868313e-02 0.00000000e+00 1.68626136e+02] [-8.90868313e-02 9.96023863e-01 0.00000000e+00 -2.29411952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44690129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:-2.30, Z:0.02 [[ 9.95386169e-01 9.59498529e-02 0.00000000e+00 1.68685565e+02] [-9.59498529e-02 9.95386169e-01 0.00000000e+00 -2.29595831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24385895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.74, Y:-2.30, Z:0.02 [[ 9.94709930e-01 1.02723684e-01 0.00000000e+00 1.68744673e+02] [-1.02723684e-01 9.94709930e-01 0.00000000e+00 -2.29691315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86268884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.80, Y:-2.30, Z:0.02 [[ 9.94472315e-01 1.04999122e-01 0.00000000e+00 1.68804191e+02] [-1.04999122e-01 9.94472315e-01 0.00000000e+00 -2.29953977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30524198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:-2.30, Z:0.02 [[ 9.94998213e-01 9.98927265e-02 0.00000000e+00 1.68863880e+02] [-9.98927265e-02 9.94998213e-01 0.00000000e+00 -2.29959865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37134136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.92, Y:-2.31, Z:0.02 [[ 9.95650959e-01 9.31620528e-02 0.00000000e+00 1.68923498e+02] [-9.31620528e-02 9.95650959e-01 0.00000000e+00 -2.30636100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04391146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:-2.31, Z:0.02 [[ 9.95982056e-01 8.95530268e-02 0.00000000e+00 1.68983482e+02] [-8.95530268e-02 9.95982056e-01 0.00000000e+00 -2.31197952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01683372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:-2.31, Z:0.02 [[ 9.96103592e-01 8.81908948e-02 0.00000000e+00 1.69044129e+02] [-8.81908948e-02 9.96103592e-01 0.00000000e+00 -2.31434576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27994462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.10, Y:-2.32, Z:0.02 [[ 9.96018669e-01 8.91448876e-02 0.00000000e+00 1.69104326e+02] [-8.91448876e-02 9.96018669e-01 0.00000000e+00 -2.32434122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13296614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.17, Y:-2.33, Z:0.02 [[ 9.95890395e-01 9.05666680e-02 0.00000000e+00 1.69165031e+02] [-9.05666680e-02 9.95890395e-01 0.00000000e+00 -2.32784512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31536487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.22, Y:-2.33, Z:0.02 [[ 9.95645779e-01 9.32173908e-02 0.00000000e+00 1.69224743e+02] [-9.32173908e-02 9.95645779e-01 0.00000000e+00 -2.33232185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48042291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:-2.34, Z:0.02 [[ 9.95532514e-01 9.44193535e-02 0.00000000e+00 1.69284851e+02] [-9.44193535e-02 9.95532514e-01 0.00000000e+00 -2.33771879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96274456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.34, Y:-2.34, Z:0.02 [[ 9.95509488e-01 9.46618200e-02 0.00000000e+00 1.69344706e+02] [-9.46618200e-02 9.95509488e-01 0.00000000e+00 -2.34384755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86585517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.40, Y:-2.34, Z:0.02 [[ 9.95521803e-01 9.45322147e-02 0.00000000e+00 1.69404417e+02] [-9.45322147e-02 9.95521803e-01 0.00000000e+00 -2.34280187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86729264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.46, Y:-2.35, Z:0.02 [[ 9.95390639e-01 9.59034714e-02 0.00000000e+00 1.69464223e+02] [-9.59034714e-02 9.95390639e-01 0.00000000e+00 -2.35076566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76944007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.52, Y:-2.36, Z:0.02 [[ 9.95113080e-01 9.87418713e-02 0.00000000e+00 1.69524211e+02] [-9.87418713e-02 9.95113080e-01 0.00000000e+00 -2.35657715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75977418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.58, Y:-2.36, Z:0.02 [[ 9.94915064e-01 1.00717503e-01 0.00000000e+00 1.69584283e+02] [-1.00717503e-01 9.94915064e-01 0.00000000e+00 -2.35750948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69206731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.64, Y:-2.36, Z:0.02 [[ 9.94948751e-01 1.00384180e-01 0.00000000e+00 1.69644023e+02] [-1.00384180e-01 9.94948751e-01 0.00000000e+00 -2.36291920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61555295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.71, Y:-2.36, Z:0.01 [[ 9.94954934e-01 1.00322875e-01 0.00000000e+00 1.69705296e+02] [-1.00322875e-01 9.94954934e-01 0.00000000e+00 -2.36446075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26683185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:-2.37, Z:0.01 [[ 9.94970414e-01 1.00169231e-01 0.00000000e+00 1.69766196e+02] [-1.00169231e-01 9.94970414e-01 0.00000000e+00 -2.36740526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48978092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.83, Y:-2.37, Z:0.01 [[ 9.95166146e-01 9.82056136e-02 0.00000000e+00 1.69827286e+02] [-9.82056136e-02 9.95166146e-01 0.00000000e+00 -2.36844434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32372446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.89, Y:-2.37, Z:0.01 [[ 9.95640680e-01 9.32718464e-02 0.00000000e+00 1.69888067e+02] [-9.32718464e-02 9.95640680e-01 0.00000000e+00 -2.37198663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16819390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:-2.37, Z:0.01 [[ 9.96187147e-01 8.72420137e-02 0.00000000e+00 1.69948726e+02] [-8.72420137e-02 9.96187147e-01 0.00000000e+00 -2.37478273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75979724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:-2.37, Z:0.00 [[ 9.96447263e-01 8.42190729e-02 0.00000000e+00 1.70009148e+02] [-8.42190729e-02 9.96447263e-01 0.00000000e+00 -2.37361672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24592334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:-2.38, Z:0.01 [[ 9.96453492e-01 8.41453454e-02 0.00000000e+00 1.70069608e+02] [-8.41453454e-02 9.96453492e-01 0.00000000e+00 -2.37639002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01289123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.13, Y:-2.38, Z:0.00 [[ 9.96406913e-01 8.46951279e-02 0.00000000e+00 1.70130069e+02] [-8.46951279e-02 9.96406913e-01 0.00000000e+00 -2.37685804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19642320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.19, Y:-2.38, Z:-0.00 [[ 9.96394340e-01 8.48429103e-02 0.00000000e+00 1.70189444e+02] [-8.48429103e-02 9.96394340e-01 0.00000000e+00 -2.37593577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48918450e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.25, Y:-2.38, Z:0.00 [[ 9.96282164e-01 8.61501601e-02 0.00000000e+00 1.70249987e+02] [-8.61501601e-02 9.96282164e-01 0.00000000e+00 -2.37921343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97940503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.31, Y:-2.38, Z:0.00 [[ 9.96181421e-01 8.73073688e-02 0.00000000e+00 1.70310097e+02] [-8.73073688e-02 9.96181421e-01 0.00000000e+00 -2.38009145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79255810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.37, Y:-2.39, Z:0.01 [[ 9.96206111e-01 8.70251936e-02 0.00000000e+00 1.70370137e+02] [-8.70251936e-02 9.96206111e-01 0.00000000e+00 -2.38581485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30299276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.43, Y:-2.39, Z:0.01 [[ 9.96499906e-01 8.35938892e-02 0.00000000e+00 1.70430869e+02] [-8.35938892e-02 9.96499906e-01 0.00000000e+00 -2.39435608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92013151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.49, Y:-2.40, Z:0.01 [[ 9.96408609e-01 8.46751638e-02 0.00000000e+00 1.70491163e+02] [-8.46751638e-02 9.96408609e-01 0.00000000e+00 -2.39837239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77624470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-2.41, Z:0.01 [[ 9.95942251e-01 8.99946275e-02 0.00000000e+00 1.70551381e+02] [-8.99946275e-02 9.95942251e-01 0.00000000e+00 -2.40535042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09958421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.61, Y:-2.41, Z:0.01 [[ 9.95287065e-01 9.69724615e-02 0.00000000e+00 1.70611617e+02] [-9.69724615e-02 9.95287065e-01 0.00000000e+00 -2.40778325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18964663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.67, Y:-2.41, Z:0.01 [[ 9.94794707e-01 1.01899419e-01 0.00000000e+00 1.70672695e+02] [-1.01899419e-01 9.94794707e-01 0.00000000e+00 -2.40559945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05438258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.73, Y:-2.40, Z:0.01 [[ 9.94623258e-01 1.03559518e-01 0.00000000e+00 1.70732883e+02] [-1.03559518e-01 9.94623258e-01 0.00000000e+00 -2.40496946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55461468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:170.79, Y:-2.41, Z:0.01 [[ 9.94752068e-01 1.02314823e-01 0.00000000e+00 1.70793020e+02] [-1.02314823e-01 9.94752068e-01 0.00000000e+00 -2.40874083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11167581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.85, Y:-2.41, Z:0.01 [[ 9.95063462e-01 9.92406454e-02 0.00000000e+00 1.70852457e+02] [-9.92406454e-02 9.95063462e-01 0.00000000e+00 -2.40936465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94205569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:-2.41, Z:0.01 [[ 9.95656795e-01 9.30996624e-02 0.00000000e+00 1.70912454e+02] [-9.30996624e-02 9.95656795e-01 0.00000000e+00 -2.41249616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41723262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:170.97, Y:-2.42, Z:0.01 [[ 9.96190884e-01 8.71993221e-02 0.00000000e+00 1.70972935e+02] [-8.71993221e-02 9.96190884e-01 0.00000000e+00 -2.41507309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14972777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.03, Y:-2.42, Z:0.01 [[ 9.96481711e-01 8.38104947e-02 0.00000000e+00 1.71033235e+02] [-8.38104947e-02 9.96481711e-01 0.00000000e+00 -2.41995912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33543336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.09, Y:-2.43, Z:0.01 [[ 9.96709939e-01 8.10512073e-02 0.00000000e+00 1.71093230e+02] [-8.10512073e-02 9.96709939e-01 0.00000000e+00 -2.42761992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38388034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:171.15, Y:-2.43, Z:0.02 [[ 9.96483324e-01 8.37913177e-02 0.00000000e+00 1.71153999e+02] [-8.37913177e-02 9.96483324e-01 0.00000000e+00 -2.42915940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56256335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:-2.44, Z:0.01 [[ 9.95982542e-01 8.95476241e-02 0.00000000e+00 1.71213673e+02] [-8.95476241e-02 9.95982542e-01 0.00000000e+00 -2.43577246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06250881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:-2.44, Z:0.01 [[ 9.95742381e-01 9.21797762e-02 0.00000000e+00 1.71273718e+02] [-9.21797762e-02 9.95742381e-01 0.00000000e+00 -2.43757500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20969867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:-2.44, Z:0.01 [[ 9.95738320e-01 9.22236345e-02 0.00000000e+00 1.71333374e+02] [-9.22236345e-02 9.95738320e-01 0.00000000e+00 -2.44328021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06233174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:-2.45, Z:0.01 [[ 9.95850879e-01 9.10001449e-02 0.00000000e+00 1.71393194e+02] [-9.10001449e-02 9.95850879e-01 0.00000000e+00 -2.44910735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03430392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:-2.46, Z:0.01 [[ 9.95836262e-01 9.11599645e-02 0.00000000e+00 1.71452887e+02] [-9.11599645e-02 9.95836262e-01 0.00000000e+00 -2.45502931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75987714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:-2.46, Z:0.01 [[ 9.95662799e-01 9.30354251e-02 0.00000000e+00 1.71513462e+02] [-9.30354251e-02 9.95662799e-01 0.00000000e+00 -2.46232985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68994289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:-2.47, Z:0.00 [[ 9.95403553e-01 9.57693396e-02 0.00000000e+00 1.71573172e+02] [-9.57693396e-02 9.95403553e-01 0.00000000e+00 -2.46757221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70802839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:171.63, Y:-2.48, Z:0.01 [[ 9.95279020e-01 9.70549948e-02 0.00000000e+00 1.71634434e+02] [-9.70549948e-02 9.95279020e-01 0.00000000e+00 -2.47537225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06601158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:171.70, Y:-2.47, Z:0.01 [[ 9.95529729e-01 9.44487109e-02 0.00000000e+00 1.71695585e+02] [-9.44487109e-02 9.95529729e-01 0.00000000e+00 -2.47470019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89802084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:171.76, Y:-2.48, Z:0.00 [[ 9.95903859e-01 9.04184925e-02 0.00000000e+00 1.71756461e+02] [-9.04184925e-02 9.95903859e-01 0.00000000e+00 -2.48217750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24274021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:171.82, Y:-2.49, Z:-0.00 [[ 9.96093680e-01 8.83027742e-02 0.00000000e+00 1.71817981e+02] [-8.83027742e-02 9.96093680e-01 0.00000000e+00 -2.48700041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00199760e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:171.88, Y:-2.48, Z:0.00 [[ 9.96153122e-01 8.76296635e-02 0.00000000e+00 1.71879057e+02] [-8.76296635e-02 9.96153122e-01 0.00000000e+00 -2.48408005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31562734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:-2.49, Z:0.00 [[ 9.96162276e-01 8.75255405e-02 0.00000000e+00 1.71939976e+02] [-8.75255405e-02 9.96162276e-01 0.00000000e+00 -2.48929867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36145875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:-2.49, Z:0.00 [[ 9.96121051e-01 8.79934801e-02 0.00000000e+00 1.72001668e+02] [-8.79934801e-02 9.96121051e-01 0.00000000e+00 -2.49053435e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01252237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:-2.48, Z:-0.00 [[ 9.95989138e-01 8.94742206e-02 0.00000000e+00 1.72063183e+02] [-8.94742206e-02 9.95989138e-01 0.00000000e+00 -2.48232136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91930768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:-2.49, Z:-0.00 [[ 9.96016269e-01 8.91716962e-02 0.00000000e+00 1.72124593e+02] [-8.91716962e-02 9.96016269e-01 0.00000000e+00 -2.49078000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12290058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:-2.49, Z:0.00 [[ 9.96365787e-01 8.51775666e-02 0.00000000e+00 1.72185839e+02] [-8.51775666e-02 9.96365787e-01 0.00000000e+00 -2.48529784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97495725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:172.25, Y:-2.49, Z:0.00 [[ 9.96689460e-01 8.13026414e-02 0.00000000e+00 1.72246846e+02] [-8.13026414e-02 9.96689460e-01 0.00000000e+00 -2.48754833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80351862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:172.31, Y:-2.49, Z:-0.00 [[ 9.97176232e-01 7.50970178e-02 0.00000000e+00 1.72306791e+02] [-7.50970178e-02 9.97176232e-01 0.00000000e+00 -2.49124327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10433225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:-2.49, Z:-0.00 [[ 9.97388444e-01 7.22239037e-02 0.00000000e+00 1.72368531e+02] [-7.22239037e-02 9.97388444e-01 0.00000000e+00 -2.49093973e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15296254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:172.43, Y:-2.50, Z:0.00 [[ 9.97546997e-01 6.99999135e-02 0.00000000e+00 1.72429804e+02] [-6.99999135e-02 9.97546997e-01 0.00000000e+00 -2.49972954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94697685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:172.49, Y:-2.50, Z:0.01 [[ 9.97640893e-01 6.86487281e-02 0.00000000e+00 1.72491433e+02] [-6.86487281e-02 9.97640893e-01 0.00000000e+00 -2.50157351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22785314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:172.55, Y:-2.51, Z:0.00 [[ 9.97510122e-01 7.05234515e-02 0.00000000e+00 1.72550953e+02] [-7.05234515e-02 9.97510122e-01 0.00000000e+00 -2.51159713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21108317e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:172.61, Y:-2.52, Z:0.00 [[ 9.97276507e-01 7.37534328e-02 0.00000000e+00 1.72611881e+02] [-7.37534328e-02 9.97276507e-01 0.00000000e+00 -2.51711629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59870243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:-2.52, Z:-0.00 [[ 9.96910484e-01 7.85460769e-02 0.00000000e+00 1.72672284e+02] [-7.85460769e-02 9.96910484e-01 0.00000000e+00 -2.52379501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.12492981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:-2.53, Z:-0.00 [[ 9.96589278e-01 8.25215832e-02 0.00000000e+00 1.72732154e+02] [-8.25215832e-02 9.96589278e-01 0.00000000e+00 -2.52870754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00412485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:-2.53, Z:-0.00 [[ 9.96363084e-01 8.52091806e-02 0.00000000e+00 1.72793761e+02] [-8.52091806e-02 9.96363084e-01 0.00000000e+00 -2.53061991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46716552e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:172.86, Y:-2.53, Z:-0.00 [[ 9.96300681e-01 8.59357472e-02 0.00000000e+00 1.72855520e+02] [-8.59357472e-02 9.96300681e-01 0.00000000e+00 -2.53261978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64803036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:-2.54, Z:-0.00 [[ 9.96462753e-01 8.40355980e-02 0.00000000e+00 1.72916496e+02] [-8.40355980e-02 9.96462753e-01 0.00000000e+00 -2.53678344e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88946823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:-2.54, Z:0.00 [[ 9.96776556e-01 8.02277799e-02 0.00000000e+00 1.72977946e+02] [-8.02277799e-02 9.96776556e-01 0.00000000e+00 -2.53831524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00012612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:173.04, Y:-2.54, Z:0.00 [[ 9.96986890e-01 7.75702284e-02 0.00000000e+00 1.73038267e+02] [-7.75702284e-02 9.96986890e-01 0.00000000e+00 -2.53941640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39959838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:-2.54, Z:0.01 [[ 9.97447655e-01 7.14015062e-02 0.00000000e+00 1.73100343e+02] [-7.14015062e-02 9.97447655e-01 0.00000000e+00 -2.54446306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03501348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:-2.55, Z:0.00 [[ 9.97768846e-01 6.67632331e-02 0.00000000e+00 1.73161150e+02] [-6.67632331e-02 9.97768846e-01 0.00000000e+00 -2.54854548e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97535537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:-2.55, Z:0.01 [[ 9.97851605e-01 6.55146907e-02 0.00000000e+00 1.73221909e+02] [-6.55146907e-02 9.97851605e-01 0.00000000e+00 -2.55342259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09913005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:-2.56, Z:0.00 [[ 9.97830195e-01 6.58399702e-02 0.00000000e+00 1.73283417e+02] [-6.58399702e-02 9.97830195e-01 0.00000000e+00 -2.56123117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78205994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.34, Y:-2.56, Z:0.00 [[ 9.97775684e-01 6.66609601e-02 0.00000000e+00 1.73344827e+02] [-6.66609601e-02 9.97775684e-01 0.00000000e+00 -2.55936310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73280342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:-2.57, Z:-0.00 [[ 9.97624328e-01 6.88890405e-02 0.00000000e+00 1.73405137e+02] [-6.88890405e-02 9.97624328e-01 0.00000000e+00 -2.57194128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96298606e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:-2.58, Z:0.00 [[ 9.97374410e-01 7.24174477e-02 0.00000000e+00 1.73466088e+02] [-7.24174477e-02 9.97374410e-01 0.00000000e+00 -2.57566497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65483226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:173.53, Y:-2.58, Z:0.00 [[ 9.97076732e-01 7.64067396e-02 0.00000000e+00 1.73527437e+02] [-7.64067396e-02 9.97076732e-01 0.00000000e+00 -2.57925426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23383378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:-2.59, Z:0.01 [[ 9.96797347e-01 7.99690501e-02 0.00000000e+00 1.73589090e+02] [-7.99690501e-02 9.96797347e-01 0.00000000e+00 -2.58906898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68900114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:-2.59, Z:0.01 [[ 9.96578193e-01 8.26553355e-02 0.00000000e+00 1.73650520e+02] [-8.26553355e-02 9.96578193e-01 0.00000000e+00 -2.59251470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42725702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:-2.60, Z:0.01 [[ 9.96656932e-01 8.17004230e-02 0.00000000e+00 1.73711278e+02] [-8.17004230e-02 9.96656932e-01 0.00000000e+00 -2.60139005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30833280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.77, Y:-2.61, Z:0.01 [[ 9.96793781e-01 8.00134873e-02 0.00000000e+00 1.73773362e+02] [-8.00134873e-02 9.96793781e-01 0.00000000e+00 -2.60720905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64989701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:-2.61, Z:-0.00 [[ 9.96791512e-01 8.00417454e-02 0.00000000e+00 1.73835017e+02] [-8.00417454e-02 9.96791512e-01 0.00000000e+00 -2.61237649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70818458e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:-2.62, Z:0.00 [[ 9.96750411e-01 8.05519577e-02 0.00000000e+00 1.73896618e+02] [-8.05519577e-02 9.96750411e-01 0.00000000e+00 -2.61703446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12795124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:173.96, Y:-2.62, Z:0.00 [[ 9.96796281e-01 7.99823333e-02 0.00000000e+00 1.73957937e+02] [-7.99823333e-02 9.96796281e-01 0.00000000e+00 -2.61623628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42092549e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:174.02, Y:-2.62, Z:-0.00 [[ 9.96811936e-01 7.97869915e-02 0.00000000e+00 1.74019718e+02] [-7.97869915e-02 9.96811936e-01 0.00000000e+00 -2.61755680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52634646e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:174.08, Y:-2.62, Z:-0.00 [[ 9.96892500e-01 7.87740012e-02 0.00000000e+00 1.74081674e+02] [-7.87740012e-02 9.96892500e-01 0.00000000e+00 -2.61893509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13769114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:174.14, Y:-2.62, Z:-0.00 [[ 9.97040816e-01 7.68739991e-02 0.00000000e+00 1.74142771e+02] [-7.68739991e-02 9.97040816e-01 0.00000000e+00 -2.61544606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88751852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:174.20, Y:-2.62, Z:0.00 [[ 9.97430868e-01 7.16356262e-02 0.00000000e+00 1.74204572e+02] [-7.16356262e-02 9.97430868e-01 0.00000000e+00 -2.61673977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18938405e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:-2.62, Z:-0.00 [[ 9.97787338e-01 6.64863073e-02 0.00000000e+00 1.74266896e+02] [-6.64863073e-02 9.97787338e-01 0.00000000e+00 -2.61986937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45823954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:-2.63, Z:0.00 [[ 9.97907697e-01 6.46546862e-02 0.00000000e+00 1.74328749e+02] [-6.46546862e-02 9.97907697e-01 0.00000000e+00 -2.62543089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09028889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:-2.62, Z:0.00 [[ 9.97771020e-01 6.67307402e-02 0.00000000e+00 1.74389805e+02] [-6.67307402e-02 9.97771020e-01 0.00000000e+00 -2.62494499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66818084e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:-2.63, Z:0.00 [[ 9.97290245e-01 7.35674326e-02 0.00000000e+00 1.74450911e+02] [-7.35674326e-02 9.97290245e-01 0.00000000e+00 -2.62923757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24612876e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:-2.63, Z:0.00 [[ 9.96930801e-01 7.82877869e-02 0.00000000e+00 1.74512493e+02] [-7.82877869e-02 9.96930801e-01 0.00000000e+00 -2.63136166e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29455996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-2.63, Z:0.00 [[ 9.96766410e-01 8.03537455e-02 0.00000000e+00 1.74572978e+02] [-8.03537455e-02 9.96766410e-01 0.00000000e+00 -2.63273117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27316903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:-2.63, Z:0.00 [[ 9.96820904e-01 7.96748725e-02 0.00000000e+00 1.74634671e+02] [-7.96748725e-02 9.96820904e-01 0.00000000e+00 -2.63430649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27568638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:174.70, Y:-2.64, Z:0.01 [[ 9.97028894e-01 7.70284606e-02 0.00000000e+00 1.74695169e+02] [-7.70284606e-02 9.97028894e-01 0.00000000e+00 -2.63941881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08912579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters Centerline goodness : 0.997229 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:-2.64, Z:-0.00 [[ 9.97071185e-01 7.64790940e-02 0.00000000e+00 1.74756444e+02] [-7.64790940e-02 9.97071185e-01 0.00000000e+00 -2.63870937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09807942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:-2.64, Z:-0.01 [[ 9.97011842e-01 7.72488603e-02 0.00000000e+00 1.74817946e+02] [-7.72488603e-02 9.97011842e-01 0.00000000e+00 -2.64149137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80703885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters Centerline goodness : 0.992704 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:-2.64, Z:-0.01 [[ 9.96917397e-01 7.84582866e-02 0.00000000e+00 1.74879178e+02] [-7.84582866e-02 9.96917397e-01 0.00000000e+00 -2.63662776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79131931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:174.94, Y:-2.63, Z:-0.01 [[ 9.97037030e-01 7.69230843e-02 0.00000000e+00 1.74939890e+02] [-7.69230843e-02 9.97037030e-01 0.00000000e+00 -2.63454905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49267821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters Centerline goodness : 0.990494 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:-2.63, Z:-0.02 [[ 9.97076944e-01 7.64039821e-02 0.00000000e+00 1.75001087e+02] [-7.64039821e-02 9.97076944e-01 0.00000000e+00 -2.63403786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78245218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters Centerline goodness : 0.985093 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:-2.64, Z:-0.01 [[ 9.97316960e-01 7.32043743e-02 0.00000000e+00 1.75061330e+02] [-7.32043743e-02 9.97316960e-01 0.00000000e+00 -2.64061350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18073153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters Centerline goodness : 0.980759 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:-2.64, Z:0.00 [[ 9.97710987e-01 6.76223844e-02 0.00000000e+00 1.75122092e+02] [-6.76223844e-02 9.97710987e-01 0.00000000e+00 -2.64482581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34283438e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters Centerline goodness : 0.976325 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:-2.65, Z:-0.00 [[ 9.97930078e-01 6.43083095e-02 0.00000000e+00 1.75182717e+02] [-6.43083095e-02 9.97930078e-01 0.00000000e+00 -2.64844975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69246657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters Centerline goodness : 0.973429 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:-2.66, Z:-0.00 [[ 9.98000057e-01 6.32130286e-02 0.00000000e+00 1.75242067e+02] [-6.32130286e-02 9.98000057e-01 0.00000000e+00 -2.66075450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22695274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters Centerline goodness : 0.146298 with order 1 Centerline is valid? [True, False] Translation: X:175.24, Y:-2.66, Z:-0.00 [[ 9.98227225e-01 5.95178725e-02 -1.72062853e-04 1.75242768e+02] [-5.95180129e-02 9.98215724e-01 -4.79307410e-03 -2.65697584e+00] [-1.13517727e-04 4.79481790e-03 9.99988498e-01 -3.16954340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters Centerline goodness : 0.964085 with order 1 Centerline is valid? [False, True] Translation: X:175.24, Y:-2.66, Z:-0.00 [[ 9.98187732e-01 6.01764599e-02 -2.13155611e-04 1.75243459e+02] [-6.01767816e-02 9.98175717e-01 -4.89834421e-03 -2.65568260e+00] [-8.19982589e-05 4.90229411e-03 9.99987980e-01 -3.39589395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters Centerline goodness : 0.131549 with order 1 Centerline is valid? [True, False] Translation: X:175.29, Y:-2.66, Z:-0.01 [[ 9.97887155e-01 6.49696983e-02 4.04209631e-04 1.75288363e+02] [-6.49691080e-02 9.97886385e-01 -1.33358652e-03 -2.66398110e+00] [-4.89998001e-04 1.30450772e-03 9.99999029e-01 -5.31360925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters Centerline goodness : 0.128667 with order 1 Centerline is valid? [False, False] Translation: X:175.29, Y:-2.66, Z:-0.01 [[ 9.97777645e-01 6.66281978e-02 6.73733902e-04 1.75288390e+02] [-6.66272568e-02 9.97777044e-01 -1.33409150e-03 -2.65899083e+00] [-7.61124333e-04 1.28623764e-03 9.99998883e-01 -5.55348440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters Centerline goodness : 0.129834 with order 1 Centerline is valid? [False, False] Translation: X:175.33, Y:-2.66, Z:-0.01 [[ 9.97892362e-01 6.48326114e-02 2.75072761e-03 1.75329756e+02] [-6.48202402e-02 9.97887385e-01 -4.37066418e-03 -2.66277702e+00] [-3.02827796e-03 4.18314958e-03 9.99986665e-01 -5.97877949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters Centerline goodness : 0.133552 with order 1 Centerline is valid? [False, False] Translation: X:175.33, Y:-2.66, Z:-0.01 [[ 9.98164047e-01 6.04834251e-02 3.20794056e-03 1.75327806e+02] [-6.04530702e-02 9.98131904e-01 -8.83901410e-03 -2.66166016e+00] [-3.73656167e-03 8.62885623e-03 9.99955789e-01 -6.25247834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters Centerline goodness : 0.084995 with order 1 Centerline is valid? [False, False] Translation: X:175.37, Y:-2.67, Z:-0.01 [[ 9.98443096e-01 5.55316866e-02 5.25509098e-03 1.75373569e+02] [-5.55399223e-02 9.98455437e-01 1.43432234e-03 -2.67464447e+00] [-5.16732383e-03 -1.72395658e-03 9.99985163e-01 -9.11373711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters Centerline goodness : 0.084955 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.68, Z:-0.01 [[ 9.98638695e-01 5.19124523e-02 5.08470489e-03 1.75375725e+02] [-5.19021050e-02 9.98649871e-01 -2.14632356e-03 -2.67822863e+00] [-5.18926080e-03 1.87949487e-03 9.99984769e-01 -1.21442751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters Centerline goodness : 0.084772 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.67, Z:-0.01 [[ 9.98818434e-01 4.83465643e-02 4.93402816e-03 1.75377677e+02] [-4.83129292e-02 9.98809625e-01 -6.72258711e-03 -2.67452787e+00] [-5.25316880e-03 6.47626658e-03 9.99965230e-01 -1.48902526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters Centerline goodness : 0.087162 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.67, Z:-0.02 [[ 9.98991231e-01 4.46646337e-02 4.64652927e-03 1.75379731e+02] [-4.46097588e-02 9.98940466e-01 -1.13099751e-02 -2.67155896e+00] [-5.14676201e-03 1.10912854e-02 9.99925244e-01 -1.70176025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters Centerline goodness : 0.086682 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.68, Z:-0.02 [[ 9.98956297e-01 4.53913993e-02 5.09290737e-03 1.75379531e+02] [-4.53377730e-02 9.98919715e-01 -1.01925779e-02 -2.67791201e+00] [-5.55006095e-03 9.95103882e-03 9.99935085e-01 -1.84243643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters Centerline goodness : 0.088442 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.68, Z:-0.02 [[ 9.98948974e-01 4.54821914e-02 5.68491506e-03 1.75379441e+02] [-4.54231218e-02 9.98916572e-01 -1.01204280e-02 -2.67791814e+00] [-6.13905510e-03 9.85156457e-03 9.99932627e-01 -2.03345465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters Centerline goodness : 0.071664 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.68, Z:-0.02 [[ 9.98917032e-01 4.61206912e-02 6.13559760e-03 1.75379107e+02] [-4.60640660e-02 9.98897304e-01 -9.07069183e-03 -2.68389004e+00] [-6.54717848e-03 8.77823798e-03 9.99940037e-01 -2.13436642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445336195 meters Centerline goodness : 0.073537 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.68, Z:-0.02 [[ 9.98910213e-01 4.61946017e-02 6.66677641e-03 1.75378500e+02] [-4.61340856e-02 9.98895051e-01 -8.96230597e-03 -2.68400170e+00] [-7.07342011e-03 8.64497333e-03 9.99937614e-01 -2.23897828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters Centerline goodness : 0.074295 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.68, Z:-0.03 [[ 9.99058315e-01 4.29043871e-02 6.45735659e-03 1.75381005e+02] [-4.28170358e-02 9.98996951e-01 -1.31069619e-02 -2.68275189e+00] [-7.01322572e-03 1.28181344e-02 9.99893249e-01 -2.52200746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56533619500001 meters Centerline goodness : 0.256841 with order 2 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.69, Z:-0.03 [[ 9.99027825e-01 4.34694425e-02 7.33563462e-03 1.75382747e+02] [-4.33767227e-02 9.98982353e-01 -1.23579048e-02 -2.68567971e+00] [-7.86536077e-03 1.20276950e-02 9.99896730e-01 -2.96409936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters Centerline goodness : 0.067547 with order 1 Centerline is valid? [False, False] Translation: X:175.38, Y:-2.69, Z:-0.03 [[ 9.99024600e-01 4.34782367e-02 7.71307723e-03 1.75384256e+02] [-4.33813121e-02 9.98982652e-01 -1.23175530e-02 -2.68521654e+00] [-8.24077583e-03 1.19709350e-02 9.99894388e-01 -3.23551942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters Centerline goodness : 0.833258 with order 1 Centerline is valid? [False, False] Translation: X:175.39, Y:-2.68, Z:-0.03 [[ 9.99167560e-01 4.00378107e-02 7.82059659e-03 1.75385058e+02] [-3.99032495e-02 9.99064576e-01 -1.66644457e-02 -2.68359093e+00] [-8.48048894e-03 1.63385064e-02 9.99830553e-01 -3.41702546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters Centerline goodness : 0.824332 with order 1 Centerline is valid? [False, False] Translation: X:175.39, Y:-2.68, Z:-0.04 [[ 9.99074159e-01 4.23863864e-02 7.36329607e-03 1.75392317e+02] [-4.22815217e-02 9.99009638e-01 -1.38569554e-02 -2.68177189e+00] [-7.94335001e-03 1.35327947e-02 9.99876876e-01 -3.93290718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters SLAMing on 175.865336195 meters Centerline goodness : 0.798650 with order 1 Centerline is valid? [False, False] Translation: X:175.42, Y:-2.69, Z:-0.05 [[ 9.99100293e-01 3.91588802e-02 1.62845290e-02 1.75422485e+02] [-3.89646998e-02 9.99167622e-01 -1.20754011e-02 -2.68873548e+00] [-1.67438333e-02 1.14300150e-02 9.99794478e-01 -5.11032689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters Centerline goodness : 0.793681 with order 3 Centerline is valid? [False, False] Translation: X:175.42, Y:-2.69, Z:-0.05 [[ 9.99247385e-01 3.52364583e-02 1.62190018e-02 1.75424126e+02] [-3.49809393e-02 9.99263434e-01 -1.57773071e-02 -2.69222563e+00] [-1.67629919e-02 1.51980769e-02 9.99743978e-01 -5.28319621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters Centerline goodness : 0.391697 with order 3 Centerline is valid? [False, False] Translation: X:175.43, Y:-2.70, Z:-0.06 [[ 9.99276077e-01 3.46586805e-02 1.56874962e-02 1.75433900e+02] [-3.44123121e-02 9.99284217e-01 -1.57113739e-02 -2.69647720e+00] [-1.62208028e-02 1.51601571e-02 9.99753497e-01 -6.13952694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters Centerline goodness : 0.765947 with order 3 Centerline is valid? [False, False] Translation: X:175.44, Y:-2.70, Z:-0.07 [[ 9.99184338e-01 3.73903790e-02 1.52518091e-02 1.75441728e+02] [-3.72008202e-02 9.99229269e-01 -1.25286264e-02 -2.69919489e+00] [-1.57085042e-02 1.19510275e-02 9.99805189e-01 -6.70848799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters Centerline goodness : 0.762653 with order 2 Centerline is valid? [False, False] Translation: X:175.45, Y:-2.70, Z:-0.07 [[ 9.99115788e-01 3.92792389e-02 1.49927960e-02 1.75447323e+02] [-3.91130827e-02 9.99171803e-01 -1.12193519e-02 -2.70435788e+00] [-1.54210666e-02 1.06230171e-02 9.99824656e-01 -7.13476587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters Centerline goodness : 0.747377 with order 3 Centerline is valid? [False, False] Translation: X:175.45, Y:-2.70, Z:-0.07 [[ 9.99057267e-01 4.07699675e-02 1.49126679e-02 1.75450624e+02] [-4.06085479e-02 9.99114892e-01 -1.09716695e-02 -2.70328336e+00] [-1.53467832e-02 1.03557444e-02 9.99828603e-01 -7.38609422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters Centerline goodness : 0.746436 with order 2 Centerline is valid? [False, False] Translation: X:175.45, Y:-2.70, Z:-0.08 [[ 9.98867572e-01 4.51221001e-02 1.50854134e-02 1.75452643e+02] [-4.50288533e-02 9.98964767e-01 -6.46497757e-03 -2.70496848e+00] [-1.53615098e-02 5.77837758e-03 9.99865308e-01 -7.52126507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters Centerline goodness : 0.733308 with order 3 Centerline is valid? [False, False] Translation: X:175.46, Y:-2.71, Z:-0.08 [[ 9.98859841e-01 4.51920066e-02 1.53850764e-02 1.75455230e+02] [-4.50917448e-02 9.98959688e-01 -6.80268160e-03 -2.70540592e+00] [-1.56764980e-02 6.10118552e-03 9.99858501e-01 -7.83101050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters Centerline goodness : 0.524265 with order 2 Centerline is valid? [False, False] Translation: X:175.46, Y:-2.70, Z:-0.08 [[ 9.99044483e-01 4.07866081e-02 1.57026491e-02 1.75456418e+02] [-4.06050592e-02 9.99106629e-01 -1.17120505e-02 -2.69953319e+00] [-1.61663156e-02 1.10632524e-02 9.99808109e-01 -7.89503134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters Centerline goodness : 0.715068 with order 2 Centerline is valid? [False, False] Translation: X:175.48, Y:-2.70, Z:-0.09 [[ 9.99055603e-01 3.65958086e-02 2.34232362e-02 1.75481570e+02] [-3.64500851e-02 9.99313558e-01 -6.61846606e-03 -2.70176670e+00] [-2.36493656e-02 5.75843665e-03 9.99703730e-01 -9.11553056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters Centerline goodness : 0.716560 with order 3 Centerline is valid? [False, False] Translation: X:175.48, Y:-2.70, Z:-0.09 [[ 9.99193193e-01 3.25605692e-02 2.35111147e-02 1.75482936e+02] [-3.23143399e-02 9.99419640e-01 -1.07780464e-02 -2.70279296e+00] [-2.38484092e-02 1.00096044e-02 9.99665475e-01 -9.21674514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters Centerline goodness : 0.492760 with order 3 Centerline is valid? [False, False] Translation: X:175.49, Y:-2.70, Z:-0.10 [[ 9.99253161e-01 3.12460378e-02 2.27333354e-02 1.75492039e+02] [-3.09891275e-02 9.99452790e-01 -1.15669816e-02 -2.70228656e+00] [-2.30823178e-02 1.08538567e-02 9.99674647e-01 -9.79888128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters Centerline goodness : 0.694333 with order 1 Centerline is valid? [False, False] Translation: X:175.50, Y:-2.71, Z:-0.11 [[ 9.99296766e-01 3.03199553e-02 2.20606817e-02 1.75503413e+02] [-3.00743694e-02 9.99482877e-01 -1.13802496e-02 -2.70798466e+00] [-2.23943223e-02 1.07087856e-02 9.99691861e-01 -1.06169763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters Centerline goodness : 0.257761 with order 3 Centerline is valid? [False, False] Translation: X:175.51, Y:-2.71, Z:-0.11 [[ 9.99307079e-01 3.04997161e-02 2.13337529e-02 1.75514374e+02] [-3.02686682e-02 9.99480490e-01 -1.10705728e-02 -2.71052293e+00] [-2.16603191e-02 1.04171575e-02 9.99711115e-01 -1.14270530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters Centerline goodness : 0.426745 with order 3 Centerline is valid? [False, False] Translation: X:175.52, Y:-2.71, Z:-0.12 [[ 9.99257139e-01 3.24882820e-02 2.07287785e-02 1.75523896e+02] [-3.22823555e-02 9.99426813e-01 -1.01928813e-02 -2.70902816e+00] [-2.10480462e-02 9.51613561e-03 9.99733176e-01 -1.20584772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters Centerline goodness : 0.429615 with order 3 Centerline is valid? [False, False] Translation: X:175.53, Y:-2.71, Z:-0.12 [[ 9.99220765e-01 3.37455506e-02 2.04719682e-02 1.75528816e+02] [-3.35463535e-02 9.99387164e-01 -9.99694212e-03 -2.70861100e+00] [-2.07967745e-02 9.30239227e-03 9.99740446e-01 -1.22862783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters Centerline goodness : 0.472965 with order 3 Centerline is valid? [False, False] Translation: X:175.56, Y:-2.71, Z:-0.12 [[ 9.99290517e-01 3.34268238e-02 1.73525387e-02 1.75556406e+02] [-3.33531269e-02 9.99433412e-01 -4.51928848e-03 -2.70854361e+00] [-1.74937724e-02 3.93732069e-03 9.99839220e-01 -1.24188262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters Centerline goodness : 0.364961 with order 3 Centerline is valid? [False, False] Translation: X:175.56, Y:-2.71, Z:-0.13 [[ 9.99380885e-01 3.07946768e-02 1.70157139e-02 1.75561154e+02] [-3.06590574e-02 9.99496473e-01 -8.17450188e-03 -2.70645884e+00] [-1.72588772e-02 7.64775517e-03 9.99821806e-01 -1.25818375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters Centerline goodness : 0.498692 with order 2 Centerline is valid? [False, False] Translation: X:175.57, Y:-2.71, Z:-0.13 [[ 9.99410148e-01 3.00124382e-02 1.66916026e-02 1.75567915e+02] [-2.98697993e-02 9.99515672e-01 -8.73024220e-03 -2.70519118e+00] [-1.69455343e-02 8.22651783e-03 9.99822571e-01 -1.29852167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters Centerline goodness : 0.446596 with order 3 Centerline is valid? [False, False] Translation: X:175.58, Y:-2.71, Z:-0.14 [[ 9.99436281e-01 2.93566641e-02 1.62882456e-02 1.75576850e+02] [-2.92102418e-02 9.99531357e-01 -9.15573675e-03 -2.70698610e+00] [-1.65493942e-02 8.67479189e-03 9.99825418e-01 -1.36125021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters Centerline goodness : 0.439813 with order 2 Centerline is valid? [False, False] Translation: X:175.59, Y:-2.71, Z:-0.14 [[ 9.99442912e-01 2.93946807e-02 1.58056512e-02 1.75586660e+02] [-2.92528864e-02 9.99530357e-01 -9.12874530e-03 -2.70586848e+00] [-1.60665647e-02 8.66129887e-03 9.99833410e-01 -1.43008652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters Centerline goodness : 0.099541 with order 3 Centerline is valid? [False, False] Translation: X:175.59, Y:-2.71, Z:-0.14 [[ 9.99435563e-01 2.95382490e-02 1.60014459e-02 1.75588816e+02] [-2.93984407e-02 9.99528121e-01 -8.90315554e-03 -2.70793542e+00] [-1.62568788e-02 8.42771272e-03 9.99832330e-01 -1.43768814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters Centerline goodness : 0.097186 with order 3 Centerline is valid? [False, False] Translation: X:175.62, Y:-2.70, Z:-0.15 [[ 9.99594641e-01 2.57665272e-02 1.21095190e-02 1.75619383e+02] [-2.56722832e-02 9.99639396e-01 -7.87471707e-03 -2.70321472e+00] [-1.23080564e-02 7.56064598e-03 9.99895669e-01 -1.47373474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.245336195 meters SLAMing on 177.305336195 meters Centerline goodness : 0.511750 with order 3 Centerline is valid? [False, False] Translation: X:175.67, Y:-2.70, Z:-0.14 [[ 9.99627644e-01 2.67572842e-02 5.34994537e-03 1.75672122e+02] [-2.67097508e-02 9.99604785e-01 -8.76719052e-03 -2.70192844e+00] [-5.58241720e-03 8.62103029e-03 9.99947256e-01 -1.44301960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2203.18 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%| | 0/5912 [00:00